WorldWideScience

Sample records for highly articulated robotic

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

    Science.gov (United States)

    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.

  2. High-Performance 3D Articulated Robot Display

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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.

  4. The technology of mobile robot with articulated crawler mechanism

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Suh, Yong Chil; Lee, Yung Kwang; Sin, Jae Ho [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-01-01

    The main application of a mobile robot are to do the inspection and maintenance tasks in the primary and auxiliary building, and to meet with the radiological emergency response in nuclear power plant. Our project to develop crawler-type mobile robot has been divided into 3 phases. In 1 st phase, the-state-of-the-arts of mobile robot technology were studied and analyzed. And then the technical report `development of mobile robot technology for the light work` was published on July, 1993. In current phase, the articulated crawler type mobile robot named as ANDROS Mark VI was purchased to evaluate deeply its mechanism and control system. Then we designed the autonomous track surface, to get the inclination angle of robot, and to control the front and rear auxiliary track autonomously during climbing up and down stairs. And also, the autonomous stair-climbing algorithm has been developed to going over stairs with high stability. For the final phase, the advanced model of articulated crawler type mobile robot is going to be developed. (Author) 13 refs., 30 figs., 12 tabs.

  5. The technology of mobile robot with articulated crawler mechanism

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Suh, Yong Chil; Lee, Yung Kwang; Sin, Jae Ho

    1995-01-01

    The main application of a mobile robot are to do the inspection and maintenance tasks in the primary and auxiliary building, and to meet with the radiological emergency response in nuclear power plant. Our project to develop crawler-type mobile robot has been divided into 3 phases. In 1 st phase, the-state-of-the-arts of mobile robot technology were studied and analyzed. And then the technical report 'development of mobile robot technology for the light work' was published on July, 1993. In current phase, the articulated crawler type mobile robot named as ANDROS Mark VI was purchased to evaluate deeply its mechanism and control system. Then we designed the autonomous track surface, to get the inclination angle of robot, and to control the front and rear auxiliary track autonomously during climbing up and down stairs. And also, the autonomous stair-climbing algorithm has been developed to going over stairs with high stability. For the final phase, the advanced model of articulated crawler type mobile robot is going to be developed. (Author) 13 refs., 30 figs., 12 tabs

  6. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  7. Visual servo simulation of EAST articulated maintenance arm robot

    International Nuclear Information System (INIS)

    Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

    2016-01-01

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  8. Sensory Integration with Articulated Motion on a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    J. Rojas

    2005-01-01

    Full Text Available This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state and that of the world. A humanoid robot with binaural audio input, stereo vision, and pneumatic arms and hands exhibited tightly coupled sensory-motor behaviors in four different demonstrations. The complexity of successive demonstrations was increased to show that the reflexive sensory-motor behaviors combine to perform increasingly complex tasks. The humanoid robot executed these tasks effectively and established the groundwork for the further development of hardware and software systems, sensory-motor vector-space representations, and coupling with higher-level cognition.

  9. Dynamics and control of robotic aircraft with articulated wings

    Science.gov (United States)

    Paranjape, Aditya Avinash

    stability margin of the twisting dynamics sixteen fold. A tracking control law is derived for the wing tip displacement which uses motion planning and a novel two-stage perturbation observer. This work on PDE-based control of wing deformation allows for the use of highly flexible wings on MAVs. Put together, the thesis provides a comprehensive understanding of the flight dynamics of a robotic aircraft equipped with articulated wings, and provides a set of control laws for performing agile maneuvers and for honing the benefits of using highly flexible wings.

  10. Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

    Directory of Open Access Journals (Sweden)

    Bui Thi Hai Linh

    2015-01-01

    Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

  11. Lightweight design of a vertical articulated robot using topology optimization

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Ki; Hong, Jung Ki; Jang, Gang Won [Sejong Univ., Seoul (Korea, Republic of); Kim, Tae Hyun; Park, Jin Kyun; Kim, Sang Hyun [Hyundai Heavy Industries Co., Ltd., Daejeon (Korea, Republic of)

    2012-12-15

    Topology optimization is applied for the lightweight design of three main parts of a vertical articulated robot: a base frame, a lower and a upper frame. Design domains for optimization are set as large solid regions that completely embrace the original parts, which are discretized by using three dimensional solid elements. Design variables are parameterized one to one to the material properties of each element by using the SIMP method. The objective of optimization is set as the multi objective form combining the natural frequencies and mean compliances of a structure for which load steps of interest are selected from the multibody dynamics analysis of a robot. The obtained results of topology optimization are post processed to designs favorable to manufacturability for casting process. The final optimized results are 11.0% (base frame), 12.0% (lower frame) and 10.0% (upper frame) lighter with similar or even higher static and dynamic stiffnesses than the original models.

  12. Kinematics study and workspace analysis of an articulated robotic arm of a rpar

    International Nuclear Information System (INIS)

    Zeb, J.; Rashid, F.; Iqbal, N.

    2007-01-01

    An itinerant RPAR (Radiation Protection Assistant Robot) has been constructed to assist radiation workers in radiation area which are radiologically hazardous and beyond tile safe approach of radiation workers. The RPAR comprises of a cubicle tri- wheeled platform and a 4-DOF (Four Degree of Freedom) serial type articulated robotic arm. The movement of the platform is controlled by two differential wheeled driving systems. The Kinematics and Manipulator Jacobian of the end-effector (gripper) of the articulated robotic arm mounted on the RPAR were evaluated. The work space analyses of the articulated robotic arm have been carried out. The RPAR is helpful for surveillance of radiation zones, to pick and carry dropdown radioactive samples and sources, in routine radiological operations as well as during an emergency response to a radiological accident. The performance of the RPAR was found satisfactory. (author)

  13. Simulated Energy Usage for a Novel 6 DOF Articulated Robot

    International Nuclear Information System (INIS)

    Shaik, A A; Tlale, N; Bright, G

    2014-01-01

    The serial robot architecture is widespread in modern day manufacturing, and over the last few decades the technology has matured and settled to its current state. One drawback from the architecture however is the location of motors and gearboxes which are either at the joint it controls or close by. A novel hybrid 6 DOF robot was designed to move all the actuators to the robot base, and to control the desired axis through a set of connected links and gears, while maintaining the same workspace and dexterity. This would reduce the inertia of the movable part of the robot and some of the moment arms on the 3 axes required for translation of the 3 DOF spherical wrist. Doing so would decrease the energy requirements when compared to a 6 DOF serial robot. This paper focuses on the mathematical modelling and simulation of the novel hybrid machine design and compares it to an equivalent serial robot

  14. Reprogramming the articulated robotic arm for glass handling by using Arduino microcontroller

    Science.gov (United States)

    Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Kadir, Mohd Asmadi Akmal; Daud, Mohd Hisam

    2017-09-01

    The application of articulated robotic arm in industries is raised due to the expansion of using robot to replace human task, especially for the harmful tasks. However a few problems happen with the program use to schedule the arm, Thus the purpose of this project is to design, fabricate and integrate an articulated robotic arm by using Arduino microcontroller for handling glass sorting system. This project was designed to segregate glass and non-glass waste which would be pioneer step for recycling. This robotic arm has four servo motors to operate as a whole; three for the body and one for holding mechanism. This intelligent system is controlled by Arduino microcontroller and build with optical sensor to provide the distinguish objects that will be handled. Solidworks model was used to produce the detail design of the robotic arm and make the mechanical properties analysis by using a CAD software.

  15. Calibration of a flexible measurement system based on industrial articulated robot and structured light sensor

    Science.gov (United States)

    Mu, Nan; Wang, Kun; Xie, Zexiao; Ren, Ping

    2017-05-01

    To realize online rapid measurement for complex workpieces, a flexible measurement system based on an articulated industrial robot with a structured light sensor mounted on the end-effector is developed. A method for calibrating the system parameters is proposed in which the hand-eye transformation parameters and the robot kinematic parameters are synthesized in the calibration process. An initial hand-eye calibration is first performed using a standard sphere as the calibration target. By applying the modified complete and parametrically continuous method, we establish a synthesized kinematic model that combines the initial hand-eye transformation and distal link parameters as a whole with the sensor coordinate system as the tool frame. According to the synthesized kinematic model, an error model is constructed based on spheres' center-to-center distance errors. Consequently, the error model parameters can be identified in a calibration experiment using a three-standard-sphere target. Furthermore, the redundancy of error model parameters is eliminated to ensure the accuracy and robustness of the parameter identification. Calibration and measurement experiments are carried out based on an ER3A-C60 robot. The experimental results show that the proposed calibration method enjoys high measurement accuracy, and this efficient and flexible system is suitable for online measurement in industrial scenes.

  16. Control of articulated snake robot under dynamic active constraints.

    Science.gov (United States)

    Kwok, Ka-Wai; Vitiello, Valentina; Yang, Guang-Zhong

    2010-01-01

    Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism.

  17. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    International Nuclear Information System (INIS)

    Fukushima, Edwardo F.; Hirose, Shigeo

    2000-01-01

    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  18. Development of an integrated closed loop control system with virtual reality monitoring for Prototype Robotic Articulated System (PRAS)

    International Nuclear Information System (INIS)

    Rastogi, Naveen; Dutta, Pramit; Gotewal, K.K.

    2015-01-01

    The Prototype Robotic Articulated System (PRAS) is a servo driven 4 degrees of freedom robotic arm capable of handling of upto 5 kg payload. A virtual reality based monitoring application has been developed in blender and was intergrated with the control system to read the joint values of the robotic arm at 10Hz and update the CAD model to visualize the robotic operations remotely. This paper presents the design details and implementation results of the integrated control system for PRAS

  19. Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

    Science.gov (United States)

    Yi, Seung-Jong

    Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

  20. Design and Development of an Automatic Tool Changer for an Articulated Robot Arm

    International Nuclear Information System (INIS)

    Ambrosio, H; Karamanoglu, M

    2014-01-01

    In the creative industries, the length of time between the ideation stage and the making of physical objects is decreasing due to the use of CAD/CAM systems and adicitive manufacturing. Natural anisotropic materials, such as solid wood can also be transformed using CAD/CAM systems, but only with subtractive processes such as machining with CNC routers. Whilst some 3 axis CNC routing machines are affordable to buy and widely available, more flexible 5 axis routing machines still present themselves as a too big investment for small companies. Small refurbished articulated robots can be a cheaper alternative but they require a light end-effector. This paper presents a new lightweight tool changer that converts a small 3kg payload 6 DOF robot into a robot apprentice able to machine wood and similar soft materials

  1. Design and Development of an Automatic Tool Changer for an Articulated Robot Arm

    Science.gov (United States)

    Ambrosio, H.; Karamanoglu, M.

    2014-07-01

    In the creative industries, the length of time between the ideation stage and the making of physical objects is decreasing due to the use of CAD/CAM systems and adicitive manufacturing. Natural anisotropic materials, such as solid wood can also be transformed using CAD/CAM systems, but only with subtractive processes such as machining with CNC routers. Whilst some 3 axis CNC routing machines are affordable to buy and widely available, more flexible 5 axis routing machines still present themselves as a too big investment for small companies. Small refurbished articulated robots can be a cheaper alternative but they require a light end-effector. This paper presents a new lightweight tool changer that converts a small 3kg payload 6 DOF robot into a robot apprentice able to machine wood and similar soft materials.

  2. Design of Highly Articulated Mechanism for Surgical Applications

    Science.gov (United States)

    2016-08-31

    cooperative control of an AGV and snake robot 2. Advanced our filtering estimation theory to handle highly non- linear spaces using Lie algebra tools 3... linear spaces using Lie algebra tools 3. Investigated novel means by which we can infer or sense force at the tip of the snake robot. We have since...most robots, the surgical snake robot is non- linear . We were, however, able to re-write the Kalman filter estimator in the Lie algebra of the position

  3. Design and characterization of a multi-articulated robotic bat wing

    International Nuclear Information System (INIS)

    Bahlman, Joseph W; Swartz, Sharon M; Breuer, Kenneth S

    2013-01-01

    There are many challenges to measuring power input and force output from a flapping vertebrate. Animals can vary a multitude of kinematic parameters simultaneously, and methods for measuring power and force are either not possible in a flying vertebrate or are very time and equipment intensive. To circumvent these challenges, we constructed a robotic, multi-articulated bat wing that allows us to measure power input and force output simultaneously, across a range of kinematic parameters. The robot is modeled after the lesser dog-faced fruit bat, Cynopterus brachyotis, and contains seven joints powered by three servo motors. Collectively, this joint and motor arrangement allows the robot to vary wingbeat frequency, wingbeat amplitude, stroke plane, downstroke ratio, and wing folding. We describe the design, construction, programing, instrumentation, characterization, and analysis of the robot. We show that the kinematics, inputs, and outputs demonstrate good repeatability both within and among trials. Finally, we describe lessons about the structure of living bats learned from trying to mimic their flight in a robotic wing. (paper)

  4. ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot

    International Nuclear Information System (INIS)

    Arhur, D.; Perrot, Y.; Bidard, C.; Friconneau, J.P.; Palmer, J.D.; Semeraro, L.

    2005-01-01

    This paper is part of the Remote Handling (RH) activities for the future fusion reactor ITER. Specifically it relates to the possibility to carry out close inspection tasks of the Vacuum Vessel first wall using a long reach robot called the 'Articulated Inspection Arm' (AIA). Early studies for this device identified the need of improving the accuracy of the end-effector position in such robot structures. Therefore, the aim of this R and D program performed under the European Fusion Development Agreement (EFDA) work program is to develop a flexible parametric model with localised compliances of an AIA-like system, in order to compensate for its flexibilities. The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1 m, in some configurations, to a final accuracy of a few centimetres

  5. Computer vision system R&D for EAST Articulated Maintenance Arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Linglong, E-mail: linglonglin@ipp.ac.cn; Song, Yuntao, E-mail: songyt@ipp.ac.cn; Yang, Yang, E-mail: yangy@ipp.ac.cn; Feng, Hansheng, E-mail: hsfeng@ipp.ac.cn; Cheng, Yong, E-mail: chengyong@ipp.ac.cn; Pan, Hongtao, E-mail: panht@ipp.ac.cn

    2015-11-15

    Highlights: • We discussed the image preprocessing, object detection and pose estimation algorithms under poor light condition of inner vessel of EAST tokamak. • The main pipeline, including contours detection, contours filter, MER extracted, object location and pose estimation, was carried out in detail. • The technical issues encountered during the research were discussed. - Abstract: Experimental Advanced Superconducting Tokamak (EAST) is the first full superconducting tokamak device which was constructed at Institute of Plasma Physics Chinese Academy of Sciences (ASIPP). The EAST Articulated Maintenance Arm (EAMA) robot provides the means of the in-vessel maintenance such as inspection and picking up the fragments of first wall. This paper presents a method to identify and locate the fragments semi-automatically by using the computer vision. The use of computer vision in identification and location faces some difficult challenges such as shadows, poor contrast, low illumination level, less texture and so on. The method developed in this paper enables credible identification of objects with shadows through invariant image and edge detection. The proposed algorithms are validated through our ASIPP robotics and computer vision platform (ARVP). The results show that the method can provide a 3D pose with reference to robot base so that objects with different shapes and size can be picked up successfully.

  6. Long-reach articulated robots for inspection and mini-invasive interventions in hazardous environments: Recent robotics research, qualification testing, and tool developments

    International Nuclear Information System (INIS)

    Perrot, Yann; Kammerer, Nolwenn; Measson, Yvan; Verney, Alexandre; Gargiulo, Laurent; Houry, Michael; Keller, Delphine; Piolain, Gerard

    2012-01-01

    The Interactive Robotics Laboratory of CEA LIST is in charge of the development of remote handling technologies to meet energy industry requirements. This paper reports the research and development activities in advanced robotics systems for inspection or light intervention in hazardous environments with limited access such as blind hot cells in the nuclear industry or the thermonuclear experimental Tokamak fusion reactor. A long-reach carrier robot called the articulated inspection arm (AIA) and diagnostics and tools for inspection or intervention are described. Finally experimental field tests are presented and actual challenges in modeling the robot's flexibilities are discussed. (authors)

  7. Articulated pipes conveying fluid pulsating with high frequency

    DEFF Research Database (Denmark)

    Jensen, Jakob Søndergaard

    1999-01-01

    Stability and nonlinear dynamics of two articulated pipes conveying fluid with a high-frequency pulsating component is investigated. The non-autonomous model equations are converted into autonomous equations by approximating the fast excitation terms with slowly varying terms. The downward hanging...... pipe position will lose stability if the mean flow speed exceeds a certain critical value. Adding a pulsating component to the fluid flow is shown to stabilize the hanging position for high values of the ratio between fluid and pipe-mass, and to marginally destabilize this position for low ratios....... An approximate nonlinear solution for small-amplitude flutter oscillations is obtained using a fifth-order multiple scales perturbation method, and large-amplitude oscillations are examined by numerical integration of the autonomous model equations, using a path-following algorithm. The pulsating fluid component...

  8. Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems

    International Nuclear Information System (INIS)

    Al Mouhamed, Mayez

    1982-01-01

    The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [fr

  9. 3D Visual Tracking of an Articulated Robot in Precision Automated Tasks.

    Science.gov (United States)

    Alzarok, Hamza; Fletcher, Simon; Longstaff, Andrew P

    2017-01-07

    The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT) is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E) with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF) robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT). Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the moving robot

  10. 3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

    Directory of Open Access Journals (Sweden)

    Hamza Alzarok

    2017-01-01

    Full Text Available The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT. Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the

  11. High Re-Operation Rates Using Conserve Metal-On-Metal Total Hip Articulations

    DEFF Research Database (Denmark)

    Mogensen, S L; Jakobsen, Thomas; Christoffersen, Hardy

    2016-01-01

    INTRODUCTION: Metal-on-metal hip articulations have been intensely debated after reports of adverse reactions and high failure rates. The aim of this study was to retrospectively evaluate the implant of a metal-on.metal total hip articulation (MOM THA) from a single manufacture in a two-center st......INTRODUCTION: Metal-on-metal hip articulations have been intensely debated after reports of adverse reactions and high failure rates. The aim of this study was to retrospectively evaluate the implant of a metal-on.metal total hip articulation (MOM THA) from a single manufacture in a two...

  12. Development of Articulated Competency-Based Curriculum in Automated Systems/Robotics Technology. Final Report.

    Science.gov (United States)

    Luzerne County Community Coll., Nanticoke, PA.

    The project described in this report was conducted at the Community College of Luzerne County (Pennsylvania) to develop, in conjunction with area vocational-technical schools, the second year of a competency-based curriculum in automated systems/robotics technology. During the project, a task force of teachers from the area schools and the college…

  13. Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

    Science.gov (United States)

    Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

    2003-01-01

    The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

  14. Tema 2: The NAO robot as a Persuasive Educational and Entertainment Robot (PEER – a case study on children’s articulation, categorization and interaction with a social robot for learning

    Directory of Open Access Journals (Sweden)

    Lykke Brogaard Bertel

    2016-01-01

    Full Text Available The application of social robots as motivational tools and companions in education is increasingly being explored from a theoretical and practical point of view. In this paper, we examine the social robot NAO as a Persuasive Educational and Entertainment Robot (PEER and present findings from a case study on the use of NAO to support learning environments in Danish primary schools. In the case study we focus on the children’s practice of articulation and embodied interaction with NAO and investigate the role of NAO as a ‘tool’, ‘social actor’ or ‘simulating medium’ in the learning designs. We examine whether this categorization is static or dynamic, i. e. develops and changes over the course of the interaction and explore how this relates to and affects the student’s motivation to engage in the NAO-supported learning activities.

  15. Tema 2: The NAO robot as a Persuasive Educational and Entertainment Robot (PEER – a case study on children’s articulation, categorization and interaction with a social robot for learning

    Directory of Open Access Journals (Sweden)

    Lykke Brogaard Bertel

    2015-12-01

    Full Text Available The application of social robots as motivational tools and companions in education is increasingly being explored from a theoretical and practical point of view. In this paper, we examine the social robot NAO as a Persuasive Educational and Entertainment Robot (PEER and present findings from a case study on the use of NAO to support learning environments in Danish primary schools. In the case study we focus on the children’s practice of articulation and embodied interaction with NAO and investigate the role of NAO as a ‘tool’, ‘social actor’ or ‘simulating medium’ in the learning designs. We examine whether this categorization is static or dynamic, i. e. develops and changes over the course of the interaction and explore how this relates to and affects the student’s motivation to engage in the NAO-supported learning activities.

  16. Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules

    Energy Technology Data Exchange (ETDEWEB)

    Al Mouhamed, Mayez

    1982-01-29

    The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [French] Dans la premiere partie de ce memoire, nous exposons les principales methodes de changement de coordonnees pour un systeme articule general. Apres une definition adequate de ce dernier, nous proposons un systeme de coordination permettant une programmation facile des mouvements. Sa caracteristique est de prendre comme centre d'action un point quelconque de l'objet manipule. Dans la deuxieme partie, nous etudions la regulation en effort. Pour cela nous avons developpe un capteur de forces general. Les informations que delivre ce dernier sont utilisees par des regulateurs d'effort adaptes au contexte de l'assemblage automatique des pieces. Dans la troisieme partie, nous exposons une nouvelle methode de commande dynamique des systemes articules. Nous obtenons des parametres dynamiques du robot a partir de mouvements appropries. Ces derniers sont ensuite utilises dans l'elaboration des commandes. Des applications utilisant le microprocesseur INTEL 8086 avec son

  17. High precision detector robot arm system

    Science.gov (United States)

    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.

  18. High precision redundant robotic manipulator

    International Nuclear Information System (INIS)

    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

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

    International Nuclear Information System (INIS)

    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)

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

    Directory of Open Access Journals (Sweden)

    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.

  1. Articulating feedstock delivery device

    Science.gov (United States)

    Jordan, Kevin

    2013-11-05

    A fully articulable feedstock delivery device that is designed to operate at pressure and temperature extremes. The device incorporates an articulating ball assembly which allows for more accurate delivery of the feedstock to a target location. The device is suitable for a variety of applications including, but not limited to, delivery of feedstock to a high-pressure reaction chamber or process zone.

  2. An Articulated Inspection Arm for fusion purposes

    International Nuclear Information System (INIS)

    Villedieu, E.; Bruno, V.; Pastor, P.; Gargiulo, L.; Song, Y.T.; Cheng, Y.; Feng, H.; Liu, C.; Shi, S.S.

    2016-01-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  3. An Articulated Inspection Arm for fusion purposes

    Energy Technology Data Exchange (ETDEWEB)

    Villedieu, E., E-mail: eric.villedieu@cea.fr [CEA-IRFM, 13108 Saint Paul lez Durance (France); Bruno, V.; Pastor, P.; Gargiulo, L. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Song, Y.T.; Cheng, Y.; Feng, H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Liu, C. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Shi, S.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2016-11-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  4. Novel high resolution tactile robotic fingertips

    DEFF Research Database (Denmark)

    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....

  5. Articulating Atmospheres

    DEFF Research Database (Denmark)

    Kinch, Sofie

    2011-01-01

    This paper presents an architectural approach to designing computational interfaces by articulating the notion of atmosphere in the field of interaction design. It draws upon the concept of kinesthetic interaction and a philosophical notion on atmosphere emphasizing the importance of bodily...

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

    Energy Technology Data Exchange (ETDEWEB)

    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

    International Nuclear Information System (INIS)

    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

    Science.gov (United States)

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

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

  9. High-throughput mouse genotyping using robotics automation.

    Science.gov (United States)

    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/.

  10. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

    Li, Hailing; Wu, Haiyan; Lou, Lei

    2012-01-01

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

  12. Safety assessment of high consequence robotics system

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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.

  14. Development of Industrial High-Speed Transfer Parallel Robot

    International Nuclear Information System (INIS)

    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

  15. Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Song, Yuntao; Cheng, Yong; Zhao, Wenglong [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Wang, Yongbo [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-11-01

    Highlights: • A redundant 10-DOF serial-articulated robot for EAST assembly and maintains is presented. • A trajectory optimization algorithm of the robot is developed. • A minimum jerk objective is presented to suppress machining vibration of the robot. - Abstract: EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA’s motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem.

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

    Science.gov (United States)

    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.

  17. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    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. The development of advanced robotics technology in high radiation environment

    International Nuclear Information System (INIS)

    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

  20. Human-Robot Interaction in High Vulnerability Domains

    Science.gov (United States)

    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.

  1. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

  2. 6 DOF articulated-arm robot and mobile platform: Dynamic modelling as Multibody System and its validation via Experimental Modal Analysis.

    Science.gov (United States)

    Toledo Fuentes, A.; Kipfmueller, M.; José Prieto, M. A.

    2017-10-01

    Mobile manipulators are becoming a key instrument to increase the flexibility in industrial processes. Some of their requirements include handling of objects with different weights and sizes and their “fast” transportation, without jeopardizing production workers and machines. The compensation of forces affecting the system dynamic is therefore needed to avoid unwanted oscillations and tilting by sudden accelerations and decelerations. One general solution may be the implementation of external positioning elements to active stabilize the system. To accomplish the approach, the dynamic behavior of a robotic arm and a mobile platform was investigated to develop the stabilization mechanism using multibody simulations. The methodology used was divided into two phases for each subsystem: their natural frequencies and modal shapes were obtained using experimental modal analyses. Then, based on these experimental results, multibody simulation models (MBS) were set up and its dynamical parameters adjusted. Their modal shapes together with their obtained natural frequencies allowed a quantitative and qualitative analysis. In summary, the MBS models were successfully validated with the real subsystems, with a maximal percentage error of 15%. These models will serve as the basis for future steps in the design of the external actuators and its control strategy using a co-simulation tool.

  3. Robotics

    Indian Academy of Sciences (India)

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

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

    NARCIS (Netherlands)

    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

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

    NARCIS (Netherlands)

    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

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

    Energy Technology Data Exchange (ETDEWEB)

    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

  7. On Interlayer Stability and High-Cycle Simulator Performance of Diamond-Like Carbon Layers for Articulating Joint Replacements

    Directory of Open Access Journals (Sweden)

    Kerstin Thorwarth

    2014-06-01

    Full Text Available Diamond like carbon (DLC coatings have been proven to be an excellent choice for wear reduction in many technical applications. However, for successful adaption to the orthopaedic field, layer performance, stability and adhesion in physiologically relevant setups are crucial and not consistently investigated. In vitro wear testing as well as adequate corrosion tests of interfaces and interlayers are of great importance to verify the long term stability of DLC coated load bearing implants in the human body. DLC coatings were deposited on articulating lumbar spinal disks made of CoCr28Mo6 biomedical implant alloy using a plasma-activated chemical vapor deposition (PACVD process. As an adhesion promoting interlayer, tantalum films were deposited by magnetron sputtering. Wear tests of coated and uncoated implants were performed in physiological solution up to a maximum of 101 million articulation cycles with an amplitude of ±2° and −3/+6° in successive intervals at a preload of 1200 N. The implants were characterized by gravimetry, inductively coupled plasma optical emission spectrometry (ICP-OES and cross section scanning electron microscopy (SEM analysis. It is shown that DLC coated surfaces with uncontaminated tantalum interlayers perform very well and no corrosive or mechanical failure could be observed. This also holds true in tests featuring overload and third-body wear by cortical bone chips present in the bearing pairs. Regarding the interlayer tolerance towards interlayer contamination (oxygen, limits for initiation of potential failure modes were established. It was found that mechanical failure is the most critical aspect and this mode is hypothetically linked to the α-β tantalum phase switch induced by increasing oxygen levels as observed by X-ray diffraction (XRD. It is concluded that DLC coatings are a feasible candidate for near zero wear articulations on implants, potentially even surpassing the performance of ceramic vs

  8. High productivity mould robotic milling in Al-5083

    Science.gov (United States)

    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.

  9. On Autonomous Articulated Vehicles

    OpenAIRE

    Nayl, Thaker

    2015-01-01

    The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. Based on this approach, nonlinear and line...

  10. Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system

    Energy Technology Data Exchange (ETDEWEB)

    Shi, Shanshuang, E-mail: shiss@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Song, Yuntao; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Villedieu, Eric; Bruno, Vincent [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France); Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Wu, Huapeng [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wang, Peng [State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000 (China); Hao, Zhiwei; Li, Yang; Wang, Kun; Pan, Hongtao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China)

    2016-03-15

    Highlights: • EAST Articulated Maintenance Arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM. • Conceptual design for a 3-DOF wrist end effector with gripper has been finished. • Kinematic design can reach 90% of the workspace inside EAST tokamak vessel. • A prototype of EAMA arm segment has been built to validate the design. - Abstract: EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.

  11. Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system

    International Nuclear Information System (INIS)

    Shi, Shanshuang; Song, Yuntao; Cheng, Yong; Villedieu, Eric; Bruno, Vincent; Feng, Hansheng; Wu, Huapeng; Wang, Peng; Hao, Zhiwei; Li, Yang; Wang, Kun; Pan, Hongtao

    2016-01-01

    Highlights: • EAST Articulated Maintenance Arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM. • Conceptual design for a 3-DOF wrist end effector with gripper has been finished. • Kinematic design can reach 90% of the workspace inside EAST tokamak vessel. • A prototype of EAMA arm segment has been built to validate the design. - Abstract: EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.

  12. High Altitude Platforms Mobile Robotic Telesurgery (HAPsMRT)

    National Research Council Canada - National Science Library

    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...

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

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    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)

  15. Evolutionary robotics

    Indian Academy of Sciences (India)

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

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

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

  18. Articulating Business Education Curricula.

    Science.gov (United States)

    McEwen, Beryl C.

    1998-01-01

    Responses from 75 of 108 business educators indicated that most students took business courses to develop both job and personal-use skills; more than 50% were college bound. A substantial overlap between skills taught in secondary and postsecondary business shows a strong possibility for curriculum articulation. (SK)

  19. Thirteen-Year Evaluation of Highly Cross-Linked Polyethylene Articulating With Either 28-mm or 36-mm Femoral Heads Using Radiostereometric Analysis and Computerized Tomography

    DEFF Research Database (Denmark)

    Nebergall, Audrey K; Greene, Meridith E; Rubash, Harry E

    2016-01-01

    BACKGROUND: The objective of this 13-year prospective evaluation of highly cross-linked ultra high molecular weight polyethylene (HXLPE) was to (1) assess the long-term wear of HXLPE articulating with 2 femoral head sizes using radiostereometric analysis (RSA) and to (2) determine if osteolysis...... is a concern with this material through the use of plain radiographs and computerized tomography (CT). METHODS: All patients received a Longevity HXLPE liner with tantalum beads and either a 28-mm or 36-mm femoral head. Twelve patients (6 in each head size group) agreed to return for 13-year RSA, plain...... scan revealed areas of remodeling of this graft. One patient's 13-year plain radiographs showed evidence of cup loosening and linear radiolucencies in zones 2 and 3. CONCLUSION: There was no evidence of significant wear over time using RSA. The CT scans did not show evidence of osteolysis due to wear...

  20. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

    2013-01-01

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  1. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

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

    Science.gov (United States)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    International Nuclear Information System (INIS)

    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

  5. Activating Articulation Skills through Theraplay.

    Science.gov (United States)

    Kupperman, Phyllis; And Others

    1980-01-01

    Speech theraplay, a method of remediation for children with articulation disorders, is described. The approach is based on parent-child interactions that are postulated to activate articulation acquistion. The results of a six-week study indicated improvement in the articulation abilities of six children (3 to 4 years old) with this method.…

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

    Science.gov (United States)

    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.

  7. High Precision GNSS Guidance for Field Mobile Robots

    Directory of Open Access Journals (Sweden)

    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.

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

    OpenAIRE

    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...

  9. Wear of PEEK-OPTIMA® and PEEK-OPTIMA®-Wear Performance articulating against highly cross-linked polyethylene.

    Science.gov (United States)

    East, Rebecca H; Briscoe, Adam; Unsworth, Anthony

    2015-03-01

    The idea of all polymer artificial joints, particularly for the knee and finger, has been raised several times in the past 20 years. This is partly because of weight but also to reduce stress shielding in the bone when stiffer materials such as metals or ceramics are used. With this in mind, pin-on-plate studies of various polyetheretherketone preparations against highly cross-linked polyethylene were conducted to investigate the possibility of using such a combination in the design of a new generation of artificial joints. PEEK-OPTIMA(®) (no fibre) against highly cross-linked polyethylene gave very low wear factors of 0.0384 × 10(-6) mm(3)/N m for the polyetheretherketone pins and -0.025 × 10(-6) mm(3)/N m for the highly cross-linked polyethylene plates. The carbon-fibre-reinforced polyetheretherketone (PEEK-OPTIMA(®)-Wear Performance) also produced very low wear rates in the polyetheretherketone pins but produced very high wear in the highly cross-linked polyethylene, as might have been predicted since the carbon fibres are quite abrasive. When the fibres were predominantly tangential to the sliding plane, the mean wear factor was 0.052 × 10(-6) mm(3)/N m for the pins and 49.3 × 10(-6) mm(3)/N m for the highly cross-linked polyethylene plates; a half of that when the fibres ran axially in the pins (0.138 × 10(-6) mm(3)/N m for the pins and 97.5 × 10(-6) mm/ N m for the cross-linked polyethylene plates). PEEK-OPTIMA(®) against highly cross-linked polyethylene merits further investigation. © IMechE 2015.

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

    Science.gov (United States)

    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.

  11. Development of Competency-Based Articulated Automotive Program. Big Bend Community College and Area High Schools. Final Report.

    Science.gov (United States)

    Buche, Fred; Cox, Charles

    A competency-based automotive mechanics curriculum was developed at Big Bend Community College (Washington) in order to provide the basis for an advanced placement procedure for high school graduates and experienced adults through a competency assessment. In order to create the curriculum, Big Bend Community College automotive mechanics…

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Data.gov (United States)

    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...

  14. Robotic radical perineal cystectomy and extended pelvic lymphadenectomy: initial investigation using a purpose-built single-port robotic system.

    Science.gov (United States)

    Maurice, Matthew J; Kaouk, Jihad H

    2017-12-01

    To assess the feasibility of radical perineal cystoprostatectomy using the latest generation purpose-built single-port robotic surgical system. In two male cadavers the da Vinci ® SP1098 Surgical System (Intuitive Surgical, Sunnyvale, CA, USA) was used to perform radical perineal cystoprostatectomy and bilateral extended pelvic lymph node dissection (ePLND). New features in this model include enhanced high-definition three-dimensional optics, improved instrument manoeuvrability, and a real-time instrument tracking and guidance system. The surgery was accomplished through a 3-cm perineal incision via a novel robotic single-port system, which accommodates three double-jointed articulating robotic instruments, an articulating camera, and an accessory laparoscopic instrument. The primary outcomes were technical feasibility, intraoperative complications, and total robotic operative time. The cases were completed successfully without conversion. There were no accidental punctures or lacerations. The robotic operative times were 197 and 202 min. In this preclinical model, robotic radical perineal cystoprostatectomy and ePLND was feasible using the SP1098 robotic platform. Further investigation is needed to assess the feasibility of urinary diversion using this novel approach and new technology. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

  15. Articulating Material Criteria

    DEFF Research Database (Denmark)

    Hasling, Karen Marie

    2013-01-01

    , imitate and articulate the students’ inclusion of materials. This paper particularly discusses the experiences made and ideas generated after the execution of a material science course for second year students, with emphasis on the concept of the material selection matrix as an educational tool......This paper discusses the experiences and potentials with materials teaching at the Institute for Product Design at Kolding School of Design, using materials teaching as experiments in my PhD project. The project intents to create a stronger material awareness among product design students...... with emphasis on sustainability. The experiments aim to develop an understanding of, how product design students include materials in their design practice and how tools can be developed that further enhance this. Hence experiments are essential for the progress of the PhD project as they help to observe...

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

    Science.gov (United States)

    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.

  17. Open software architecture for east articulated maintenance arm

    International Nuclear Information System (INIS)

    Wu, Jing; Wu, Huapeng; Song, Yuntao; Li, Ming; Yang, Yang; Alcina, Daniel A.M.

    2016-01-01

    Highlights: • A software requirement of serial-articulated robot for EAST assembly and maintains is presented. • A open software architecture of the robot is developed. • A component-based model distribution system with real-time communication of the robot is constructed. - Abstract: For the inside inspection and the maintenance of vacuum vessel in the EAST, an articulated maintenance arm is developed. In this article, an open software architecture developed for the EAST articulated maintenance arm (EAMA) is described, which offers a robust and proper performance and easy-going experience based on standard open robotic platform OROCOS. The paper presents a component-based model software architecture using multi-layer structure: end layer, up layer, middle, and down layer. In the end layer the components are defined off-line in the task planner manner. The components in up layer complete the function of trajectory plan. The CORBA, as a communication framework, is adopted to exchange the data between the distributed components. The contributors use Real-Time Workshop from the MATLAB/Simulink to generate the components in the middle layer. Real-time Toolkit guarantees control applications running in the hard real-time mode. Ethernets and the CAN bus are used for data transfer in the down layer, where the components implement the hardware functions. The distributed architecture of control system associates each processing node with each joint, which is mapped to a component with all functioning features of the framework.

  18. Open software architecture for east articulated maintenance arm

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Li, Ming [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Yang, Yang [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Alcina, Daniel A.M. [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland)

    2016-11-01

    Highlights: • A software requirement of serial-articulated robot for EAST assembly and maintains is presented. • A open software architecture of the robot is developed. • A component-based model distribution system with real-time communication of the robot is constructed. - Abstract: For the inside inspection and the maintenance of vacuum vessel in the EAST, an articulated maintenance arm is developed. In this article, an open software architecture developed for the EAST articulated maintenance arm (EAMA) is described, which offers a robust and proper performance and easy-going experience based on standard open robotic platform OROCOS. The paper presents a component-based model software architecture using multi-layer structure: end layer, up layer, middle, and down layer. In the end layer the components are defined off-line in the task planner manner. The components in up layer complete the function of trajectory plan. The CORBA, as a communication framework, is adopted to exchange the data between the distributed components. The contributors use Real-Time Workshop from the MATLAB/Simulink to generate the components in the middle layer. Real-time Toolkit guarantees control applications running in the hard real-time mode. Ethernets and the CAN bus are used for data transfer in the down layer, where the components implement the hardware functions. The distributed architecture of control system associates each processing node with each joint, which is mapped to a component with all functioning features of the framework.

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

    Science.gov (United States)

    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.

  20. Method of controlling innovative articulation for articulated vehicle

    Directory of Open Access Journals (Sweden)

    Szumilas Mateusz

    2018-01-01

    Full Text Available Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

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

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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.

  5. The relationship between high-frequency pure-tone hearing loss, hearing in noise test (HINT) thresholds, and the articulation index.

    Science.gov (United States)

    Vermiglio, Andrew J; Soli, Sigfrid D; Freed, Daniel J; Fisher, Laurel M

    2012-01-01

    Speech recognition in noise testing has been conducted at least since the 1940s (Dickson et al, 1946). The ability to recognize speech in noise is a distinct function of the auditory system (Plomp, 1978). According to Kochkin (2002), difficulty recognizing speech in noise is the primary complaint of hearing aid users. However, speech recognition in noise testing has not found widespread use in the field of audiology (Mueller, 2003; Strom, 2003; Tannenbaum and Rosenfeld, 1996). The audiogram has been used as the "gold standard" for hearing ability. However, the audiogram is a poor indicator of speech recognition in noise ability. This study investigates the relationship between pure-tone thresholds, the articulation index, and the ability to recognize speech in quiet and in noise. Pure-tone thresholds were measured for audiometric frequencies 250-6000 Hz. Pure-tone threshold groups were created. These included a normal threshold group and slight, mild, severe, and profound high-frequency pure-tone threshold groups. Speech recognition thresholds in quiet and in noise were obtained using the Hearing in Noise Test (HINT) (Nilsson et al, 1994; Vermiglio, 2008). The articulation index was determined by using Pavlovic's method with pure-tone thresholds (Pavlovic, 1989, 1991). Two hundred seventy-eight participants were tested. All participants were native speakers of American English. Sixty-three of the original participants were removed in order to create groups of participants with normal low-frequency pure-tone thresholds and relatively symmetrical high-frequency pure-tone threshold groups. The final set of 215 participants had a mean age of 33 yr with a range of 17-59 yr. Pure-tone threshold data were collected using the Hughson-Weslake procedure. Speech recognition data were collected using a Windows-based HINT software system. Statistical analyses were conducted using descriptive, correlational, and multivariate analysis of covariance (MANCOVA) statistics. The

  6. Articulation Workshop in Drafting. Final Report.

    Science.gov (United States)

    Catonsville Community Coll., MD.

    Drafting students from vocational/technical and high schools frequently repeat the same experiences and courses and work with the same instructional materials when they enroll in college engineering drawing, and architecture programs. In order to minimize needless repetition and address the problem of articulation between such schools and the…

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  10. State Articulated Instructional Objectives Guide for Occupational Education Programs. State Pilot Model for Automotive Mechanics (DCC V-003) and Automotive Mechanics (High School).

    Science.gov (United States)

    North Carolina State Dept. of Community Colleges, Raleigh.

    This articulation instructional objective guide for automotive mechanics contains summary information on fifteen blocks (courses) of instruction. They are introduction to automotive technology; lubrication and vehicle operating maintenance; cooling system maintenance and repair; automobile heater maintenance and repair; braking system maintenance…

  11. Active cells for redundant and configurable articulated structures

    International Nuclear Information System (INIS)

    Swensen, John P; Nawroj, Ahsan I; Pounds, Paul E I; Dollar, Aaron M

    2014-01-01

    The proposed research effort explores the development of active cells—simple contractile electro-mechanical units that can be used as the material basis for larger articulable structures. Each cell, which might be considered a ‘muscle unit,’ consists of a contractile Nitinol Shape Memory Alloy (SMA) core with conductive terminals. Large numbers of these cells might be combined and externally powered to change phase, contracting to either articulate with a large strain or increase the stiffness of the ensemble, depending on the cell design. Unlike traditional work in modular robotics, the approach presented here focuses on cells that have a simplistic design and function, are inexpensive to fabricate, and are eventually scalable to sub-millimeter sizes, working toward our vision of articulated and robotic structures that can be custom-fabricated from large numbers of general cell units, similar to biological structures. In this paper, we present the design of the active cells and demonstrate their usage with three articulated structures built with them. (paper)

  12. Leer y escribir en la Universidad: propuestas de articulación con la escuela media Reading and writing at the University: articulated proposals with High School

    Directory of Open Access Journals (Sweden)

    Patricia Nigro

    2006-12-01

    on some investigation works related to "academic alphabetization", mentioned along this article. My objective is to set a bridge between High School and University in order to articulate better both institutions, looking for the new students benefit.

  13. 3D YAG laser cutting robot. 3 jigen YAG laser setsudan robot

    Energy Technology Data Exchange (ETDEWEB)

    Mukai, Y. (Matsushita Electric Industrial Co. Ltd., Osaka (Japan))

    1991-11-01

    The present status was introduced of three-dimensional processing by the YAG laser multi-articulation robot to introduce the focusing system. The lowering in locus accuracy of multi-articulation robot is caused by the accuracy and time of computation to interpolate the locus, response characteristics of servo system, and calibration problem of mechanical/structural system. Also as low in output power of laser, it has problem in focusing the energy in the radiating optical system. A focusing system, high in response velocity, is necessary in the processor to use the optical fiber in the optical transfer system. As processing and measuring at an identical spot, the present system can integrate the detection use electrode and nozzle so as to use an electrostatic capacity type sensor, high in response frequency. To avoid the interference with jig, etc., the nozzle of radiating unit was integrated with the detection use electrode so that development was made of height sensor, capable of executing the three-dimensional processing. The present robot is characterized by a standardized equipment of control system with a sliding shaft, independent of the operational shaft properly of robot in order to be exclusively used for the focusing. 9 figs.

  14. Advantages of robotics in benign gynecologic surgery.

    Science.gov (United States)

    Truong, Mireille; Kim, Jin Hee; Scheib, Stacey; Patzkowsky, Kristin

    2016-08-01

    The purpose of this article is to review the literature and discuss the advantages of robotics in benign gynecologic surgery. Minimally invasive surgery has become the preferred route over abdominal surgery. The laparoscopic or robotic approach is recommended when vaginal surgery is not feasible. Thus far, robotic gynecologic surgery data have demonstrated feasibility, safety, and equivalent clinical outcomes in comparison with laparoscopy and better clinical outcomes compared with laparotomy. Robotics was developed to overcome challenges of laparoscopy and has led to technological advantages such as improved ergonomics, visualization with three-dimensional capabilities, dexterity and range of motion with instrument articulation, and tremor filtration. To date, applications of robotics in benign gynecology include hysterectomy, myomectomy, endometriosis surgery, sacrocolpopexy, adnexal surgery, tubal reanastomosis, and cerclage. Though further data are needed, robotics may provide additional benefits over other approaches in the obese patient population and in higher complexity cases. Challenges that arose in the earlier adoption stage such as the steep learning curve, costs, and operative times are becoming more optimized with greater experience, with implementation of robotics in high-volume centers and with improved training of surgeons and robotic teams. Robotic laparoendoscopic single-site surgery, albeit still in its infancy where technical advantages compared with laparoscopic single-site surgery are still unclear, may provide a cost-reducing option compared with multiport robotics. The cost may even approach that of laparoscopy while still conferring similar perioperative outcomes. Advances in robotic technology such as the single-site platform and telesurgery, have the potential to revolutionize the field of minimally invasive gynecologic surgery. Higher quality evidence is needed to determine the advantages and disadvantages of robotic surgery in benign

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

    International Nuclear Information System (INIS)

    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

  16. Design and fabrication of an articulated four axes microrobot arm

    Science.gov (United States)

    Zhang, Ruoshi; Yang, Zhong; Wei, Danming; Popa, Dan O.

    2017-05-01

    In order to carry out nanomanufacturing tasks, a microrobot requires both high precision and high reliability over prolonged periods of time. Articulated Four-Axis Microrobots (AFAM) have been introduced a decade ago as millimetric microrobots capable of carrying out nanoscale tasks. The original robot design relied on a Micro Electro Mechanical (MEMS) actuator bank positioned onto a Silicon substrate, and an assembled arm mechanically coupled to the actuators through a cable. Movement of two thermal actuator banks positions the AFAM's end effector in 3-Dimensional space with approximately 75 microns workspace and 50 nm repeatability. However, failure of the AFAM's cable mechanism was observed after less than 1 million cycles. In this paper, we propose a novel arm mechanism for AFAM that improve its performance. The design presented in this article substitutes the "wire-gluing" cable with an anchored electrostatic actuator, and therefore it simplifies assembly requirements, reduces overall footprint of the microrobot, and achieves higher operating frequency. Simulation results are presented for a rotary electrostatic comb drive as basis for the microrobot arm with overall dimensions of 2 mm × 2 mm. The AFAM arm cantilever is 1 mm long to achieve a workspace of dimension of 75 microns along the vertical axis. Experimental evaluation of the design was accomplished using a prototype fabricated on a silicon on insulator (SOI) wafer processed with the deep reactive ion etching (DRIE) process.

  17. Robust high-performance control for robotic manipulators

    Science.gov (United States)

    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.

  18. Optimization-Based Controllers for Robotics Applications (OCRA: The Case of iCub’s Whole-Body Control

    Directory of Open Access Journals (Sweden)

    Jorhabib G. Eljaik

    2018-03-01

    Full Text Available OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization-based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented using these tools. The generic interfaces provided by OCRA allow different robots to use the exact same controllers. OCRA also allows users to specify high-level objectives via tasks. These tasks provide an intuitive way of generating complex behaviors and can be specified in XML format. To illustrate the use of OCRA, an implementation of interest to this research topic for the humanoid robot iCub is presented. OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization-based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented using these tools. The generic interfaces provided by OCRA allow different robots to use the exact same controllers. OCRA also allows users to specify high-level objectives via tasks. These tasks provide an intuitive way of generating complex behaviors and can be specified in XML format. To illustrate the use of OCRA, an implementation of interest to this research topic for the humanoid robot iCub is presented.

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

    NARCIS (Netherlands)

    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

  20. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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).

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

    International Nuclear Information System (INIS)

    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)

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

    Energy Technology Data Exchange (ETDEWEB)

    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)

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

    DEFF Research Database (Denmark)

    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...

  8. ITER articulated inspection arm (AIA): R and D progress on vacuum and temperature technology for remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y.; Friconneau, J.P. [Robotics and Interactive Systems Unit - CEA/LIST, 92 - Fontenay aux Roses (France); Cordier, J.J.; Gargiulo, L. [Association Euratom-CEA, Centre d' Etudes de Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Palmer, J.D. [EFDA CSU Garching (Germany); Martin, E. [ITER International Team, Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, Iberaki-ken (Japan)

    2004-07-01

    To perform an intervention a short time after plasma shutdown, the operation of the robot will have to be under ITER conditions which means: under high vacuum, pollution avoidance and a temperature ambience around 120 C. The feasibility studies have led to the design of a robot in the shape of a 8.2 meter long articulated arm made up of 5 modules with 11 articulated joints. A single module prototype has been manufactured to be tested. The prototype was set up in a specific vacuum vessel at Tore-Supra facility that can be baked up to 230 C under high-vacuum conditions. The first tests have shown that: -) the efficiency of the actuators at 120 C was the same than in air at room temperature, the speed was slightly lower, -) the monitoring of the temperature of the motor and of the power electronics components showed an increasing of only 40 C during 3 full pitch movements, and -) most of the greases was degassed during the 1 week long baking at 200 C except one which comes from an organic material in a component that has to be identified.

  9. ITER articulated inspection arm (AIA): R and D progress on vacuum and temperature technology for remote handling

    International Nuclear Information System (INIS)

    Perrot, Y.; Friconneau, J.P.; Cordier, J.J.; Gargiulo, L.; Martin, E.; Tesini, A.

    2004-01-01

    To perform an intervention a short time after plasma shutdown, the operation of the robot will have to be under ITER conditions which means: under high vacuum, pollution avoidance and a temperature ambience around 120 C. The feasibility studies have led to the design of a robot in the shape of a 8.2 meter long articulated arm made up of 5 modules with 11 articulated joints. A single module prototype has been manufactured to be tested. The prototype was set up in a specific vacuum vessel at Tore-Supra facility that can be baked up to 230 C under high-vacuum conditions. The first tests have shown that: -) the efficiency of the actuators at 120 C was the same than in air at room temperature, the speed was slightly lower, -) the monitoring of the temperature of the motor and of the power electronics components showed an increasing of only 40 C during 3 full pitch movements, and -) most of the greases was degassed during the 1 week long baking at 200 C except one which comes from an organic material in a component that has to be identified

  10. Rugged Walking Robot

    Science.gov (United States)

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

    1990-01-01

    Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

  11. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    International Nuclear Information System (INIS)

    Perrot, Y.; Cordier, J.J.; Friconneau, J.P.; Gargiulo, L.; Martin, E.; Palmer, J.D.; Tesini, A.

    2005-01-01

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 o C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module

  12. ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

    Energy Technology Data Exchange (ETDEWEB)

    Perrot, Y. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France)]. E-mail: yann.perrot@cea.fr; Cordier, J.J. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France); Gargiulo, L. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Martin, E. [ITER International Team, Boltzmannstrasse 2, 85748 Garching (Germany); Palmer, J.D. [EFDA CSU Garching, Boltzmannstrasse 2, 85748 Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, 801-1, Muouyama, Naka-machi, Naka-gun, Iberaki-ken 311-0193 (Japan)

    2005-11-15

    This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 {sup o}C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

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

    Science.gov (United States)

    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.

  14. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  15. Who’s Afraid of Robots?

    DEFF Research Database (Denmark)

    Di Nucci, Ezio; Santoni de Sio, Filippo

    2014-01-01

    We argue that lack of direct and conscious control is not, in principle, a reason to be afraid of machines in general and robots in particular: in order to articulate the ethical and political risks of increasing automation one must, therefore, tackle the difficult task of precisely delineating...... the theoretical and practical limits of sustainable delegation to robots....

  16. 21 CFR 872.6140 - Articulation paper.

    Science.gov (United States)

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Articulation paper. 872.6140 Section 872.6140 Food... DEVICES DENTAL DEVICES Miscellaneous Devices § 872.6140 Articulation paper. (a) Identification. Articulation paper is a device composed of paper coated with an ink dye intended to be placed between the...

  17. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  18. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  19. Kinematics and Path Following Control of an Articulated Drum Roller

    Science.gov (United States)

    BIAN, Yongming; YANG, Meng; FANG, Xiaojun; WANG, Xiahui

    2017-07-01

    Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work efficiency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state-feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What's more, to evaluate the performance of the proposed method, simulation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial displacement error (-1.5 m), heading error (-0.11 rad) and steering angle (-0.19 rad). Finally, simulation and experimental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articulated drum roller can lock into a desired path with the proposed method in uneven fields.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    OpenAIRE

    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...

  3. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

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

    Science.gov (United States)

    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.

  5. Trust me, I am Robot!

    DEFF Research Database (Denmark)

    Stoyanova, Angelina; Drefeld, Jonas; Tanev, Stoyan

    of the emerging trust relationship is a key component of the use value of the robotic system and of the value proposition of the robotic system producers. The study is based on a qualitative research approach combining the phenomenological research paradigm with a grounded theory building approach based......The aim of this paper is to discuss some of the issues regarding the emergence of trust within the context of the interaction between human patients and medical rehabilitation technology based on robot system solutions. The starting assumption of the analysis is that the articulation...

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

    Science.gov (United States)

    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.

  7. Control of objects with a high degree of freedom

    OpenAIRE

    Wang, He

    2012-01-01

    In this thesis, I present novel strategies for controlling objects with high degrees of freedom for the purpose of robotic control and computer animation, including articulated objects such as human bodies or robots and deformable objects such as ropes and cloth. Such control is required for common daily movements such as folding arms, tying ropes, wrapping objects and putting on clothes. Although there is demand in computer graphics and animation for generating such scenes, li...

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  10. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

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

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

    Science.gov (United States)

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

    2010-11-01

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

  12. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

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

    International Nuclear Information System (INIS)

    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

  14. Linearized motion estimation for articulated planes.

    Science.gov (United States)

    Datta, Ankur; Sheikh, Yaser; Kanade, Takeo

    2011-04-01

    In this paper, we describe the explicit application of articulation constraints for estimating the motion of a system of articulated planes. We relate articulations to the relative homography between planes and show that these articulations translate into linearized equality constraints on a linear least-squares system, which can be solved efficiently using a Karush-Kuhn-Tucker system. The articulation constraints can be applied for both gradient-based and feature-based motion estimation algorithms and to illustrate this, we describe a gradient-based motion estimation algorithm for an affine camera and a feature-based motion estimation algorithm for a projective camera that explicitly enforces articulation constraints. We show that explicit application of articulation constraints leads to numerically stable estimates of motion. The simultaneous computation of motion estimates for all of the articulated planes in a scene allows us to handle scene areas where there is limited texture information and areas that leave the field of view. Our results demonstrate the wide applicability of the algorithm in a variety of challenging real-world cases such as human body tracking, motion estimation of rigid, piecewise planar scenes, and motion estimation of triangulated meshes.

  15. [The temporo-mandibular articulation].

    Science.gov (United States)

    Dargaud, J; Vinkka-Puhakka, H

    2004-04-01

    The standing posture of humans has created both morphological and functional adaptations in the temporo-mandibular joint and the masticatory function. This biped state is the one of the most important characteristic of human evolution. It is furthermore the agent determining most of the functional changes in the whole body. This survey will be carried out in several levels including, a descriptive anatomy, biomechanics, radiological imaging, functioning in the articulation of TMJ. The descriptive anatomic picture will be obtained by the traditional dissection techniques. 20 TMJ joints are dissected from 10 cadavers: 7 cadavers, 65-75 year old, 3 cadavers, 60-65 year old. The x-rays are lateral view and the subjects of the radiological imaging are young's, adults and olds: 1, 3 y-old Male; 1, 7 y-old Female; 1, 14 y-old Female; 10, 19-23 y-old Male; 1, 26 y-old Female; 1, 34 y-old Male; 1, 75 y-old Female. The anatomic elements in the TMJ well resembled the ones described in the literature of the capsule, the ligament, the masticator muscles (masseter, temporal, medial and lateral pterygoids). The temporo-mandibular ligament proved to be difficult to separate from the capsule in some of the specimens. Sometimes it was not always found after a dissection.

  16. AN IMPLEMENTATION OF PACMAN GAME USING ROBOTS

    OpenAIRE

    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...

  17. Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

    Energy Technology Data Exchange (ETDEWEB)

    Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

    2015-10-15

    Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

  18. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  19. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

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

    International Nuclear Information System (INIS)

    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.)

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

    Science.gov (United States)

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

    2013-06-01

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

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

    Data.gov (United States)

    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...

  3. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

    Robotics are now being used in all surgical fields, including general surgery. By increasing intra-abdominal articulations while operating through small incisions, robotics are increasingly being used for a large number of visceral and solid organ operations, including those for the gallbladder, esophagus, stomach, intestines, colon, and rectum, as well as for the endocrine organs. Robotics and general surgery are blending for the first time in history and as a specialty field should continue to grow for many years to come. We continuously demand solutions to questions and limitations that are experienced in our daily work. Laparoscopy is laden with limitations such as fixed axis points at the trocar insertion sites, two-dimensional video monitors, limited dexterity at the instrument tips, lack of haptic sensation, and in some cases poor ergonomics. The creation of a surgical robot system with 3D visual capacity seems to deal with most of these limitations. Although some in the surgical community continue to test the feasibility of these surgical robots and to question the necessity of such an expensive venture, others are already postulating how to improve the next generation of telemanipulators, and in so doing are looking beyond today's horizon to find simpler solutions. As the robotic era enters the world of the general surgeon, more and more complex procedures will be able to be approached through small incisions. As technology catches up with our imaginations, robotic instruments (as opposed to robots) and 3D monitoring will become routine and continue to improve patient care by providing surgeons with the most precise, least traumatic ways of treating surgical disease.

  4. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  5. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    International Nuclear Information System (INIS)

    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

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

    NARCIS (Netherlands)

    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

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

    NARCIS (Netherlands)

    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

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

    NARCIS (Netherlands)

    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

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

    NARCIS (Netherlands)

    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

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

    Science.gov (United States)

    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…

  14. Aerial robot intelligent control method based on back-stepping

    Science.gov (United States)

    Zhou, Jian; Xue, Qian

    2018-05-01

    The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.

  15. Design articulation for Aesthetics of Interaction

    DEFF Research Database (Denmark)

    Krogh, Peter; Graves Petersen, Marianne

    2009-01-01

    In this paper we present three categories of design articulations addressing the characteristic qualities of aesthetics of interaction. By aesthetics of interaction we point to the process in which interactive technology brings about aesthetic experience in the use of interactive technology......-designers. In this case the categories of design articulations frame intended aesthetic experiences. Our mission is that of using aesthetic theory to inform the design of interactive technology, which shapes aesthetic experiences in everyday use....

  16. Unscented Kalman filtering for articulated human tracking

    DEFF Research Database (Denmark)

    Boesen Lindbo Larsen, Anders; Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    We present an articulated tracking system working with data from a single narrow baseline stereo camera. The use of stereo data allows for some depth disambiguation, a common issue in articulated tracking, which in turn yields likelihoods that are practically unimodal. While current state...... with superior results. Tracking quality is measured by comparing with ground truth data from a marker-based motion capture system....

  17. The robotic appendicovesicostomy and bladder augmentation: the next frontier in robotics, are we there?

    Science.gov (United States)

    Cohen, Andrew J; Pariser, Joseph J; Anderson, Blake B; Pearce, Shane M; Gundeti, Mohan S

    2015-02-01

    There is growing interest in applying robotic-assisted laparoscopic techniques to complex reconstructive pelvic surgery owing to inherent benefits of precision, tissue handling, and articulating instruments for suturing. This review examines preliminary experiences with robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy (RALIMA) as either an isolated or combined procedure. These series suggest RALIMA is feasible, with the benefit of early recovery and improved cosmetic results in selected patients. The robotic approach incurs functional outcomes and complication rates similar to those of open techniques. Given the steep learning curve, only surgeons with extensive robotic experience are currently adopting this technique. Copyright © 2015 Elsevier Inc. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    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.

  19. Kinematics Control and Analysis of Industrial Robot

    Science.gov (United States)

    Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

    2018-03-01

    The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

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

    International Nuclear Information System (INIS)

    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)

  1. Parkinson Disease Detection from Speech Articulation Neuromechanics

    Directory of Open Access Journals (Sweden)

    Pedro Gómez-Vilda

    2017-08-01

    .Conclusions: The proposed methodology avails that the use of highly normalized descriptors as the probability distribution of kinematic variables of vowel articulation stability, which has some interesting properties in terms of information theory, boosts the potential of simple yet powerful classifiers in producing quite acceptable detection results in Parkinson Disease.

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

    Science.gov (United States)

    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.

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

    Data.gov (United States)

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  9. Design of Piano -playing Robotic Hand

    OpenAIRE

    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...

  10. Effects of Interruptibility-Aware Robot Behavior

    OpenAIRE

    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, ...

  11. Gender Issues and Language Articulation; a Brief Look at Pros of Gender Neutral Language Articulation

    Science.gov (United States)

    Ebrahimi, Pouria

    2009-01-01

    As with the language articulated by learners--in both oral and written form--the supremacy of a masculine language use is witnessed. This brings to light the fact that gender has been excessively an unobserved factor in the process of language teaching. Although learners are apparently used to forming masculine-centered articulation, non-sexist…

  12. Robot Tracer with Visual Camera

    Science.gov (United States)

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

    2017-12-01

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

  13. [The controversy of routine articulator mounting in orthodontics].

    Science.gov (United States)

    Wang, Li; Han, Xianglong; Bai, Ding

    2013-06-01

    Articulators have been widely used by clinicians of dentistry. But routine articulator mounting is still controversial in orthodontics. Orthodontists oriented by gnathology approve routine articulator mounting while nongnathologic orthodontists disapprove it. This article reviews the thoughts of orthodontist that they agree or disagree with routine articulator mounting based on the considerations of biting, temporomandibular disorder (TMD), periodontitis, and so on.

  14. Training in urological robotic surgery. Future perspectives.

    Science.gov (United States)

    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.

  15. Dynamics of an articulated shell type flexible rotor

    International Nuclear Information System (INIS)

    Suleman, M.; Khan, M.Z.; Nazeer, M.M.

    2001-01-01

    An ultra high speed articulated shell type flexible rotor supported by low stiffness flexible bearing encounters a number of dynamic problems while traversing towards or from the service speed. The major and critical problems that arise are: Synchronous and Sub-synchronous vibration due to instabilities. Structural resonances and rubs due to eccentricities of structure and magnetic bearing. The symptoms of these troubles, their root causes and remedial measures are highlighted and discussed in this work. (author)

  16. Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Kun, E-mail: wangkun@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Lappeenranta University of Technology, Lappeenranta (Finland); University of Science and Technology of China, Hefei (China); Song, Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science and Technology of China, Hefei (China); Wu, Huapeng [Lappeenranta University of Technology, Lappeenranta (Finland); Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2017-06-15

    Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.

  17. Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

    International Nuclear Information System (INIS)

    Wang, Kun; Song, Yuntao; Wu, Huapeng; Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong

    2017-01-01

    Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.

  18. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  19. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  20. Extensional Information Articulation from the Universe

    Directory of Open Access Journals (Sweden)

    Yasufumi Saruwatari

    2012-11-01

    Full Text Available Information must have physical support and this physical universe comprisesphysical interactions. Hence actual information processes should have a description byinteractions alone, i.e., an extensional description. In this paper, such a model of the processof information articulation from the universe is developed by generalizing the extensivemeasurement theory in metrology. Moreover, a model of the attribute creation processis presented to exemplify a step of the informational articulation process. These modelsdemonstrate the valuableness of the extensional view and are expected to enhance theunderstanding of the extensional aspects of fundamentals of information.

  1. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  2. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  3. A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

    Science.gov (United States)

    Marzwell, Neville I.; Chen, Alexander Y. K.

    1991-01-01

    Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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. A remote telepresence robotic system for inspection and maintenance of a nuclear power plant

    International Nuclear Information System (INIS)

    Crane, C.D. III; Tulenko, J.S.

    1993-01-01

    Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development

  10. University of Florida, University research program in robotics. Annual technical progress report

    International Nuclear Information System (INIS)

    Crane, C.D. III; Tulenko, J.S.

    1994-05-01

    Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development

  11. University of Florida, University research program in robotics. Annual technical progress report

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1994-05-01

    Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development.

  12. Japan's ARTRA robot moves forward

    International Nuclear Information System (INIS)

    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)

  13. Ties That Bind: Default, Accreditation, and Articulation.

    Science.gov (United States)

    Prager, Carolyn

    1995-01-01

    Examines changes in the accreditation environment and the resulting implications for the articulation of students from for-profit to not-for-profit institutions such as community colleges. Indicates that the costs of programmatic redundancy and duplication brought about by mission convergence at these institutions will emerge as a major policy…

  14. Articulation Skills in Spanish-Speaking Children.

    Science.gov (United States)

    Linares, Thomas A.

    The purpose of the research was to develop an articulation test for Spanish-speakers and to field-test the instrument in both a monolingual Spanish-speaking environment and a bilingual Spanish/English environment. Such a test is needed because there has been little available to enable the diagnostician, whose clientele includes Spanish-speakers,…

  15. Computer Animation for Articulated 3D Characters

    NARCIS (Netherlands)

    Kiss, S.

    2002-01-01

    We present a review of the computer animation literature, mainly concentrating on articulated characters and at least some degree of interactivity or real time simulation. Advances in dierent techniques such as key-frame, motion capture (also known as mocap), dynamics, inverse kinematics (IK),

  16. Perceptual Articulation in Three Middle Eastern Culture

    Science.gov (United States)

    Amir, Yehuda

    1975-01-01

    Noting that one would expect that members of cultural groups whose modes of child rearing foster individual autonomy would achieve more articulated perceptual functioning rather than persons reared in societies where conformity and emotional dependence are stressed, this article discusses a study which compared two Israeli sub-groups and two…

  17. Articulation of tacit and complex knowledge

    DEFF Research Database (Denmark)

    Kristiansen, Per; Hansen, Poul H. Kyvsgård; Nielsen, Louise Møller

    2009-01-01

    The paper focuses on the articulation of tacit and complex knowledge by taking outset in a specific methodology: LEGO® SERIOUS PLAYTM. In order to expand the methodology and to develop it further we propose to regard it as a language. By choosing a language view we are able to ably a language...

  18. Experimental Engineering: Articulating and Valuing Design Experimentation

    DEFF Research Database (Denmark)

    Vallgårda, Anna; Grönvall, Erik; Fritsch, Jonas

    2017-01-01

    In this paper we propose Experimental Engineering as a way to articulate open- ended technological experiments as a legitimate design research practice. Experimental Engineering introduces a move away from an outcome or result driven design process towards an interest in existing technologies and...

  19. The School and the Articulation of Values.

    Science.gov (United States)

    Lovin, Robin W.

    1988-01-01

    Value neutrality and values clarification fail to foster critical thinking about values. The values articulation approach identifies the rationality that is applied to value claims. It avoids noncognitivism and moral relativism and suggests ways the discussion of values in the classroom prepares students to deal with broader moral issues. (VM)

  20. Robotics and Industrial Arts.

    Science.gov (United States)

    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…

  1. Robotic hip arthroscopy in human anatomy.

    Science.gov (United States)

    Kather, Jens; Hagen, Monika E; Morel, Philippe; Fasel, Jean; Markar, Sheraz; Schueler, Michael

    2010-09-01

    Robotic technology offers technical advantages that might offer new solutions for hip arthroscopy. Two hip arthroscopies were performed in human cadavers using the da Vinci surgical system. During both surgeries, a robotic camera and 5 or 8 mm da Vinci trocars with instruments were inserted into the hip joint for manipulation. Introduction of cameras and working instruments, docking of the robotic system and instrument manipulation was successful in both cases. The long articulating area of 5 mm instruments limited movements inside the joint; an 8 mm instrument with a shorter area of articulation offered an improved range of motion. Hip arthroscopy using the da Vinci standard system appears a feasible alternative to standard arthroscopy. Instruments and method of application must be modified and improved before routine clinical application but further research in this area seems justified, considering the clinical value of such an approach. Copyright 2010 John Wiley & Sons, Ltd.

  2. The Remotely Controlled Robot System for Nuclear Power Plants

    International Nuclear Information System (INIS)

    Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

    1993-01-01

    The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

  3. Lessons of nuclear robot history

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  6. Robotics: The next step?

    Science.gov (United States)

    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.

  7. The history of articulators: the "Articulator Wars" phenomenon with some circumstances leading up to it.

    Science.gov (United States)

    Starcke, Edgar N; Engelmeier, Robert L; Belles, Donald M

    2010-06-01

    At the dawn of the 20th century, all was not well with the practice of "plate prostheses." Removable prosthodontics had been degrading for several decades and was now generally in low esteem, even though there had been many significant advances. W. E. Walker had introduced adjustable condylar guides, George Snow, the facebow, and Carl Christensen, a method for clinically measuring the condylar inclines. Nevertheless, the average practicing dentist was still using simple hinge articulators and was apathetic to the deplorable state of the artificial teeth available; however, this was all going to change dramatically when two dentists, Alfred Gysi and J. Leon Williams, working together between 1910 and 1914, presented to the profession the "Trubyte Artificial Tooth System" that embodied both a typal system for selecting anterior teeth and new posterior occlusal carvings that made possible, for the first time, the articulation of artificial teeth. This incited many of prosthetic dentistry's elite to introduce their own theories of mandibular movement and the articulators that they designed to reflect those theories. The intense debates that ensued, both in the meeting halls and in the literature, were numerous and lasted for decades. At the time, the "Articulator Wars" had both positive and negative consequences. Today, with many of the "Articulator Wars" issues remaining as part of the practice of dentistry, the "Articulator Wars" can be considered a phenomenon of enlightenment.

  8. Generation of Articulated Mechanisms by Optimization Techniques

    DEFF Research Database (Denmark)

    Kawamoto, Atsushi

    2004-01-01

    optimization [Paper 2] 3. Branch and bound global optimization [Paper 3] 4. Path-generation problems [Paper 4] In terms of the objective of the articulated mechanism design problems, the first to third papers deal with maximization of output displacement, while the fourth paper solves prescribed path...... generation problems. From a mathematical programming point of view, the methods proposed in the first and third papers are categorized as deterministic global optimization, while those of the second and fourth papers are categorized as gradient-based local optimization. With respect to design variables, only...... directly affects the result of the associated sensitivity analysis. Another critical issue for mechanism design is the concept of mechanical degrees of freedom and this should be also considered for obtaining a proper articulated mechanism. The thesis treats this inherently discrete criterion in some...

  9. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  10. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  11. Automation and traction control of articulated vehicles

    OpenAIRE

    Andersson, Ulf

    2013-01-01

    Articulated machines such as load-haul-dump machines, wheel loaders and haulers operate in many different environments and driving conditions. In particular they need to be able to perform well with road conditions and loads that can change drastically, setting hard requirements on performances and robustness. The control challenges for off-road vehicles are hence quite different from standard cars or trucks, which mostly drive on regular roads. An important aspect characterising this is the ...

  12. Existence of equilibria in articulated bearings

    Science.gov (United States)

    Buscaglia, G.; Ciuperca, I.; Hafidi, I.; Jai, M.

    2007-04-01

    The existence of equilibrium solutions for a lubricated system consisting of an articulated body sliding over a flat plate is considered. Though this configuration is very common (it corresponds to the popular tilting-pad thrust bearings), the existence problem has only been addressed in extremely simplified cases, such as planar sliders of infinite width. Our results show the existence of at least one equilibrium for a quite general class of (nonplanar) slider shapes. We also extend previous results concerning planar sliders.

  13. Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2013-09-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  14. Program Articulation: What It Is and What It Is Not.

    Science.gov (United States)

    Stevens, Barbara J.

    1981-01-01

    Discusses various elements of nursing education program articulation: politics, curriculum, core courses, philosophy, nursing theory, advantages and disadvantages of articulation, associate vs. baccalaureate degree programs, and program policies. (CT)

  15. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  16. Robot Control Overview: An Industrial Perspective

    Directory of Open Access Journals (Sweden)

    T. Brogårdh

    2009-07-01

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

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

    DEFF Research Database (Denmark)

    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...

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

    Directory of Open Access Journals (Sweden)

    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.

  19. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

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

    OpenAIRE

    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...

  1. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  2. Present and Future of Nuclear Robotics

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  3. Effectiveness of an Articulated Knee Hyperextension Orthosis in Genu Recurvatum

    Directory of Open Access Journals (Sweden)

    Rahul ASRM

    2014-08-01

    Full Text Available Genu Recurvatum is a deformity of knee joint that tends to push it backwards by excessive extension in tibio-femoral joints. This poses a significant challenge because of technical difficulties and a high incidence of recurrence. This report describes a 63 years old male diagnosed as post-polio residual paralysis who showed excessive genu recurvatum of his left knee during long standing and walking. An Articulated Knee Hyperextension Orthosis (KAFO was tried to check its effectiveness in terms of gait and energy expenditure.

  4. Robot Futures

    DEFF Research Database (Denmark)

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

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  5. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  6. Probabilistic approaches to robotic perception

    CERN Document Server

    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...

  7. Operation of an ITER relevant inspection robot on Tore Supra tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, Laurent [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Hatchressian, Jean-Claude; Hernandez, Caroline; Houry, Michael [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Keller, Delphine [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Martins, Jean-Pierre [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Measson, Yvan; Perrot, Yann [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Samaille, Frank [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)

    2009-06-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R and D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements. The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel. Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration. In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10{sup -6} Pa and 120 deg. C) after a conditioning phase at 200 deg. C to avoid outgassing pollution of the chamber. This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.

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

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  11. Developing a successful robotics program.

    Science.gov (United States)

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

    2012-01-01

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

  12. Steering assistance for backing up articulated vehicles

    Directory of Open Access Journals (Sweden)

    Dieter Zoebel

    2003-10-01

    Full Text Available Articulated vehicles belong to the category of nonholonomous wheelers. Under the aspect of control theory they require a sophisticated handling. This corresponds to the experience of unexercised drivers, for instance maneuvering a car and its caravan into a parking box. In this context some adequate advice for the right steering movements would give an appreciable assistance. Here a visual assistance is proposed and realized. The decisive advice for the driver is derived from kinematic modeling. The system is designed to be integrated into standard cars and trucks. For testing purposes the actual system has been incorporated into an existing backing up simulator.

  13. Robotic telescopes for high energy astrophysics in Ondřejov

    Czech Academy of Sciences Publication Activity Database

    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

  14. DISORDERS OF THE SOUND ARTICULATION IN PRETERM CHILDREN

    Directory of Open Access Journals (Sweden)

    Vesela MILANKOV

    2009-11-01

    Full Text Available Speech and language development is a good indicator of child’s cognitive development. The risk factors influencing development and functioning of prematurely born children are multiple. In addition to articulation disorder, there are motoric, conginitive and social aspects of delayed development. Premature babies are born before they physically ready to leave the womb. However, most babies born after about 26 weeks of gestational age have chances for survival, but they are at a greater risk of medical complications, since the earlier children are born, the less developed their organs are. Aim: To demonstrate basic parameters, establish differences, determine characteristics of disorder of sound articulation in fullterm and preterm children. Methodology: Research was conducted at the Clinics of Child’s Habilitation and Rehabilitation in Novi Sad. The prospective research study was carried out comprising 61 children with mean age of 4 years. The study inclusion criteria were gestational age and birth weight. Regarding these parameters, the children without major neurlologic or system disabilities were included, and they were Serbian speaking. The sample comprised 31 children with GS≥38 weeks and body weight of ≥3000 g, while the preterm group comprised 30 children with GS≤32 weeks and body weight of ≤1500 g. Results of the study indicate to a difference between fullterm children and preterm children with regard to articulation disorders, of which the statistically significant was a sound distortion. The overall sample showed that the substitution with distortion was most frequent disorder, while the interdental sigmatism was the most represented one. Conclusion: The obtained results lead to conclusion that preterm children, being a high-risk group, need to be followed up by age two, and provided timely proffesional help at pre-school age, since numerous adverse factors affect their overall development.

  15. Design and Development of a Mechanical Carrier for Mobile Robot (with rough surface/terrain movement features)- Extension of KINPOE Robot Project for Application at K-1

    International Nuclear Information System (INIS)

    Ahmad, H. W.

    2012-01-01

    During plant (KANUPP) operation, it is difficult or nearly impossible to access and monitor (high) radiation areas where some abnormal condition has to be detected or mitigated. Presence of a surveillance mobile robot will be very useful for such a scenario. This project work is an effort towards the development of a mobile robot that can be used for remote surveillance. A four DOF (degree of freedom) articulated robotic arm, and mobile base is developed. Manipulator is designed using Autodesk inventor, and then fabricated in PIEAS Fabrication Shop. All joints of the manipulator are revolute joints. Maxon DC motors have been used to empower the joints with the help of gears. Spur gear and planetary gear head have been used to increase the torque at joints and to reduce the speed. The report provides complete detail about mechanical design, moreover some casting procedures are also discussed at the end to cast main parts of robot, problems that were faced during the project and their solutions are also discussed in the report. (author)

  16. Future of robotic surgery.

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

  19. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  20. Hybrid markerless tracking of complex articulated motion in golf swings.

    Science.gov (United States)

    Fung, Sim Kwoh; Sundaraj, Kenneth; Ahamed, Nizam Uddin; Kiang, Lam Chee; Nadarajah, Sivadev; Sahayadhas, Arun; Ali, Md Asraf; Islam, Md Anamul; Palaniappan, Rajkumar

    2014-04-01

    Sports video tracking is a research topic that has attained increasing attention due to its high commercial potential. A number of sports, including tennis, soccer, gymnastics, running, golf, badminton and cricket have been utilised to display the novel ideas in sports motion tracking. The main challenge associated with this research concerns the extraction of a highly complex articulated motion from a video scene. Our research focuses on the development of a markerless human motion tracking system that tracks the major body parts of an athlete straight from a sports broadcast video. We proposed a hybrid tracking method, which consists of a combination of three algorithms (pyramidal Lucas-Kanade optical flow (LK), normalised correlation-based template matching and background subtraction), to track the golfer's head, body, hands, shoulders, knees and feet during a full swing. We then match, track and map the results onto a 2D articulated human stick model to represent the pose of the golfer over time. Our work was tested using two video broadcasts of a golfer, and we obtained satisfactory results. The current outcomes of this research can play an important role in enhancing the performance of a golfer, provide vital information to sports medicine practitioners by providing technically sound guidance on movements and should assist to diminish the risk of golfing injuries. Copyright © 2013 Elsevier Ltd. All rights reserved.

  1. Stress-deformation analysis of elbow articulation

    Czech Academy of Sciences Publication Activity Database

    Hlavoň, Pavel; Florian, Z.

    2005-01-01

    Roč. 12, č. 5 (2005), s. 331-337 ISSN 1802-1484. [Mechatronics, Robotics and Biomechanics 2005. Třešť, 26.09.2005-29.09.2005] R&D Projects: GA ČR(CZ) GA101/05/0136 Institutional research plan: CEZ:AV0Z20760514 Keywords : elbow joint * radial head replacement * radio-humeral alloplasty Subject RIV: BO - Biophysics

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

    International Nuclear Information System (INIS)

    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

  3. Design and Analysis of a Bio-Inspired Wire-Driven Multi-Section Flexible Robot

    OpenAIRE

    Li, Zheng; Du, Ruxu

    2013-01-01

    This paper presents a bio-inspired wire-driven multi-section flexible robot. It is inspired by the snake skeleton and octopus arm muscle arrangements. The robot consists of three sections and each section is made up of several identical vertebras, which are articulated by both spherical joints and a flexible backbone. Each section is driven by two groups of wires, controlling the bending motion in X and Y directions. This design integrates the serpentine robots' structure and the continuum ro...

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

    Science.gov (United States)

    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

  5. Robotics in Colorectal Surgery

    Science.gov (United States)

    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

  6. Robotic assisted minimally invasive surgery

    Directory of Open Access Journals (Sweden)

    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.

  7. Experience with the Surveyor mobile robot in radioactive work environments

    International Nuclear Information System (INIS)

    Kniazewycz, B.G.; Darvish, A.R.; Irving, T.L.

    1986-01-01

    This paper summarizes the development and implementation history of the Surveyor mobile robotic device from November 1985 through August 1986. This two-tracked remotely controlled tetherless device is used to conduct surveillance and inspection and light maintenance missions in nuclear power plants. Surveyor's relatively light weight (<400 lb) can easily be transported manually from location to location. The total maximum payload of the device, which is able to climb 40-deg stairs, is up to 300 lb when transported on a level floor. Surveyor can traverse through 14 in. of water and over 9-in.-high obstacles. Standard accessories include radiation detector, humidity monitor, temperature measurement, sound detection and position/ranging, and a standard video or CCD camera having a wide angle and telephoto lens. These devices are mounted on a 3 degree-of-freedom articulated arm with halogen lights

  8. Dynamic navigation simulation of an articulated multi-link arm for in-vessel inspection tasks in a Tokamak

    International Nuclear Information System (INIS)

    Rastogi, Naveen; Prakash, Ravi; Dutta, Pramit; Virpara, Nirav

    2013-01-01

    This paper is part of the remote handling (RH) activities towards preparedness for the future fusion machines. The aim of the R and D program performed is to demonstrate the feasibility of the inspection tasks inside the Vacuum Vessel. Due to the toroidal geometry and huge dimensions of the Vacuum Vessel, there is an inevitable need of a precise and fast automated articulated inspection system that can perform the required inspection tasks without damaging the surface and to maintain the machine availability for the maximum time. When considering generic Tokamak relevant conditions, the set of major challenges for the Remote Equipment is to sustain the severe operating conditions: ultra high vacuum, temperature and tritium level. The limited number of machine access ports and the very constrained environment complicate the introduction of a robot into the machine. The Multi Link inspection arm is required to be deployed in the bounded environment inside the Tokamak Vessel. This paper presents the development of software for implementation of autonomous navigation motion control algorithms based design simulations for the inspection Arm for routine inspection tasks, navigation to the targeted coordinates inside the Vessel, clash avoidance and to perform other auxiliary mechanical tasks. The software is also capable to store the joints and frame locations at every interval which can be used for the real time control application. The developed software has the flexibility to work with any number of links and joints. (author)

  9. Multibody system dynamics, robotics and control

    CERN Document Server

    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.

  10. CONSIDERATIONS UPON CONTACT STRESS MODELLING IN DENTAL ARTICULATOR PAIRS

    Directory of Open Access Journals (Sweden)

    Carmen Ciornei

    2012-05-01

    Full Text Available A dental articulator is a mechanism which simulates the temporo-mandibular joint. The articulator is essential as it replicates the basic motions of the upper and lower mandibles, both revolve and translational motions. In the present paper the stresses from an articulator TMJ modelled as a bronze sphere into a cylindrical steel cavity are analyzed by two methods, first applying the Hertzian contact theory and then numerically, by means of finite element analysis using the simulation module in CATIA.

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

    Science.gov (United States)

    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.

  12. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  13. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

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

    Science.gov (United States)

    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.

  15. The Role of Virtual Articulator in Prosthetic and Restorative Dentistry

    Science.gov (United States)

    Aljanakh, Mohammad

    2014-01-01

    Virtual reality is a computer based technology linked with the future of dentistry and dental practice. The virtual articulator is one such application in prosthetic and restorative dentistry based on virtual reality that will significantly reduce the limitations of the mechanical articulator, and by simulation of real patient data, allow analyses with regard to static and dynamic occlusion as well as to jaw relation. It is the purpose of this article to present the concepts and strategies for a future replacement of the mechanical articulator by a virtual one. Also, a brief note on virtual reality haptic system has been highlighted along with newly developed touch enabled virtual articulator. PMID:25177664

  16. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  17. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  18. Social Robots

    DEFF Research Database (Denmark)

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

  19. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  20. New Developments in Robotics and Single-site Gynecologic Surgery.

    Science.gov (United States)

    Matthews, Catherine A

    2017-06-01

    Within the last 10 years there have been significant advances in minimal-access surgery. Although no emerging technology has demonstrated improved outcomes or fewer complications than standard laparoscopy, the introduction of the robotic surgical platform has significantly lowered abdominal hysterectomy rates. While operative time and cost were higher in robotic-assisted procedures when the technology was first introduced, newer studies demonstrate equivalent or improved robotic surgical efficiency with increased experience. Single-port hysterectomy has not improved postoperative pain or subjective cosmetic results. Emerging platforms with flexible, articulating instruments may increase the uptake of single-port procedures including natural orifice transluminal endoscopic cases.

  1. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  2. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  3. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  4. Scan-based volume animation driven by locally adaptive articulated registrations.

    Science.gov (United States)

    Rhee, Taehyun; Lewis, J P; Neumann, Ulrich; Nayak, Krishna S

    2011-03-01

    This paper describes a complete system to create anatomically accurate example-based volume deformation and animation of articulated body regions, starting from multiple in vivo volume scans of a specific individual. In order to solve the correspondence problem across volume scans, a template volume is registered to each sample. The wide range of pose variations is first approximated by volume blend deformation (VBD), providing proper initialization of the articulated subject in different poses. A novel registration method is presented to efficiently reduce the computation cost while avoiding strong local minima inherent in complex articulated body volume registration. The algorithm highly constrains the degrees of freedom and search space involved in the nonlinear optimization, using hierarchical volume structures and locally constrained deformation based on the biharmonic clamped spline. Our registration step establishes a correspondence across scans, allowing a data-driven deformation approach in the volume domain. The results provide an occlusion-free person-specific 3D human body model, asymptotically accurate inner tissue deformations, and realistic volume animation of articulated movements driven by standard joint control estimated from the actual skeleton. Our approach also addresses the practical issues arising in using scans from living subjects. The robustness of our algorithms is tested by their applications on the hand, probably the most complex articulated region in the body, and the knee, a frequent subject area for medical imaging due to injuries. © 2011 IEEE

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

    Science.gov (United States)

    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.

  6. Visual recognition and tracking of objects for robot sensing

    International Nuclear Information System (INIS)

    Lowe, D.G.

    1994-01-01

    An overview is presented of a number of techniques used for recognition and motion tracking of articulated 3-D objects. With recent advances in robust methods for model-based vision and improved performance of computer systems, it will soon be possible to build low-cost, high-reliability systems for model-based motion tracking. Such systems can be expected to open up a wide range of applications in robotics by providing machines with real-time information about their environment. This paper describes a number of techniques for efficiently matching parameterized 3-D models to image features. The matching methods are robust with respect to missing and ambiguous features as well as measurement errors. Unlike most previous work on model-based motion tracking, this system provides for the integrated treatment of matching and measurement errors during motion tracking. The initial application is in a system for real-time motion tracking of articulated 3-D objects. With the future addition of an indexing component, these same techniques can also be used for general model-based recognition. The current real-time implementation is based on matching straight line segments, but some preliminary experiments on matching arbitrary curves are also described. (author)

  7. Perancangan Lengan Robot 5 Derajat Kebebasan Dengan Pendekatan Kinematika

    Directory of Open Access Journals (Sweden)

    - Firmansyah

    2014-10-01

    Full Text Available This study discusses the design of arm robot model with 5 degree of freedom that is designed to be a small-scale model of the articulated robot industry to simulate the movement of the robots industry. The objective of this research is to build a real arm robot based on kinematic aspects with the movement of waist, shoulder, elbow, wrist pitch, wrist roll and gripper, and to analyze the robot movement. The design includes building the real arm robot based on Arduino Uno board controller and the movement of the robot using servo motor DC. The robot  can be controlled automatically from the computer with the RS-232 or USB port interface and it learns about the kinematic of the robot’s arm when an experiment on the forward kinematic is accomplished. The robot was running well, with the maximum distance that can be reached by the robot on the coordinate axis  x = 425 mm, y = 425 mm and  z = 480 mm.

  8. Review of the role of robotic surgery in male infertility

    Directory of Open Access Journals (Sweden)

    Mohamed Etafy

    2018-03-01

    Full Text Available Objectives: To present the current state of the art in various robot-assisted microsurgical procedures in male infertility and review the latest literature, as the technology in infertility procedures has substantially developed since the incorporation of the Vinci® robotic platform (Intuitive Surgical, Inc., Sunnyvale, CA, USA. Materials and methods: The search strategy in this review was conducted in accordance with Cochrane guidelines and the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA. A search strategy was conducted in MEDLINE, PubMed and the Cochrane electronic databases (from 2000 to present to identify studies that included both robotic and male infertility. Results: In all, 23 studies were found, 12 of which met our inclusion criteria. Articles were excluded if the study did not include both male infertility and robotics. Conclusions: Robotic assistance for microsurgical procedures in male infertility appears to be safe and feasible. It has several advantages including elimination of tremor, multi-view magnification, additional instrument arms, and enhanced dexterity with articulating instrument arms. It also has a short learning curve with a small skin incision. However, larger, prospective studies are needed to establish the clinical benefits over standard microsurgery. Keywords: Robotic testicular sperm extraction, Robotic varicocelectomy, Robotic vasectomy reversal, Robotic vasoepididymostomy (RAVE, Robotic vasovasostomy

  9. Hierarchical coordination control of mobile robots

    NARCIS (Netherlands)

    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. Tribology considerations for hip joint articulations in relation to the "new orthopaedic patient".

    Science.gov (United States)

    Rieker, C B

    2006-01-01

    The purpose of this review is to examine alternative bearings used in total hip arthroplasty (THA) and discuss the specific tribologic needs of the "New Orthopaedic Patient". As orthopaedic patients today are younger and more active, there is a clear need for hip joint implants and articulations minimising the amount of wear and guarantying better stability. Recent modern developments in tribology with highly cross-linked polyethylenes and hard-on-hard bearings allow the safe and effective use of larger diameter articulations in THA.

  11. Perceived Articulation Uniformity between Trumpet and Violin Performances

    Science.gov (United States)

    Cooper, Shelly C.; Hamann, Donald L.

    2010-01-01

    Directors strive for a unified sound throughout their wind and orchestra ensembles. Articulation affects sound uniformity among winds and strings. This baseline study examined whether a trumpet player could better match a violin player's articulation, as perceived by participants listening to a recording of two performances, when: (a) performing…

  12. Phonological Awareness Training with Articulation Promotes Early Reading Development

    Science.gov (United States)

    Fälth, Linda; Gustafson, S.; Svensson, I.

    2017-01-01

    In a longitudinal intervention study, the effects of phonological training with articulation for children in a preschool class were analyzed. In total, 69 students participated, divided into an experimental group of 39 and a comparison group of 30 students. The intervention consisted of phonological training with articulation and lasted throughout…

  13. The Oklahoma PN/ADN Articulation Project Report.

    Science.gov (United States)

    Oklahoma State Regents for Higher Education, Oklahoma City.

    In response to a critical nursing shortage in the state of Oklahoma, the Oklahoma Practical Nursing (PN)/Associate Degree Nursing (ADN) Articulation Project Coordinating Committee was formed in spring 1990 to develop a proposal for program articulation. A curriculum matrix was designed and adopted for use by five regional subcommittees which…

  14. Articulating nursing in an interprofessional world.

    Science.gov (United States)

    Sommerfeldt, Susan C

    2013-11-01

    It is essential that nurses in practice clearly articulate their role in interprofessional clinical settings. Assumptions, stereotypes, power differentials and miscommunication can complicate the interaction of healthcare professionals when clarity does not exist about nurses' knowledge, skills and roles. Conflicting views among nurse scholars as to the nature of nursing knowledge and its relationship to practice complicate the task of nurses in explaining their performance and role to others in interprofessional environments. Interprofessionality is potentially misunderstood by nurse leaders, practitioners and educators, isolating nurses in an increasingly inter-disciplinary healthcare system. The theorization of contemporary nursing is explored through the views and perspectives of current nurse scholars. The ability to explain nursing knowledge, skills and roles to others in interprofessional interactions is a nursing competency, as well as an interprofessional one. Nurses, nurse leaders and nurse educators are challenged to engage in interprofessionalism so as to have an influence in the evolution of healthcare education and practice environments. Copyright © 2013 Elsevier Ltd. All rights reserved.

  15. Component for articulated offshore loading towers

    Energy Technology Data Exchange (ETDEWEB)

    Backhaus, H.

    1980-09-01

    The construction of offshore natural gas liquefaction plants must be regarded as technically feasible and the marketing prospects for LNG - a source of clean burning energy - appear excellent. Nevertheless, the optimum loading procedure for LNG tankers in the - sometimes adverse - offshore environment is still a matter under discussion by the experts - with a tendency to adopt and adapt well-proven components from the offshore crude oil sector. Here, articulated towers are in use for tankerloading and the crude oil is pumped at ambient temperature through the cardan joint of the tower itself. In the case of the cryogenic liquid LNG, this method would entail intolerable risks. Leaks and subsequent LNG spills within the tower joint will cause low temperature-embrittlement and most likely damage the cardan connection at the tower's base plate on the sea bed. The described submarine joint for ultra-cold liquids, which has the same cardanic properties as the cardan joint of the tower is completely separated from the latter. Thus a cryogenic leakage in this submarine joint will under no circumstance reach and affect the tower cardan.

  16. FIRST robots compete

    Science.gov (United States)

    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.

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

    DEFF Research Database (Denmark)

    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....

  18. Space Robotics Challenge

    Data.gov (United States)

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

  19. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  20. Robotic surgery

    Science.gov (United States)

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

  1. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  2. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  3. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  6. Articulation prostheses made of polymers which are improved by ionizing radiations

    International Nuclear Information System (INIS)

    Gaussens, G.; Nicaise, M.; Tran, K.O.

    1981-10-01

    Articulation prostheses for the human body are generally made of the couple very high molecular weight polyethylene-special steels. Polyethylene properties are modified by ionizing radiations: creep resistance is improved and friction coefficient is decreased. Modifications are controlled by the choice of radiation dose and dose rate. Wear tests have been made on hip prostheses [fr

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

    Data.gov (United States)

    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...

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

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

    Directory of Open Access Journals (Sweden)

    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.

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

    International Nuclear Information System (INIS)

    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

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

    Science.gov (United States)

    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.

  13. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

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

  14. ARTICULATION DISORDERS IN SERBIAN LANGUAGE IN CHILDREN WITH SPEECH PATHOLOGY.

    Science.gov (United States)

    Dmitrić, Tanja; Veselinović, Mila; Mitrović, Slobodan M

    2015-01-01

    Articulation is the result of speech organs and it means clean, clear and distinct pronunciation of voices in words. A prospective study included 24 children between 5 and 15 years of age, of both sexes. All children were monolingual, Serbian being their native language. The quality of articulation was tested with Triage articulation test. Neither omission nor distortion of plosives was observed in any of them, whereas substitution of plosives occurred in 12% of patients. Omission of affricates was not observed in any of the subjects, but substitution and distortion occurred in 29%, and 76% of subjects, respectively. Omission of fricatives was found in 29% subjects, substitution in 52%, and distortion in 82% of subjects. Omission and distortion of nasals was not recorded in any of the subjects, and substitution occurred in 6% of children. Omission of laterals was observed in 6%, substitution in 46% and distortion in 52% of subjects with articulation disorders. Discussion and Articulation disorders were observed not only in children diagnosed with dyslalia but in those with dysphasia and stuttering as well. Children with speech disorders articulate vowels best, then nasals and plosives. Articulation of fricatives and laterals was found to be most severely deviated, including all three disorders, i.e. substitution, omission and distortion. Spasms of speech muscles and vegetative reactions were also observed in this study, but only in children with stuttering.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    International Nuclear Information System (INIS)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2003-07-01

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

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

    International Nuclear Information System (INIS)

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

    2003-01-01

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

  19. The Development of a Radiation Hardened Robot for Nuclear Facilities

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil (and others)

    2007-04-15

    We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe.

  20. Design of Piano -playing Robotic Hand

    Directory of Open Access Journals (Sweden)

    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.

  1. Mobile robot for power plant inspection and maintenance

    International Nuclear Information System (INIS)

    White, J.R.; Farnstrom, K.A.; Harvey, H.W.; Upton, R.G.; Walker, K.L.

    1988-01-01

    An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry

  2. [Robot-assisted pancreatic resection].

    Science.gov (United States)

    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.

  3. Artificial heart for humanoid robot

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  5. ISS Robotic Student Programming

    Science.gov (United States)

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

    2016-01-01

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

  6. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  7. 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

    Energy Technology Data Exchange (ETDEWEB)

    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

  8. 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

    Energy Technology Data Exchange (ETDEWEB)

    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

  9. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. Copyright © 2013 Elsevier B.V. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    International Nuclear Information System (INIS)

    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)

  12. Mission Reliability Estimation for Repairable Robot Teams

    Science.gov (United States)

    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

  13. Mapping Emplaced Articulated Concrete Mattress Using Geoelectrical and Electromagnetic Techniques

    National Research Council Canada - National Science Library

    Sjostrom, Keith

    1998-01-01

    Articulated concrete mattresses (ACM) are structures placed parallel to the river current for the purpose of stabilizing the concave banks in river bends, reduce the effects of erosion, and maintain the river channel...

  14. Design of a stable fuzzy controller for an articulated vehicle.

    Science.gov (United States)

    Tanaka, K; Kosaki, T

    1997-01-01

    This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle.

  15. Articulating cultures: socio-cultural experiences of black female ...

    African Journals Online (AJOL)

    Articulating cultures: socio-cultural experiences of black female immigrant students in South African schools 1. ... Gender and Behaviour ... and worrisome issue is that of the erosion of the social and cultural mores of Black3 immigrant students.

  16. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  17. EXPERIMENTAL EVALUATION OF ARTICULATED WHEELED VEHICLES POSITION STABILITY

    Directory of Open Access Journals (Sweden)

    Ye. Dubinin

    2015-07-01

    Full Text Available With introducing a mobile measurement system with linear acceleration sensors there was experimentally determined the parameter of position stability of the articulated wheeled vehicle on the example of HTA-200 «Slobozhanets». It was determined that the position stability was provided within the entire range of operating speeds and accelerations. The obtained results can be used to enhance the traffic safety of articulated vehicles.

  18. From Mozart to MIDI : A Rule System for Expressive Articulation

    OpenAIRE

    Hähnel, Tilo

    2010-01-01

    The propriety of articulation, especially of notes that lackannotations, is influenced by the origin of the particularmusic. This paper presents a rule system for articulationderived from late Baroque and early Classic treatises on performance. Expressive articulation, in this respect, is understood as a combination of alterable tone features like duration, loudness, and timbre. The model differentiates globalcharacteristics and local particularities, provides a generalframework for human-lik...

  19. Planar articulated mechanism design by graph theoretical enumeration

    DEFF Research Database (Denmark)

    Kawamoto, A; Bendsøe, Martin P.; Sigmund, Ole

    2004-01-01

    This paper deals with design of articulated mechanisms using a truss-based ground-structure representation. By applying a graph theoretical enumeration approach we can perform an exhaustive analysis of all possible topologies for a test example for which we seek a symmetric mechanism. This guaran....... This guarantees that one can identify the global optimum solution. The result underlines the importance of mechanism topology and gives insight into the issues specific to articulated mechanism designs compared to compliant mechanism designs....

  20. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

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

  1. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  2. Service Robots

    DEFF Research Database (Denmark)

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

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

  3. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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

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

    International Nuclear Information System (INIS)

    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)

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  10. Collision-free motion coordination of heterogeneous robots

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  11. Collision-free motion coordination of heterogeneous robots

    Energy Technology Data Exchange (ETDEWEB)

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

    2008-11-15

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

  12. Report on the achievements in fiscal 1999 on research and development of a human cooperating and coexisting type robot system (Development of energy use rationalization technology); 1999 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    Research and development has been performed on a system technology for the human cooperating and coexisting type robot that can perform various types of works substituting human hands. This paper summarizes the achievements in fiscal 1999. In developing a high-function hand, development and fabrication were executed on a device to teach four finger holding actions that correspond to the enhancement in action stability and control responsiveness of the four finger hand and to positions and attitudes of objects. In fabricating the robot platforms, single platform tests and remotely controlled platform connection tests were performed, which demonstrated the functions as an integrated system. In developing libraries for topography adaptive three-dimensional basic walking actions, development was carried out on libraries that correspond to menus for direct advance on a flat land, slewing, and walking on staircases and irregular land. It was found that control closer to that for actually usable robot is possible by considering time delay in articulate control when simulation was performed using the testing robot body. In the study and survey of robot proliferation, development plans were presented that take into consideration the social influence, technological factors, and cost need adaptability. (NEDO)

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

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

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

  14. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  15. Experiments on co-operating robot arms

    International Nuclear Information System (INIS)

    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

  16. Experientally guided robots. [for planet exploration

    Science.gov (United States)

    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.

  17. Robotic Prostate Biopsy in Closed MRI Scanner

    National Research Council Canada - National Science Library

    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...

  18. The superior precentral gyrus of the insula does not appear to be functionally specialized for articulation.

    Science.gov (United States)

    Fedorenko, Evelina; Fillmore, Paul; Smith, Kimberly; Bonilha, Leonardo; Fridriksson, Julius

    2015-04-01

    Broca (Broca P. Bull Soc Anat Paris 36: 330-357, 1861) influentially argued that posterior left inferior frontal gyrus supports speech articulation. According to an alternative proposal (e.g., Dronkers NF. Nature 384: 159-161, 1996; Wise RJ, Greene J, Buchel C, Scott SK. Lancet 353: 1057-1061, 1999; Baldo JV, Wilkins DP, Ogar J, Willock S, Dronkers NF. Cortex 47: 800-807, 2011), a region in the anterior insula [specifically, the superior precentral gyrus of the insula (SPGI)] is the seat of articulatory abilities. Moreover, Dronkers and colleagues have argued that the SPGI is functionally specialized for (complex) speech articulation. Here, we evaluate this claim using individual-subject functional MRI (fMRI) analyses (e.g., Fedorenko E, Hsieh PJ, Nieto-Castanon A, Whitfield-Gabrieli S, Kanwisher N. J Neurophysiol 104: 1177-1194, 2010). We find that the SPGI responds weakly, if at all, during articulation (parts of Broca's area respond 3-4 times more strongly) and does not show a stronger response to higher articulatory demands. This holds regardless of whether the SPGI is defined functionally (by selecting the most articulation-responsive voxels in the vicinity of the SPGI in each subject individually) or anatomically (by using masks drawn on each individual subject's anatomy). Critically, nonspeech oral movements activate the SPGI more strongly than articulation, especially under the anatomical definition of the SPGI. In line with Hillis et al. (Hillis AE, Work M, Barker PB, Jacobs MA, Breese EL, Maurer K. Brain 127: 1479-1487, 2004; also Trupe L, Varma DD, Gomez Y, Race D, Leigh R, Hillis AE, Gottesman RF. Stroke 44: 740-744, 2013), we argue that previous links between the SPGI, and perhaps anterior insula more generally, and articulation may be due to its high base rate of ischemic damage (and activation in fMRI; Yarkoni T, Poldrack RA, Nichols TE, Van Essen DC, Wager TD. Nat Methods 8: 665-670, 2011), combined with its proximity to regions that more directly

  19. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

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

    International Nuclear Information System (INIS)

    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.)

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  2. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-05-15

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

  3. ARIES: A mobile robot inspector

    International Nuclear Information System (INIS)

    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

  4. NASA, Engineering, and Swarming Robots

    Science.gov (United States)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

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

    Science.gov (United States)

    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.

  7. Hand-held medical robots.

    Science.gov (United States)

    Payne, Christopher J; Yang, Guang-Zhong

    2014-08-01

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

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

    DEFF Research Database (Denmark)

    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...

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

    Science.gov (United States)

    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.

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

    Science.gov (United States)

    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.

  11. Workspace Analysis for Parallel Robot

    Directory of Open Access Journals (Sweden)

    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.

  12. Instant messaging at the hospital: supporting articulation work?

    Science.gov (United States)

    Iversen, Tobias Buschmann; Melby, Line; Toussaint, Pieter

    2013-09-01

    Clinical work is increasingly fragmented and requires extensive articulation and coordination. Computer systems may support such work. In this study, we investigate how instant messaging functions as a tool for supporting articulation work at the hospital. This paper aims to describe the characteristics of instant messaging communication in terms of number and length of messages, distribution over time, and the number of participants included in conversations. We also aim to determine what kind of articulation work is supported by analysing message content. Analysis of one month's worth of instant messages sent through the perioperative coordination and communication system at a Danish hospital. Instant messaging was found to be used extensively for articulation work, mostly through short, simple conversational exchanges. It is used particularly often for communication concerning the patient, specifically, the coordination and logistics of patient care. Instant messaging is used by all actors involved in the perioperative domain. Articulation work and clinical work are hard to separate in a real clinical setting. Predefined messages and strict workflow design do not suffice when supporting communication in the context of collaborative clinical work. Flexibility is of vital importance, and this needs to be reflected in the design of supportive communication systems. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

  13. The ISOLDE target robots

    CERN Multimedia

    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.

  14. Micro Robotics Lab

    Data.gov (United States)

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

  15. Robots of the Future

    Indian Academy of Sciences (India)

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

  16. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  17. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  18. The application of manipulator robot for nuclear plant maintenance

    International Nuclear Information System (INIS)

    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)

  19. Analysis on the workspace of palletizing robot based on AutoCAD

    Science.gov (United States)

    Li, Jin-quan; Zhang, Rui; Guan, Qi; Cui, Fang; Chen, Kuan

    2017-10-01

    In this paper, a four-degree-of-freedom articulated palletizing robot is used as the object of research. Based on the analysis of the overall configuration of the robot, the kinematic mathematical model is established by D-H method to figure out the workspace of the robot. In order to meet the needs of design and analysis, using AutoCAD secondary development technology and AutoLisp language to develop AutoCAD-based 2D and 3D workspace simulation interface program of palletizing robot. At last, using AutoCAD plugin, the influence of structural parameters on the shape and position of the working space is analyzed when the structure parameters of the robot are changed separately. This study laid the foundation for the design, control and planning of palletizing robots.

  20. ROMO - The Robotic Electric Vehicle

    OpenAIRE

    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...

  1. Manned spacecraft automation and robotics

    Science.gov (United States)

    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.

  2. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  3. Concept and Functional Structure of a Service Robot

    Directory of Open Access Journals (Sweden)

    Luis A. Pineda

    2015-02-01

    Full Text Available In this paper, we present a concept of service robot and a framework for its functional specification and implementation. The present discussion is grounded in Newell's system levels hierarchy which suggests organizing robotics research in three different layers, corresponding to Marr's computational, algorithmic and implementation levels, as follows: (1 the service robot proper, which is the subject of the present paper, (2 perception and action algorithms, and (3 the systems programming level. The concept of a service robot is articulated in practice through the introduction of a conceptual model for particular service robots; this consists of the specification of a set of basic robotic behaviours and a number of mechanisms for assembling such behaviours during the execution of complex tasks. The model involves an explicit representation of the task structure, allowing for deliberative reasoning and task management. The model also permits distinguishing between a robot's competence and performance, along the lines of Chomsky's corresponding distinction. We illustrate how this model can be realized in practice with two composition modes that we call static and dynamic; these are illustrated with the Restaurant Test and the General Purpose Service Robot Test of the RoboCup@Home competition, respectively. The present framework and methodology has been implemented in the robot Golem-II+, which is also described. The paper is concluded with an overall reflection upon the present concept of a service robot and its associated functional specifications, and the potential impact of such a conceptual model in the study, development and application of service robots in general.

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

    Energy Technology Data Exchange (ETDEWEB)

    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

  5. Information Transfer Capacity of Articulators in American Sign Language.

    Science.gov (United States)

    Malaia, Evie; Borneman, Joshua D; Wilbur, Ronnie B

    2018-03-01

    The ability to convey information is a fundamental property of communicative signals. For sign languages, which are overtly produced with multiple, completely visible articulators, the question arises as to how the various channels co-ordinate and interact with each other. We analyze motion capture data of American Sign Language (ASL) narratives, and show that the capacity of information throughput, mathematically defined, is highest on the dominant hand (DH). We further demonstrate that information transfer capacity is also significant for the non-dominant hand (NDH), and the head channel too, as compared to control channels (ankles). We discuss both redundancy and independence in articulator motion in sign language, and argue that the NDH and the head articulators contribute to the overall information transfer capacity, indicating that they are neither completely redundant to, nor completely independent of, the DH.

  6. The Landscape of Mass Mediated Articulations of Biotechnology

    DEFF Research Database (Denmark)

    Horst, Maja

    The objective of this paper is to explore the associations made in mass mediatedarticulations of biotechnology. It serves as the basis for further analyses of massmediated controversies and the purpose is to establish a map of the landscape ofmass mediated articulation of biotechnology. Which kinds...... of genetic researchand technology are articulated in what way? What can be associated to what inthe mass mediation and when is it portrayed as controversial? In short this is astudy of associations in the news production that serves as a way of establishingan empirical archive for further work. It is based...... on a relational ontologyinspired by French philosopher Bruno Latour, supplemented with the method ofcontent analysis developed within sociology of mass media. The aim is to studythe production of networks of articulation in mass media by looking at theoutcome (the articles), which they produce....

  7. Facilitated Articulation of Implicit Knowledge in Textile Design

    DEFF Research Database (Denmark)

    Bang, Anne Louise

    2009-01-01

    This is a report from an ongoing research project and as such it is work in progress. The paper proposes an exploratory approach in order to enable end-users to contribute with their experiences of emotional values of fabrics in use. It is suggested that the textile designer with her repertoire...... of (experiential, implicit and tacit) textile design knowledge should facilitate the articulation process. The paper specifically draws on a series of workshops conducted within the collaborating company inviting all employees to participate. The series of workshops were based on a game-like setting and introduced...... - being a textile designer herself, who functioned as the facilitator. This paper uses two examples from the series of workshops to exemplify a facilitated articulation of implicit knowledge in textile design. From the examples the following themes are synthesised as being important for articulation...

  8. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  9. Assessing the effect of physical differences in the articulation of consonants and vowels on audiovisual temporal perception

    Science.gov (United States)

    Vatakis, Argiro; Maragos, Petros; Rodomagoulakis, Isidoros; Spence, Charles

    2012-01-01

    We investigated how the physical differences associated with the articulation of speech affect the temporal aspects of audiovisual speech perception. Video clips of consonants and vowels uttered by three different speakers were presented. The video clips were analyzed using an auditory-visual signal saliency model in order to compare signal saliency and behavioral data. Participants made temporal order judgments (TOJs) regarding which speech-stream (auditory or visual) had been presented first. The sensitivity of participants' TOJs and the point of subjective simultaneity (PSS) were analyzed as a function of the place, manner of articulation, and voicing for consonants, and the height/backness of the tongue and lip-roundedness for vowels. We expected that in the case of the place of articulation and roundedness, where the visual-speech signal is more salient, temporal perception of speech would be modulated by the visual-speech signal. No such effect was expected for the manner of articulation or height. The results demonstrate that for place and manner of articulation, participants' temporal percept was affected (although not always significantly) by highly-salient speech-signals with the visual-signals requiring smaller visual-leads at the PSS. This was not the case when height was evaluated. These findings suggest that in the case of audiovisual speech perception, a highly salient visual-speech signal may lead to higher probabilities regarding the identity of the auditory-signal that modulate the temporal window of multisensory integration of the speech-stimulus. PMID:23060756

  10. Micro manipulators to handle micro machines. ; Aiming at developing clever and deft robots. Micro machine wo handling surutameno micro manipulator. ; Kashikoku kiyo na robot kaihatsu wo mezashite

    Energy Technology Data Exchange (ETDEWEB)

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

    1991-11-15

    The current state of micro manipulators (MM) to control micro machines is described. No MM can be realized with the conventional robots of which finger positions and attitudes are controlled by information on angles of each articulate. To solve this problem, such a system using the conception called a master slave manipulator with complex structure is proposed, in which human ways of manipulation are coupled with master arms with simple structure and slave arms facilitating works via a computer. The MM requires a flexible articulate chaining mechanism when the considerations on smallness of the arm structure and chaining of the multiple actuators are taken. To control the relative positions and attitudes, development of the control algorithm is required, which can learn the command signals given to a large number of actuators to drive mechanisms with ultra high freedoms and the relationship among changes in the end effector movements, rotation and directions, and can perform works according to precise relative positioning of objects to be handled. 8 refs., 4 figs.

  11. Robot performing heavy gymnastics. Kikai taiso wo suru robot

    Energy Technology Data Exchange (ETDEWEB)

    Takashima, S. (Hosei Univ., Tokyo (Japan). Faculty of Engineering)

    1991-11-01

    Methods of simulation of the motion of human bodies and the control of the motion of bobots are sdudied in order to realize robots to perform gymnastics on a horizontal bar. A model of the human body structure is presented by dividing the human body into 8 parts: right and left arms, the head, the trunk, the right and left thighs, and the right and left foot, and a system is constructed by combination of the links of the rigid partswith an assumption on each link for simplification. A method to enhance the swing motion is devised in order to produce a suspension motionaas a basic movement of horizontal bar gymnastics. The basic condition to control the horizontal bar gynnastics and the control system of an articulation angle are considered. Two algorithms are presented in order to enhance the swing motion and to maintain suspension swing: excitation of the swing by a vertical motion of the center of gravity and excitation by the use of natural frequency. Computer simulation of suspension swing is executed and the results are shown in a figure. A prototype robot to perform horizontal bar gymnastics is manufactured and performs suspension swing, starting of swing, kip motion and giant swing. The concept of optimization is not included concretely in the prototype. 22 refs., 8 figs.

  12. Swisstrolley 3 - An articulated trolley bus; SWISSTROLLEY 3. Gelenktrolleybus

    Energy Technology Data Exchange (ETDEWEB)

    Gisler, H.-J.

    2006-07-01

    This illustrated final report for the Swiss Federal Office of Energy (SFOE) takes a look at the Swisstrolley 3 low-floor, articulated trolley bus developed in Switzerland by the Hess AG company. Various features of the variants of the trolley bus, including single vehicle, single and double-articulated buses and bus trailers, are discussed. The reductions achieved in energy consumption, weight and noise are discussed. Typical values for power consumption are presented in graphical form. Economic viability and passenger-friendliness are examined, as are possibilities for further improvement.

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

    International Nuclear Information System (INIS)

    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

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

    Directory of Open Access Journals (Sweden)

    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

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

    OpenAIRE

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

    2013-01-01

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

  16. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    National Research Council Canada - National Science Library

    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...

  17. Robotic fabrication in architecture, art, and design

    CERN Document Server

    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...

  18. ELRA: The exposure limiting robotic apparatus

    International Nuclear Information System (INIS)

    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

  19. Dynamic photogrammetric calibration of industrial robots

    Science.gov (United States)

    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

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

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

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

  1. Rehabilitation Robots: Concepts and Applications in Stroke Rehabilitation

    OpenAIRE

    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...

  2. Integrated mobile robot control

    Science.gov (United States)

    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.

  3. 2000 FIRST Robotics Competition

    Science.gov (United States)

    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.

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

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

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

  5. Module-based structure design of wheeled mobile robot

    Directory of Open Access Journals (Sweden)

    Z. Luo

    2018-02-01

    Full Text Available This paper proposes an innovative and systematic approach for synthesizing mechanical structures of wheeled mobile robots. The principle and terminologies used for the proposed synthesis method are presented by adopting the concept of modular design, isomorphic and non-isomorphic, and set theory with its associated combinatorial mathematics. The modular-based innovative synthesis and design of wheeled robots were conducted at two levels. Firstly at the module level, by creative design and analysing the structures of classic wheeled robots, a wheel module set containing four types of wheel mechanisms, a suspension module set consisting of five types of suspension frames and a chassis module set composed of five types of rigid or articulated chassis were designed and generalized. Secondly at the synthesis level, two kinds of structure synthesis modes, namely the isomorphic-combination mode and the non-isomorphic combination mode were proposed to synthesize mechanical structures of wheeled robots; which led to 241 structures for wheeled mobile robots including 236 novel ones. Further, mathematical models and a software platform were developed to provide appropriate and intuitive tools for simulating and evaluating performance of the wheeled robots that were proposed in this paper. Eventually, physical prototypes of sample wheeled robots/rovers were developed and tested so as to prove and validate the principle and methodology presented in this paper.

  6. Robotic general surgery: current practice, evidence, and perspective.

    Science.gov (United States)

    Jung, M; Morel, P; Buehler, L; Buchs, N C; Hagen, M E

    2015-04-01

    Robotic technology commenced to be adopted for the field of general surgery in the 1990s. Since then, the da Vinci surgical system (Intuitive Surgical Inc, Sunnyvale, CA, USA) has remained by far the most commonly used system in this domain. The da Vinci surgical system is a master-slave machine that offers three-dimensional vision, articulated instruments with seven degrees of freedom, and additional software features such as motion scaling and tremor filtration. The specific design allows hand-eye alignment with intuitive control of the minimally invasive instruments. As such, robotic surgery appears technologically superior when compared with laparoscopy by overcoming some of the technical limitations that are imposed on the surgeon by the conventional approach. This article reviews the current literature and the perspective of robotic general surgery. While robotics has been applied to a wide range of general surgery procedures, its precise role in this field remains a subject of further research. Until now, only limited clinical evidence that could establish the use of robotics as the gold standard for procedures of general surgery has been created. While surgical robotics is still in its infancy with multiple novel systems currently under development and clinical trials in progress, the opportunities for this technology appear endless, and robotics should have a lasting impact to the field of general surgery.

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

    Science.gov (United States)

    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.

  8. 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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  9. ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

    Directory of Open Access Journals (Sweden)

    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.

  10. Frida Kahlo: Visual Articulations of Suffering and Loss.

    Science.gov (United States)

    Nixon, Lois LaCivita

    1996-01-01

    Illustrates the value of interdisciplinary approaches to patient care by exploring visual articulations of suffering as rendered by one artist. Makes general observations about the nature of humanities courses offered to medical students and depicts a visual portrayal of an illness story representing personal perspectives about patient suffering…

  11. Analysing co-articulation using frame-based feature trajectories

    CSIR Research Space (South Africa)

    Badenhorst, J

    2010-11-01

    Full Text Available The authors investigate several approaches aimed at a more detailed understanding of co-articulation in spoken utterances. They find that the Euclidean difference between instantaneous frame-based feature values and the mean values of these features...

  12. The Effect of Articulation Style on Perception of Modulated Tempo

    Science.gov (United States)

    Geringer, John M.; Madsen, Clifford K.; MacLeod, Rebecca B.; Kevin Droe

    2006-01-01

    We investigated the effect of legato and staccato articulation styles on the perception of modulated tempos. Ninety music majors served as participants. Listeners heard music examples that had been selected from two pieces, each of which included staccato and legato passages. Excerpts were presented to listeners in three conditions of tempo…

  13. The "ACA Code of Ethics": Articulating Counseling's Professional Covenant

    Science.gov (United States)

    Ponton, Richard F.; Duba, Jill D.

    2009-01-01

    The "ACA Code of Ethics" (American Counseling Association, 2005) is an articulation of the ever-changing relationship between counseling professionals and society. It provides clear parameters of behaviors to meet the changing needs of the people counselors are called to serve. This article reviews the 2005 "Code" as both a statement of counselor…

  14. data sets Simulations in articulating light-weight PRS

    NARCIS (Netherlands)

    Van den Berg, Bert

    2008-01-01

    The data sets are output of 3 different steps in the development a simulations of a PRS as described in chapter 3.3: Simulations in articulating light-weight PRS A case for Pedagogy-oriented and Rating-based Hybrid Recommendation Strategies Rob Nadolski, Bert van den Berg, Adriana Berlanga, Hans

  15. Compromising Composition: Articulating Quality and Practice in Distance Education Policy.

    Science.gov (United States)

    Carnegie, Teena A. M.

    Policies exist in every aspect of people's lives from the landlord's policy on pets to the government's policy on literacy. As such, policy becomes the ideal place to begin to examine the articulation of distance education because policy inevitably marks the site where different kinds of political discourses and social practices intersect. By…

  16. From intricate to integrated : Biofabrication of articulating joints

    NARCIS (Netherlands)

    Groen, Wilhelmina Margaretha; Diloksumpan, Paweena; van Weeren, Paul René; Levato, Riccardo; Malda, Jos

    2017-01-01

    Articulating joints owe their function to the specialized architecture and the complex interplay between multiple tissues including cartilage, bone and synovium. Especially the cartilage component has limited self-healing capacity and damage often leads to the onset of osteoarthritis, eventually

  17. Articulated Multimedia Physics, Lesson 3, The Arithmetic of Scientific Notation.

    Science.gov (United States)

    New York Inst. of Tech., Old Westbury.

    As the third lesson of the Articulated Multimedia Physics Course, instructional materials are presented in this study guide. An introductory description is given for scientific notation methods. The subject content is provided in scrambled form, and the use of matrix transparencies is required for students to control their learning process.…

  18. The Minnesota Articulation Project and Its Proficiency-Based Assessments.

    Science.gov (United States)

    Chalhoub-Deville, Micheline

    1997-01-01

    Reports on the Minnesota Articulation Project, providing an overview of the projects' three principal working groups: political action, curriculum, and assessment. The article then outlines the theoretical underpinnings of the proficiency-based assessment instruments developed in French, German, and Spanish and describes in detail the content and…

  19. Syllable reduction and articulation rates in Danish, Norwegian and Swedish

    NARCIS (Netherlands)

    Hilton, N.H.; Schüppert, Anja; Gooskens, C.S.

    2011-01-01

    This investigation compares articulation rates of phonological and phonetic syllables in Norwegian, Swedish and Danish to investigate differences in degrees of syllable deletion (reduction) among these three languages. For the investigation two sets of data are used: one consisting of recorded

  20. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  1. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

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

  2. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  3. Robotic Milking Implementation in the Sverdlovsk Region

    Directory of Open Access Journals (Sweden)

    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

  4. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  5. Welding robot package; Arc yosetsu robot package

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    Science.gov (United States)

    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

  7. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  8. Robots that can adapt like animals.

    Science.gov (United States)

    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

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

    Science.gov (United States)

    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…

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

    DEFF Research Database (Denmark)

    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...

  11. Dynamic analysis of space robot remote control system

    Science.gov (United States)

    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.

  12. Multi-sensor measurement system for robotic drilling

    OpenAIRE

    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...

  13. Robotic system for glovebox size reduction

    International Nuclear Information System (INIS)

    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

  14. Legal and ethical issues in robotic surgery.

    Science.gov (United States)

    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.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  16. Modeling and identification for robot motion control

    NARCIS (Netherlands)

    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

  17. Lazy motion planning for robotic manipulators

    NARCIS (Netherlands)

    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

  18. RoboEarth: connecting robots worldwide

    NARCIS (Netherlands)

    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

  19. Robotics Team Lights Up New Year's Eve

    Science.gov (United States)

    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…

  20. Articulated, Performance-Based Instruction Objectives Guide for Air Conditioning, Refrigeration, and Heating. Volume II (Second Year).

    Science.gov (United States)

    Henderson, William Edward, Jr., Ed.

    This articulation guide contains 17 units of instruction for the second year of a two-year vocational program designed to prepare the high school graduate to install, maintain, and repair various types of residential and commercial heating, air conditioning, and refrigeration equipment. The units are designed to help the student to expand and…

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

    Directory of Open Access Journals (Sweden)

    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.

  2. Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters

    International Nuclear Information System (INIS)

    Benitez R, J.S.; Najera H, M.C.

    2002-01-01

    The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

  3. The Effect of Foot Structure on Locomotion of a Small Biped Robot

    Directory of Open Access Journals (Sweden)

    Nguyen Tinh

    2017-01-01

    Full Text Available This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.

  4. The CI-ROB project: real time monitoring for a robotic prostate curietherapy

    International Nuclear Information System (INIS)

    Liem, X.; Lartigau, E.; Coelen, V.; Merzouki, R.

    2010-01-01

    The authors present a project which is still at the proto-typing stage and for which hardware and software are still being developed, and which aims at developing a full line for a robotic curietherapy. It comprises an articulated robotic arm with six degree of freedom, and is based on an auto-regulated loop with real time monitoring and control. An echographic probe acquires the prostate images in real time. An adaptive detection defines the prostate contour. This is performed in a virtual environment which comprises the prostate phantom, the robot and the intervention table. The target is defined in the virtual environment (image coordinates) and coordinates are transmitted to the robot controller which defines the robot movements by using the inverse geometric model. Short communication

  5. Robotic right middle lobectomy with a subxiphoid utility port.

    Science.gov (United States)

    Jayakumar, Shruti; Nardini, Marco; Papoulidis, Pavlos; Dunning, Joel

    2018-06-01

    We present the case of a 74-year-old man with Stage IIa pulmonary adenocarcinoma, for which he underwent a robotic right middle lobectomy. A 4-armed, 5-port approach was used. Four intercostal ports were created above the ninth rib using the Cerfolio's technique. The subxiphoid port was created in the midline, 5 cm down from the xiphisternum. The robot offers higher image quality, depth perception and improved articulation of the instruments, allowing for more accurate dissection and stitching. The usage of a subxiphoid utility port reduces the clashing between instruments, offers a good angle for stapling and provides a direct view of the instruments entering into the chest. Specimen removal through the subxiphoid port may reduce postoperative pain and enhance patient recovery. The use of the subxiphoid approach as a utility port for robotic surgery is promising and may be a suitable replacement for the traditional utility port.

  6. Robonaut: a robot designed to work with humans in space

    Science.gov (United States)

    Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby

    2003-01-01

    The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

  7. Gender Recognition from Unconstrained and Articulated Human Body

    Science.gov (United States)

    Wu, Qin; Guo, Guodong

    2014-01-01

    Gender recognition has many useful applications, ranging from business intelligence to image search and social activity analysis. Traditional research on gender recognition focuses on face images in a constrained environment. This paper proposes a method for gender recognition in articulated human body images acquired from an unconstrained environment in the real world. A systematic study of some critical issues in body-based gender recognition, such as which body parts are informative, how many body parts are needed to combine together, and what representations are good for articulated body-based gender recognition, is also presented. This paper also pursues data fusion schemes and efficient feature dimensionality reduction based on the partial least squares estimation. Extensive experiments are performed on two unconstrained databases which have not been explored before for gender recognition. PMID:24977203

  8. Gender recognition from unconstrained and articulated human body.

    Science.gov (United States)

    Wu, Qin; Guo, Guodong

    2014-01-01

    Gender recognition has many useful applications, ranging from business intelligence to image search and social activity analysis. Traditional research on gender recognition focuses on face images in a constrained environment. This paper proposes a method for gender recognition in articulated human body images acquired from an unconstrained environment in the real world. A systematic study of some critical issues in body-based gender recognition, such as which body parts are informative, how many body parts are needed to combine together, and what representations are good for articulated body-based gender recognition, is also presented. This paper also pursues data fusion schemes and efficient feature dimensionality reduction based on the partial least squares estimation. Extensive experiments are performed on two unconstrained databases which have not been explored before for gender recognition.

  9. Cerec omnicam and the virtual articulator--a case report.

    Science.gov (United States)

    Fritzsche, G

    2013-01-01

    This case report demonstrates how two opposing teeth were restored with full crowns using Cerec software version 4.2 (pre-release version). In addition, an anterior tooth was provided with a veneer. The situation was scanned with the Cerec Omnicam. The new virtual articulator was used for the design to obtain correct dynamic contacts. The Cerec Omnicam can scan the entire situation prior to preparation without the help of an assistant, as no surface pretreatment is necessary. The locations of the occlusal contacts can be marked with articulating paper and are indicated on the virtual models. Selective deletion of individual areas allows the prepared teeth to be rescanned, considerably speeding up the workflow. A video demonstration is available of the acquisition and design procedure.

  10. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  11. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  12. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  13. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  14. Towards safe robots approaching Asimov’s 1st law

    CERN Document Server

    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...

  15. Selected Topics in MicroNano-robotics for Biomedical Applications

    CERN Document Server

    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 ...

  16. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  17. Effects of fit and motive articulation on sponsorship response

    OpenAIRE

    Abramova, Anna

    2013-01-01

    This study is dedicated to finding the right combination between provision of fit and motive articulation to provide the best sponsorship response. The paper integrates different factors used in the sponsorship literature and other academic articles in the field of marketing into a conceptual model. Such mediating variables as corporate ability, corporate social responsibility, sponsor attitude and persuasion knowledge and moderating variables as involvement, self-congruence and frequency of ...

  18. Articulating social science in the wild of global natures?

    DEFF Research Database (Denmark)

    Blok, Anders

    2014-01-01

    Building on multisited ethnographic case studies, this paper seeks to contrastively compare the demonstration and articulation formats of two social science expert cultures—economics and anthropology—enrolled ‘in the wild’ of transnational environmental politics. How, the paper asks, do different......) similarities, related to credible expert demonstrations in transnational environmental contexts. The paper concludes by discussing the implications of this claim for STS self-reflection on its politics of methods....

  19. Gender Recognition from Unconstrained and Articulated Human Body

    OpenAIRE

    Wu, Qin; Guo, Guodong

    2014-01-01

    Gender recognition has many useful applications, ranging from business intelligence to image search and social activity analysis. Traditional research on gender recognition focuses on face images in a constrained environment. This paper proposes a method for gender recognition in articulated human body images acquired from an unconstrained environment in the real world. A systematic study of some critical issues in body-based gender recognition, such as which body parts are informative, ho...

  20. Data-driven importance distributions for articulated tracking

    DEFF Research Database (Denmark)

    Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    We present two data-driven importance distributions for particle filterbased articulated tracking; one based on background subtraction, another on depth information. In order to keep the algorithms efficient, we represent human poses in terms of spatial joint positions. To ensure constant bone le...... filter, where they improve both accuracy and efficiency of the tracker. In fact, they triple the effective number of samples compared to the most commonly used importance distribution at little extra computational cost....

  1. Articulations of eroticism and race: Domestic service in Latin America

    OpenAIRE

    Wade, Peter

    2013-01-01

    'Service', particularly 'domestic service', operates as a specific articulation or intersection of processes of race, class, gender and age that reiterates images of the sexual desirability of some women racially marked by blackness or indigeneity in Latin America. The sexualisation of racially subordinated people has been linked to the exercise of power. This article focuses on an aspect of subordination related to the condition of being a servant, and the 'domestication' and 'acculturation'...

  2. Steering characteristic of an articulated bus under quasi steady maneuvering

    Science.gov (United States)

    Ubaidillah, Setiawan, Budi Agus; Aridharma, Airlangga Putra; Lenggana, Bhre Wangsa; Caesar, Bernardus Placenta Previo

    2018-02-01

    Articulated buses have been being preferred as public transportation modes due to their operational capacity. Therefore, passenger safety must be the priority of this public service vehicle. This research focused on the analytical approach of steering characteristics of an articulated bus when it maneuvered steadily. Such turning condition could be referred as a stability parameter of the bus for preliminary handling assessment. The analytical approach employed kinematics relationship between front and rear bodies as well as steering capabilities. The quasi steady model was developed to determine steering parameters such as turning radius, oversteer, and understeer. The mathematical model was useful for determining both coefficients of understeer and oversteer. The dimension of articulated bus followed a commonly used bus as utilized in Trans Jakarta busses. Based on the simulation, for one minimum center of the body, the turning radius was calculated about 8.8 m and 7.6 m at steady turning speed of 10 km/h. In neutral condition, the minimum road radius should be 6.5 m at 10 km/h and 6.9 m at 40 km/h. For two centers of the body and oversteer condition, the front body has the turning radius of 8.8 m, while, the rear body has the turning radius of 9.8 m at both turning speeds of 40 km/h. The other steering parameters were discussed accordingly.

  3. The effect of skeletal pattern on determining articulator settings for prosthodontic rehabilitation: an in vivo study.

    LENUS (Irish Health Repository)

    Canning, Tom

    2011-01-01

    During extensive prosthodontic treatment, the use of an accurately adjusted articulator is recommended to simulate mandibular movements. This clinical study was undertaken to assess any possible effect of the underlying skeletal pattern on programming articulator settings.

  4. Jumping robots: a biomimetic solution to locomotion across rough terrain.

    Science.gov (United States)

    Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

    2007-09-01

    This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

  5. Exploring the ethical landscape of robot-assisted Search and Rescue

    NARCIS (Netherlands)

    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

  6. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  7. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

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

  8. Development of an ITER relevant inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C. [Association Euratom-CEA, Cadarache (France). Dept. de Recherche sur la Fusion Controlee; Friconneau, J.P.; Keller, D.; Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, Fontenay aux Roses (France)

    2007-07-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

  9. Development of an ITER relevant inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, Laurent [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Friconneau, Jean-Pierre [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France); Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Keller, Delphine; Perrot, Yann [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France)

    2008-12-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions.

  10. Development of an ITER relevant inspection robot

    International Nuclear Information System (INIS)

    Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C.

    2007-01-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

  11. Development of an ITER relevant inspection robot

    International Nuclear Information System (INIS)

    Gargiulo, Laurent; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques; Friconneau, Jean-Pierre; Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael; Keller, Delphine; Perrot, Yann

    2008-01-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions

  12. Report on the actual situations of the commercially applied, industrial robots; Sangyoyo robot ni kansuru kigyo jittai chosa hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1991-08-01

    Described herein are the actual situations of industrial robots as the FY 1991 questionnaire survey results. The questionnaires were sent to 541 factories, and 74% thereof were recovered. The major machine types fall into categories of manual manipulator, stationary sequence manipulator, remote controlling robot, sequence robot, playback robot, numerically controlling robot and intelligent robot. They are mainly driven by hydraulic, pneumatic, or electrical power. Their mechanism types cover polar coordinate, cylindrical coordinate, rectangular coordinate and articulation types, among others. They are mainly controlled by electronically, electrically (hydraulic or relay), or pneumatically. The major purposes for general works include casting, forging, resin processing, heat treatment, pressing, welding, coating, machining, cutting, assembling, reception/delivery of goods, and testing/inspection. The special works they are in service include those for power/gas/water services, construction works, and research and development. By work step, they are in service, e.g., for loading/unloading goods, palletising/packing goods, supporting, screening, welding, spraying/coating, grinding, clamping, assembling, and riveting. (NEDO)

  13. From Child-Robot Interaction to Child-Robot-Therapist Interaction: A Case Study in Autism

    Directory of Open Access Journals (Sweden)

    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.

  14. Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

  15. Dealing with Phrase Level Co-Articulation (PLC) in speech recognition: a first approach

    NARCIS (Netherlands)

    Ordelman, Roeland J.F.; van Hessen, Adrianus J.; van Leeuwen, David A.; Robinson, Tony; Renals, Steve

    1999-01-01

    Whereas nowadays within-word co-articulation effects are usually sufficiently dealt with in automatic speech recognition, this is not always the case with phrase level co-articulation effects (PLC). This paper describes a first approach in dealing with phrase level co-articulation by applying these

  16. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  17. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

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

  18. Reasoning robots the art and science of programming robotic agents

    CERN Document Server

    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...

  19. Self-Structured Organizing Single-Input CMAC Control for Robot Manipulator

    Directory of Open Access Journals (Sweden)

    ThanhQuyen Ngo

    2011-09-01

    Full Text Available This paper represents a self-structured organizing single-input control system based on differentiable cerebellar model articulation controller (CMAC for an n-link robot manipulator to achieve the high-precision position tracking. In the proposed scheme, the single-input CMAC controller is solely used to control the plant, so the input space dimension of CMAC can be simplified and no conventional controller is needed. The structure of single-input CMAC will also be self-organized; that is, the layers of single-input CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The online tuning laws of single-input CMAC parameters are derived in gradient-descent learning method and the discrete-type Lyapunov function is applied to determine the learning rates of proposed control system so that the stability of the system can be guaranteed. The simulation results of robot manipulator are provided to verify the effectiveness of the proposed control methodology.

  20. Controlling Tensegrity Robots Through Evolution

    Science.gov (United States)

    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.

  1. Design and Analysis of a Bio-Inspired Wire-Driven Multi-Section Flexible Robot

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2013-04-01

    Full Text Available This paper presents a bio-inspired wire-driven multi-section flexible robot. It is inspired by the snake skeleton and octopus arm muscle arrangements. The robot consists of three sections and each section is made up of several identical vertebras, which are articulated by both spherical joints and a flexible backbone. Each section is driven by two groups of wires, controlling the bending motion in X and Y directions. This design integrates the serpentine robots' structure and the continuum robots' actuation. As a result, it is more compact than traditional serpentine robots and has a higher positioning accuracy than typical continuum soft robots, such as OctArm V. A Kinematics model and a workspace model of the robot are developed based on the piece wise constant curvature assumption. To evaluate the design, a prototype is built and experiments are carried out. The average distal end positioning error is less than 4%. Characteristics of the wire-driven robot are also discussed, including the leverage effect and the manipulability under constraint. These features makes the proposed robot well suited to confined spaces, especially for working in minimally invasive surgery, nuclear reactor pipelines, disaster debris, etc.

  2. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  3. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  4. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  5. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  6. Knowledge based systems for intelligent robotics

    Science.gov (United States)

    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.

  7. SMARBot: a modular miniature mobile robot platform

    Science.gov (United States)

    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.

  8. Experiences of a Motivational Interview Delivered by a Robot: Qualitative Study.

    Science.gov (United States)

    Galvão Gomes da Silva, Joana; Kavanagh, David J; Belpaeme, Tony; Taylor, Lloyd; Beeson, Konna; Andrade, Jackie

    2018-05-03

    Motivational interviewing is an effective intervention for supporting behavior change but traditionally depends on face-to-face dialogue with a human counselor. This study addressed a key challenge for the goal of developing social robotic motivational interviewers: creating an interview protocol, within the constraints of current artificial intelligence, which participants will find engaging and helpful. The aim of this study was to explore participants' qualitative experiences of a motivational interview delivered by a social robot, including their evaluation of usability of the robot during the interaction and its impact on their motivation. NAO robots are humanoid, child-sized social robots. We programmed a NAO robot with Choregraphe software to deliver a scripted motivational interview focused on increasing physical activity. The interview was designed to be comprehensible even without an empathetic response from the robot. Robot breathing and face-tracking functions were used to give an impression of attentiveness. A total of 20 participants took part in the robot-delivered motivational interview and evaluated it after 1 week by responding to a series of written open-ended questions. Each participant was left alone to speak aloud with the robot, advancing through a series of questions by tapping the robot's head sensor. Evaluations were content-analyzed utilizing Boyatzis' steps: (1) sampling and design, (2) developing themes and codes, and (3) validating and applying the codes. Themes focused on interaction with the robot, motivation, change in physical activity, and overall evaluation of the intervention. Participants found the instructions clear and the navigation easy to use. Most enjoyed the interaction but also found it was restricted by the lack of individualized response from the robot. Many positively appraised the nonjudgmental aspect of the interview and how it gave space to articulate their motivation for change. Some participants felt that the

  9. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  10. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  11. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  12. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  13. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  14. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

    Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

  15. Robots in the Roses

    OpenAIRE

    2014-01-01

    2014-04 Robots in the Roses A CRUSER Sponsored Event. The 4th Annual Robots in the Roses provides a venue for Faculty & NPS Students to showcase unmanned systems research (current or completed) and recruit NPS Students to join in researching on your project. Posters, robots, vehicles, videos, and even just plain humans welcome! Families are welcome to attend Robots in the Roses as we'll have a STEM activity for children to participate in.

  16. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    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.

  17. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

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

  18. Mechanical design for a hydraulically actuated quadruped robot

    OpenAIRE

    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 ...

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

    CERN Document Server

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

    2016-01-01

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

  20. Kinematics analysis and simulation of a new underactuated parallel robot

    Directory of Open Access Journals (Sweden)

    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.