WorldWideScience

Sample records for playing simulated robot

  1. Modular robotics for playful physiotherapy

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2009-01-01

    We developed modular robotic tiles to be used for playful physiotherapy, which is supposed to motivate patients to engage in and perform physical rehabilitation exercises. We tested the modular robotic tiles for an extensive period of time (3 years) in daily use in a hospital rehabilitation unit e.......g. for cardiac patients. Also, the tiles were tested for performing physical rehabilitation of stroke patients in their private home. In all pilot test cases qualitative feedback indicate that the patients find the playful use of modular robotic tiles engaging and motivating for them to perform...... the rehabilitation. Also, initial pilot test data suggest that some playful exercises on the tiles demand an average heart rate of 75% and 86% of the maximum heart rate....

  2. On Open- source Multi-robot simulators

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-07-01

    Full Text Available Open source software simulators play a major role in robotics design and research as platforms for developing, testing and improving architectures, concepts and algorithms for cooperative/multi-robot systems. Simulation environment enables control...

  3. 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.

  4. Playful Interaction with Voice Sensing Modular Robots

    DEFF Research Database (Denmark)

    Heesche, Bjarke; MacDonald, Ewen; Fogh, Rune

    2013-01-01

    This paper describes a voice sensor, suitable for modular robotic systems, which estimates the energy and fundamental frequency, F0, of the user’s voice. Through a number of example applications and tests with children, we observe how the voice sensor facilitates playful interaction between...... children and two different robot configurations. In future work, we will investigate if such a system can motivate children to improve voice control and explore how to extend the sensor to detect emotions in the user’s voice....

  5. Design of robot soccer simulator

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Robot soccer game is an interesting emerging domain for multiple cooperative robotic system. This paper discusses the detailed design of a simulator, and describes the architecture of soccer server and client in detail. This simulator is sufficiently flexible and robust for the users to develop strategies for a simulated compe tition and to test algorithms of intelligent robotics.

  6. Robotic Vehicle Proxy Simulation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes the development of a digital simulation that can replace robotic vehicles in field studies. This proxy simulation will model the...

  7. Robotic Vehicle Proxy Simulation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes the development of a digital simulation to replace robotic vehicles in field studies. It will model the dynamics, terrain interaction,...

  8. Virtual Teaching Simulation for Robot Assembly Accuracy Analysis

    Institute of Scientific and Technical Information of China (English)

    张征; 周宏甫; 刘斌

    2004-01-01

    In this paper, by teaching a 3D robot unit model and playing back to simulate the assembly process in a virtual assembly environment, errors in robot assembly are analyzed. The paper also presents a visualization method for analyzing accuracy of the robot assembly, and studies the influence of the spatial pose of a robot on the success rate of an axis-hole assembly, and accuracy of the robot teaching program in particular. Through integration of various errors and on the basis of assembly accuracy, tolerance of error sources can be reasonably distributed to meet the assembly accuracy requirement, therefore the planning of robot assembly unit can be improved.

  9. Disability, play and robotics in kindergartens

    Directory of Open Access Journals (Sweden)

    Valentina Pennazio

    2016-02-01

    Full Text Available Il contributo presenta una ricerca svolta in alcune scuole dell’infanzia in Liguria sull’utilizzo della robotica nella predisposizione di ambienti di gioco e di relazione. Le attività hanno previsto l’impiego di robot costruiti appositamente con gli obiettivi di sostenere/integrare le abituali attività ludiche e sociali; favorire in tutti i bambini, compresi quelli che presentano gravi disabilità, il raggiungimento delle competenze di socialità e di comunicazione; mediare e semplificare le relazioni tra bambini, anche quelli con grave disabilità motoria. Le sessioni di gioco mediate dai robot sono state osservate in presenza e analizzate tramite riprese video. Nel corso dello studio sono stati somministrati i test della Playfullness di Bundy e un test di osservazione collegato al robot IROMEC. La ricerca ha permesso di valutare le potenzialità e i limiti dell’utilizzo di un robot all’interno di un ambiente di apprendimento strutturato, finalizzato all’integrazione di bambini con disabilità motoria nella scuola dell’infanzia.

  10. Simulation of a Hybrid Locomotion Robot Vehicle

    Science.gov (United States)

    Aarnio, P.

    2002-10-01

    This study describes a simulation process of a mobile robot. The focus is in kinematic and dynamic behavior simulations of hybrid locomotion robot vehicles. This research is motivated by the development needs of the WorkPartner field service robot. The whole robot system consists of a mobile platform and a two-hand manipulator. The robot platform, called Hybtor, is a hybrid locomotion robot capable of walking and driving by wheels as well as combining these two locomotion modes. This study describes first the general problems and their solutions in the dynamic simulation of mobile robots. A kinematic and dynamic virtual model of the Hybtor robot was built and simulations were carried out using one commercial simulation tool. Walking, wheel driven and rolking mode locomotion, which is a special hybrid locomotion style, has been simulated and analyzed. Position and force control issues during obstacle overrun and climbing were also studied.

  11. WebotsTM: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2008-11-01

    Full Text Available Cyberbotics Ltd. develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer your control programs to several commercially available real mobile robots. WebotsTM lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment. For each object, you can define a number of properties, such as shape, color, texture, mass, friction, etc. You can equip each robot with a large number of available sensors and actuators. You can program these robots using your favorite development environment, simulate them and optionally transfer the resulting programs onto your real robots. WebotsTM has been developed in collaboration with the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained for over 7 years. It is now the main commercial product available from Cyberbotics Ltd.

  12. A Simulation Framework for Evaluating Mobile Robots

    Science.gov (United States)

    2002-08-01

    A Simulation Framework for Evaluating Mobile Robots Stephen Balakirsky and Elena Messina National Institute of Standards and Technology Intelligent...deployment. Keywords: simulation, architectures, 4D/RCS, mobile robots , algo- rithm validation 1 Introduction There have been many recent successes in...DATES COVERED 00-00-2002 to 00-00-2002 4. TITLE AND SUBTITLE A Simulation Framework for Evaluating Mobile Robots 5a. CONTRACT NUMBER 5b. GRANT

  13. Robotic Mission Simulation Tool Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes a software tool to predict robotic mission performance and support supervision of robotic missions even when environments and...

  14. Humanoid robot simulator: a realistic dynamics approach

    OpenAIRE

    Lima, José; Gonçalves, José; Costa, Paulo; Moreira, António

    2008-01-01

    This paper describes a humanoid robot simulator with realistic dynamics. As simulation is a powerful tool for speeding up the control software development, the suggested accurate simulator allows to accomplish this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback and allows the user to test any control strategy without damaging the real robot in the early stages of the development. The proposed simulator also captures some c...

  15. Realistic Behaviour Simulation of a Humanoid Robot

    OpenAIRE

    2008-01-01

    This paper describes a humanoid robot simulator with realistic dynamics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfil this goal. The simulator is based on the Open Dynamics Engine and GLScene graphics library, providing instant visual feedback. User is able to test any control strategy without bringing damage to the real robot in the early stages of the development. The proposed simulator also captures some...

  16. Low-Cost Simulation of Robotic Surgery

    DEFF Research Database (Denmark)

    Grande, Kasper; Jensen, Rasmus Steen; Kraus, Martin

    2013-01-01

    The high expenses associated with acquiring and maintaining robotic surgical equipment for minimally invasive surgery entail that training on this equipment is also expensive. Virtual reality (VR) training simulators can reduce this training time; however, the current simulators are also quite...... expensive. Therefore, we propose a low-cost simulation of minimally invasive surgery and evaluate its feasibility. Using off-the-shelf hardware and a commercial game engine, a prototype simulation was developed and evaluated against the use of a surgical robot. The participants of the evaluation were given...... suitable option for a low-cost simulation of robotic surgery....

  17. Low-Cost Simulation of Robotic Surgery

    DEFF Research Database (Denmark)

    Grande, Kasper; Jensen, Rasmus Steen; Kraus, Martin

    2013-01-01

    The high expenses associated with acquiring and maintaining robotic surgical equipment for minimally invasive surgery entail that training on this equipment is also expensive. Virtual reality (VR) training simulators can reduce this training time; however, the current simulators are also quite...... expensive. Therefore, we propose a low-cost simulation of minimally invasive surgery and evaluate its feasibility. Using off-the-shelf hardware and a commercial game engine, a prototype simulation was developed and evaluated against the use of a surgical robot. The participants of the evaluation were given...... suitable option for a low-cost simulation of robotic surgery....

  18. Web teleoperation of robots with simulation feedback

    Science.gov (United States)

    Torres Medina, Fernando; Puente Mendez, Santiago; Canovas, J.; Mangas, J.; Martinez-Larraz, C.

    2002-02-01

    The use of a robot arm for industry is a very common problem. A great quantity of these robots have to have a remote human controller to achieve its task successfully. The user knows what is happening with the robot arm through sensors. This information has to arrive to the user and if it consists of a video then the system needs a high bandwidth to carry it to the user in real-time. The present system uses a simulation feedback instead of video information; this type of feedback gets as much information as a video with a lower bandwidth. The simulation of the system is based on virtual reality modeling feedback language (VRML) to model the robot arm which reproduces the movements of the real robot. This method of feedback has the advantage of required little information to afford the user a real approach to the system. The proposed system lets the user move the robot arm with different point-to-point trajectories and different possibilities of movement. The aim of this kind of laboratory is to facilitate the access for students and professionals in the field of robotics. This system is used for teaching university students the themes of robotics. It improves the training of the students permitting them access to a real robot which would be impossible for universities to afford if each student needed his own robot to practice. This paper presents a remote laboratory approach for experimentation with a real robot, which uses the communication techniques of the web.

  19. A SIMULATOR FOR EDUCATION OF ROBOTICS

    Directory of Open Access Journals (Sweden)

    Erkan KAPLANOGLU

    2012-01-01

    Full Text Available In this study, an education simulator is designed for Mitsubishi RV-E2 ( 6 DOF manipulator’ s model at Marmara University Department of Mechatronics Education. Robot manipulator can be control with joystick and kinematics - inverse kinematics equations can be solved. This simulator also has a robotics education presentation slides. Students can easily reach all documents when they make their experiments. Simulator is designed under LabVIEW 7.1® software.

  20. Simulation tools for robotics research and assessment

    Science.gov (United States)

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

    2016-05-01

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

  1. Simulation of Intelligent Single Wheel Mobile Robot

    Directory of Open Access Journals (Sweden)

    Maki K. Rashid

    2008-11-01

    Full Text Available Stabilization of a single wheel mobile robot attracted researcher attentions in robotic area. However, the budget requirements for building experimental setups capable in investigating isolated parameters and implementing others encouraged the development of new simulation methods and techniques that beat such limitations. In this work we have developed a simulation platform for testing different control tactics to stabilize a single wheel mobile robot. The graphic representation of the robot, the dynamic solution, and, the control scheme are all integrated on common computer platform using Visual Basic. Simulation indicates that we can control such robot without knowing the detail of it's internal structure or dynamics behaviour just by looking at it and using manual operation tactics. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance

  2. A Simulation of Coevolution Using Playing Cards

    Science.gov (United States)

    Tatina, Robert

    2007-01-01

    In this article, the author describes a simulation of a coevolutionary "arms race" and introduce a way of teaching it that lets students use the theory of natural selection to explain the outcomes of the simulation. The simulation uses the numerical cards from an UNO[R] playing card deck to represent the speeds of individuals in populations of…

  3. Population Genetics Simulated with Playing Cards

    Science.gov (United States)

    Oliver, P. T. P.

    1975-01-01

    Describes how to use playing cards as simulators to demonstrate several aspects of allelism and allele frequency in a gene pool. They provide an "unexpected" result, promote group discussion and may stimulate students to devise variations for comparison. (BR)

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

    Science.gov (United States)

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

    2014-05-01

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

  5. An RTM based Distributed Simulation System for Guide Robot

    Directory of Open Access Journals (Sweden)

    Chen Peihua

    2013-10-01

    Full Text Available In order to enhance the robot system integration and development for guide robot, a distributed simulation system was developed in this study using RTM (Robot Technology Middleware technology, which is an open software platform for robot systems. The RT (robot technology system of an adapter, a controller and the robot, together with other CORBA objects, was developed to connect the graphical programing interface with 3D simulator to set up an RTM based distributed simulation system. Simultaneously, the application of the distributed simulation system also confirms the controlling of the real robot utilizing the RT system. The proposed distributed simulation system based on RTM can obviously accelerate the software component development as well as the system integration for guide robot, which will certainly lower the cost of the development of new robot application systems.

  6. Modeling and Simulation for Exploring Human-Robot Team Interaction Requirements

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean; Bruemmer, David Jonathon; Davis, Midge Lee

    2001-12-01

    Small-sized and micro-robots will soon be available for deployment in large-scale forces. Consequently, the ability of a human operator to coordinate and interact with largescale robotic forces is of great interest. This paper describes the ways in which modeling and simulation have been used to explore new possibilities for human-robot interaction. The paper also discusses how these explorations have fed implementation of a unified set of command and control concepts for robotic force deployment. Modeling and simulation can play a major role in fielding robot teams in actual missions. While live testing is preferred, limitations in terms of technology, cost, and time often prohibit extensive experimentation with physical multi-robot systems. Simulation provides insight, focuses efforts, eliminates large areas of the possible solution space, and increases the quality of actual testing.

  7. SOLVING LARGE GAMES WITH SIMULATED FICTITIOUS PLAY

    OpenAIRE

    Seale, Darryl A.; JOHN E. BURNETT

    2006-01-01

    A computational procedure, Simulated Fictitious Play (SFP), is introduced to approximate equilibrium solutions for n-person, non-cooperative games with large strategy spaces. A variant of the iterative solution process fictitious play (FP), SFP is first demonstrated on several small n-person games with known solutions. In each case, SFP solutions are compared to those obtained through analytical methods. Sensitivity analyses are presented that examine the effects of iterations (repetitions of...

  8. Exploring types of play in an adapted robotics program for children with disabilities.

    Science.gov (United States)

    Lindsay, Sally; Lam, Ashley

    2017-03-28

    Play is an important occupation in a child's development. Children with disabilities often have fewer opportunities to engage in meaningful play than typically developing children. The purpose of this study was to explore the types of play (i.e., solitary, parallel and co-operative) within an adapted robotics program for children with disabilities aged 6-8 years. This study draws on detailed observations of each of the six robotics workshops and interviews with 53 participants (21 children, 21 parents and 11 programme staff). Our findings showed that four children engaged in solitary play, where all but one showed signs of moving towards parallel play. Six children demonstrated parallel play during all workshops. The remainder of the children had mixed play types play (solitary, parallel and/or co-operative) throughout the robotics workshops. We observed more parallel and co-operative, and less solitary play as the programme progressed. Ten different children displayed co-operative behaviours throughout the workshops. The interviews highlighted how staff supported children's engagement in the programme. Meanwhile, parents reported on their child's development of play skills. An adapted LEGO(®) robotics program has potential to develop the play skills of children with disabilities in moving from solitary towards more parallel and co-operative play. Implications for rehabilitation Educators and clinicians working with children who have disabilities should consider the potential of LEGO(®) robotics programs for developing their play skills. Clinicians should consider how the extent of their involvement in prompting and facilitating children?s engagement and play within a robotics program may influence their ability to interact with their peers. Educators and clinicians should incorporate both structured and unstructured free-play elements within a robotics program to facilitate children?s social development.

  9. 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.

  10. Personalizing educational game play with a robot partner

    NARCIS (Netherlands)

    Haas, M. de; Smeekens, I.; Njeri, E.; Haselager, W.F.G.; Buitelaar, J.K.; Lourens, T.; Staal, W.G.; Glennon, J.C.; Barakova, E.I.

    2016-01-01

    Personalization of educational and behavioral training to the developmental stage of the individual child is common practice in educational and therapeutic settings. Research on robot-based education training is only just starting to adopt this approach. We present a pilot study on a behavioral inte

  11. Biologically-inspired hexapod robot design and simulation

    Science.gov (United States)

    Espenschied, Kenneth S.; Quinn, Roger D.

    1994-01-01

    The design and construction of a biologically-inspired hexapod robot is presented. A previously developed simulation is modified to include models of the DC drive motors, the motor driver circuits and their transmissions. The application of this simulation to the design and development of the robot is discussed. The mechanisms thought to be responsible for the leg coordination of the walking stick insect were previously applied to control the straight-line locomotion of a robot. We generalized these rules for a robot walking on a plane. This biologically-inspired control strategy is used to control the robot in simulation. Numerical results show that the general body motion and performance of the simulated robot is similar to that of the robot based on our preliminary experimental results.

  12. Methods and tasks of simulation modeling of mine robot systems

    Energy Technology Data Exchange (ETDEWEB)

    Tailakov, O.V. (Institut Uglya SO RAN (Russian Federation))

    1992-11-01

    Discusses a procedure for computerized simulation of operation of a robot longwall mining system. The following aspects are analyzed: selecting a variant from among a number of structural schemes of the robot mining systems (using six types of robots for coal cutting, powered support advance, support installation, drilling, haulage and other auxiliary operations), assessment of robot loading during haulage of mine stones or coal from development workings (from mine drivage), assessment of losses caused by equipment failures, verification of algorithms used for robot control, comparative evaluations of economic efficiency of the robot mining systems. 2 refs.

  13. Simulation and animation of sensor-driven robots

    Energy Technology Data Exchange (ETDEWEB)

    Chen, C.; Trivedi, M.M.; Bidlack, C.R. (Univ. of Tennessee, Knoxville, TN (United States). Computer Vision and Robotics Research Lab.)

    1994-10-01

    Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aide the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

  14. Playing with a robot to learn English vocabulary

    OpenAIRE

    Kim, Yanghee; Smith, Diantha; Kim, Namju; Chen, Tianyu

    2014-01-01

    A robot-based English curriculum called The Missing Code has been developed to teach English vocabulary to young children whose home language is one other than English. Guided by theories in children’s learning and motivation, the curriculum was designed to be developmentally appropriate and engaging for children who were 3-5 years old, carefully balancing the familiar and the new. The development process was characterized by iterative cycles of initial design, user testing, and refinement. T...

  15. Platooning strategy of mobile robot: simulation and experiment

    OpenAIRE

    Baarath K.; Zakaria Muhammad Aizzat; Suparmaniam M.V.; Abu Mohd Yazid bin

    2017-01-01

    Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic mo...

  16. Prototyping a robotic dental testing simulator.

    Science.gov (United States)

    Alemzadeh, K; Hyde, R A; Gao, J

    2007-05-01

    A parallel robot based on the Stewart platform is being developed to simulate jaw motion and investigate its effect on jaw function to test the wearing away of dental components such as individual teeth, crowns, bridges, full set of dentures, and implant-supported overdentures by controlling chewing motion. The current paper only describes the comparison between an alternative configuration proposed by Xu and the Stewart platform configuration. The Stewart platform was chosen as an ideal structure for simulating human mastication as it is easily assembled, has high rigidity, high load-carrying capacity, and accurate positioning capability. The kinematics and singularities of the Stewart platform have been analysed and software developed to (a) test the control algorithms/strategy of muscle movement for the six degree of freedom of mastication cycle and (b) simulate and observe various design options to be able to make the best judgement in product development. The human replica skull has been analysed and reverse engineered with further simplification before integration with the Stewart platform computer-aided design (CAD) to develop the robotic dental testing simulator. Assembly modelling of the reproduced skull was critically analysed for good occlusion in CAD environment. A pulse-width modulation (PWM) circuit plus interface was built to control position and speed of the chosen actuators. A computer numerical control (CNC) machine and wire-electro-discharge machining (wire EDM) were used to manufacture the critical parts such as lower mandible, upper maxilla, and universal joints.

  17. MARS: An Educational Environment for Multiagent Robot Simulations

    Directory of Open Access Journals (Sweden)

    Marco Casini

    2016-01-01

    Full Text Available Undergraduate robotics students often find it difficult to design and validate control algorithms for teams of mobile robots. This is mainly due to two reasons. First, very rarely, educational laboratories are equipped with large teams of robots, which are usually expensive, bulky, and difficult to manage and maintain. Second, robotics simulators often require students to spend much time to learn their use and functionalities. For this purpose, a simulator of multiagent mobile robots named MARS has been developed within the Matlab environment, with the aim of helping students to simulate a wide variety of control algorithms in an easy way and without spending time for understanding a new language. Through this facility, the user is able to simulate multirobot teams performing different tasks, from cooperative to competitive ones, by using both centralized and distributed controllers. Virtual sensors are provided to simulate real devices. A graphical user interface allows students to monitor the robots behaviour through an online animation.

  18. The intervention of robot caregivers and the cultivation of children's capability to play.

    Science.gov (United States)

    Pearson, Yvette; Borenstein, Jason

    2013-03-01

    In this article, the authors examine whether and how robot caregivers can contribute to the welfare of children with various cognitive and physical impairments by expanding recreational opportunities for these children. The capabilities approach is used as a basis for informing the relevant discussion. Though important in its own right, having the opportunity to play is essential to the development of other capabilities central to human flourishing. Drawing from empirical studies, the authors show that the use of various types of robots has already helped some children with impairments. Recognizing the potential ethical pitfalls of robot caregiver intervention, however, the authors examine these concerns and conclude that an appropriately designed robot caregiver has the potential to contribute positively to the development of the capability to play while also enhancing the ability of human caregivers to understand and interact with care recipients.

  19. Humanoid robot simulation with a joint trajectory optimized controller

    OpenAIRE

    2008-01-01

    This paper describes a joint trajectory optimized controller for a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfil this goal. The simulator, based on the Open Dynamics Engine and GLScene graphics library, provides instant visual feedback. The proposed simulator, with realistic dynamics, allows to design and test behaviours and control strat...

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

    Science.gov (United States)

    Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

    2016-01-01

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

  1. Simulators, Remote Labs and Robotic Telescopes

    Science.gov (United States)

    Folhas, Alvaro

    2015-04-01

    There is an increasing gap between students of the twenty-first century and the teaching methodology still stuck in the past century. The myriad stimuli that involve our students, immediate consumption of information, and the availability of resources, should cast the teacher in search methodologies that encourage the student to learn. The simulators, virtual laboratories and remote controlled robotic equipment are examples of high didactic potential resources, created by scientific organizations and universities, to be used in education, providing a direct interaction with science and motivating our students to a future career in science. It is up to us to take advantage of that work, and those resources, to light the sparkle in the eyes of our students. In Astronomy Club I've developed with high school students some practical projects in science, using, over the web, the robotic telescopes through which the students are studying and photographing deep sky objects; or the European network of radio telescope, measuring the speed of the arms of our galaxy in our galactic dance, their temperatures showing where it is more likely to form new stars. Students use these tools, engaging in their own knowledge construction, and forego their Friday afternoons without a hurry to go home for the weekend. That's the spirit we want for the school.

  2. Can the IROMEC robot support play in children with severe physical disabilities? A pilot study.

    Science.gov (United States)

    van den Heuvel, Renée J F; Lexis, Monique A S; de Witte, Luc P

    2017-03-01

    The aim of this study was to explore the application of the IROMEC (Interactive social RObotic Mediators as Companions) robot to support play for children with severe physical disabilities in rehabilitation and special education. Within a 2-month pilot study, physically disabled children with a developmental age between 2 and 8 years participated in sessions with the robot. A combination of qualitative and quantitative outcome measures was used to collect data on aspects of feasibility, usability, barriers for the child as well as the therapist and an indication of the effects on playfulness and the achievement of therapeutic and educational goals. A total of 11 children participated in this study (four boys, seven girls). Individually Prioritized Problem Assessment scores indicated a positive effect of the IROMEC robot on the achievement of goals for the children. Professionals did observe meaningful application possibilities, but the lacking adaptability, expandability and technical stability of the robot platform make application in daily care practice impossible. The application of a robot like IROMEC for children with severe physical disabilities seems to be positive and worthwhile, but usability and feasibility aspects are crucial for success.

  3. Students Learn Programming Faster through Robotic Simulation

    Science.gov (United States)

    Liu, Allison; Newsom, Jeff; Schunn, Chris; Shoop, Robin

    2013-01-01

    Schools everywhere are using robotics education to engage kids in applied science, technology, engineering, and mathematics (STEM) activities, but teaching programming can be challenging due to lack of resources. This article reports on using Robot Virtual Worlds (RVW) and curriculum available on the Internet to teach robot programming. It also…

  4. Robot soccer simulation competition platform based on multi-agent

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Presents the robot soccer software simulation platform to be firstly used at FIRA Robot World Cup China 2001, introduces the system's purpose and design plan; discusses the system core-server configuration and working principle; describes the operating method and how to develop competition strategy, and refers to the teams to take part in FIRA Robot World Cup China 2001 and investigators who are interested in the distribu ted multi-agent system.

  5. A simulation and training environment for robotic radiosurgery

    Energy Technology Data Exchange (ETDEWEB)

    Schlaefer, Alexander [University of Luebeck, Institute for Robotics and Cognitive Systems, Luebeck (Germany); Stanford University, Department of Radiation Oncology, Stanford, CA (United States); Gill, Jakub; Schweikard, Achim [University of Luebeck, Institute for Robotics and Cognitive Systems, Luebeck (Germany)

    2008-09-15

    To provide a software environment for simulation of robotic radiosurgery, particularly to study the effective robot workspace with respect to the treatment plan quality, and to illustrate the concepts of robotic radiosurgery. A simulation environment for a robotic radiosurgery system was developed using Java and Java3D. The kinematics and the beam characteristics were modeled and linked to a treatment planning module. Simulations of different robot workspace parameters for two example radiosurgical patient cases were performed using the novel software tool. The first case was an intracranial lesion near the left inner ear, the second case was a spinal lesion. The planning parameters for both cases were visualized with the novel simulation environment. An incremental extension of the robot workspace had limited effect for the intracranial case, where the original workspace already covered the left side of the patient. For the spinal case, a larger workspace resulted in a noticeable improvement in plan quality and a large portion of the beams being delivered from the extended workspace. The new software environment is useful to simulate and analyze parameters and configurations for robotic radiosurgery. An enlarged robot workspace may result in improved plan quality depending on the location of the target region. (orig.)

  6. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

    1998-10-06

    In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

  7. Efficient Control Law Simulation for Multiple Mobile Robots

    Energy Technology Data Exchange (ETDEWEB)

    Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

    1998-10-06

    In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

  8. Evolutionary Design and Simulation of a Tube Crawling Inspection Robot

    Science.gov (United States)

    Craft, Michael; Howsman, Tom; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

    2002-01-01

    The Space Robotics Assembly Team Simulation (SpaceRATS) is an expansive concept that will hopefully lead to a space flight demonstration of a robotic team cooperatively assembling a system from its constitutive parts. A primary objective of the SpaceRATS project is to develop a generalized evolutionary design approach for multiple classes of robots. The portion of the overall SpaceRats program associated with the evolutionary design and simulation of an inspection robot's morphology is the subject of this paper. The vast majority of this effort has concentrated on the use and modification of Darwin2K, a robotic design and simulation software package, to analyze the design of a tube crawling robot. This robot is designed for carrying out inspection duties in relatively inaccessible locations within a liquid rocket engine similar to the SSME. A preliminary design of the tube crawler robot was completed, and the mechanical dynamics of the system were simulated. An evolutionary approach to optimizing a few parameters of the system was utilized, resulting in a more optimum design.

  9. RoboCup Rescue Robot and Simulation Leagues

    NARCIS (Netherlands)

    Akin, H.L.; Ito, N.; Jacoff, A.; Kleiner, A.; Pellenz, J.; Visser, A.

    2013-01-01

    The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (for example, Fukushima Daiichi nuclear disaster). This article provides

  10. Motion control simulation based on VR for humanoid robot

    Science.gov (United States)

    He, Huaiqing; Tang, Haoxuan

    2004-03-01

    This paper describes the motion control simulation based on VR for humanoid robot aiming at walking and running. To insure that the motion rhythm of humanoid robot conforms to the motion laws of humans, the body geometrical model based on skeleton and its kinematics models based on the graph of time sequences are presented firstly. Then a control algorithm based on Jacobian matrix is proposed to generate the periodical walking and running. Finally, computer simulation experiments demonstrate the feasibility of the models and the algorithm. The simulation system developed makes us interactively regulate the motion direction and velocity for humanoid robot.

  11. Personalising game difficulty to keep children motivated to play with a social robot: A Bayesian approach

    NARCIS (Netherlands)

    Schadenberg, Bob Rinse; Aly, A.; Neerincx, M.A.; Griffiths, S.; Cnossen, F.; Stramandinoli, F.; Tapus, A.; Looije, R.; Nori, F.

    2016-01-01

    For effective child education, playing games with a social robot should be motivating for a longer period of time. One aspect that can affect the motivation of a child is the difficulty of a game. The game should be perceived as challenging, while at the same time, the child should be confident to

  12. Learning Robotics in a Science Museum Theatre Play: Investigation of Learning Outcomes, Contexts and Experiences

    Science.gov (United States)

    Peleg, Ran; Baram-Tsabari, Ayelet

    2017-08-01

    Theatre is often introduced into science museums to enhance visitor experience. While learning in museums exhibitions received considerable research attention, learning from museum theatre has not. The goal of this exploratory study was to investigate the potential educational role of a science museum theatre play. The study aimed to investigate (1) cognitive learning outcomes of the play, (2) how these outcomes interact with different viewing contexts and (3) experiential learning outcomes through the theatrical experience. The play `Robot and I', addressing principles in robotics, was commissioned by a science museum. Data consisted of 391 questionnaires and interviews with 47 children and 20 parents. Findings indicate that explicit but not implicit learning goals were decoded successfully. There was little synergy between learning outcomes of the play and an exhibition on robotics, demonstrating the effect of two different physical contexts. Interview data revealed that prior knowledge, experience and interest played a major role in children's understanding of the play. Analysis of the theatrical experience showed that despite strong identification with the child protagonist, children often doubted the protagonist's knowledge jeopardizing integration of scientific content. The study extends the empirical knowledge and theoretical thinking on museum theatre to better support claims of its virtues and respond to their criticism.

  13. 机器人装配精度分析的虚拟示教仿真%Virtual Teaching Simulation for Robot Assembly Accuracy Analysis

    Institute of Scientific and Technical Information of China (English)

    张征; 周宏甫; 刘斌

    2004-01-01

    In this paper, by teaching a 3D robot unit model and playing back to simulate the assembly process in a virtual assembly environment, errors in robot assembly are analyzed. The paper also presents a visualization method for analyzing accuracy of the robot assembly, and studies the influence of the spatial pose of a robot on the success rate of an axis-hole assembly, and accuracy of the robot teaching program in particular. Through integration of various errors and on the basis of assembly accuracy, tolerance of error sources can be reasonably distributed to meet the assembly accuracy requirement, therefore the planning of robot assembly unit can be improved.

  14. Medical Robotic and Tele surgical Simulation Education Research

    Science.gov (United States)

    2017-05-01

    Baheti A, Chandrashekar R, Wilding G and Guru K. (2010). Can Image Based Virtual Reality Help Teach Anatomy? Journal of Endourology, 24(4):629-34. Seixas... virtual reality environment for training operating room staff in robotic surgery. Develop design for simulators in hard-tissue robotic surgery (spinal...Simulation in Training.” IEEE International Systems Conference, April 2016. 5. Julian, Tanaka, Smith, “A Side-by-Side Comparison of Virtual Reality

  15. Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis

    Directory of Open Access Journals (Sweden)

    Rong Xiong

    2012-11-01

    Full Text Available This paper proposes an impedance control scheme used on humanoid robots for stability maintenance when the robot is expected to carry out fast manipulatory tasks. We take table tennis playing as an example to study this issue. The fast acceleration required by table tennis rallying will result in an unknown large reaction force on the robot, causing the body to swing back and forth in an oscillating motion and the foot to lose complete contact with the ground. To improve the stability during fast manipulation and in order to resist disturbances due to the reaction force, we introduce impedance control to absorb the impact and decrease the amplitude of body swinging. The system’s adjusting time is also reduced and the oscillations are eliminated according to the experimental results, which show the effectiveness of our scheme.

  16. Simulation and control problems in elastic robots

    Science.gov (United States)

    Tadikonda, S. S. K.; Baruh, H.

    1989-01-01

    Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.

  17. Evolving mobile robots in simulated and real environments.

    Science.gov (United States)

    Miglino, O; Lund, H H; Nolfi, S

    1995-01-01

    The problem of the validity of simulation is particularly relevant for methodologies that use machine learning techniques to develop control systems for autonomous robots, as, for instance, the artificial life approach known as evolutionary robotics. In fact, although it has been demonstrated that training or evolving robots in real environments is possible, the number of trials needed to test the system discourages the use of physical robots during the training period. By evolving neural controllers for a Khepera robot in computer simulations and then transferring the agents obtained to the real environment we show that (a) an accurate model of a particular robot-environment dynamics can be built by sampling the real world through the sensors and the actuators of the robot; (b) the performance gap between the obtained behaviors in simulated and real environments may be significantly reduced by introducing a "conservative" form of noise; (c) if a decrease in performance is observed when the system is transferred to a real environment, successful and robust results can be obtained by continuing the evolutionary process in the real environment for a few generations.

  18. Head Orientation Behavior of Users and Durations in Playful Open-Ended Interactions with an Android Robot

    DEFF Research Database (Denmark)

    Vlachos, Evgenios; Jochum, Elizabeth Ann; Schärfe, Henrik

    2016-01-01

    This paper presents the results of a field-experiment focused on the head orientation behavior of users in short-term dyadic interactions with an android (male) robot in a playful context, as well as on the duration of the interactions. The robotic trials took place in an art exhibition where...... subjects. The findings suggest that androids have the ability to maintain the focus of attention during short-term in-teractions within a playful context. This study provides an insight on how users communicate with an android robot, and on how to design meaningful human robot social interaction for real...

  19. Reflective Responses Following a Role Play Simulation of Nurse Bullying

    Science.gov (United States)

    Ulrich, Deborah L.; Gillespie, Gordon Lee; Boesch, Maura C.; Bateman, Kyle M.; Grubb, Paula L.

    2017-01-01

    The affective domain of learning can be used with role play simulation to develop professional values in nursing students. A qualitative exploratory design was used for this study to evaluate role play simulation as an active learning strategy. The context for the role play was bullying in nursing practice. Three hundred thirty-three senior nursing students from five college campuses participated. Following the role play simulation students completed a reflection worksheet. The worksheet data were qualitatively coded into themes. Thematic findings were personal responses during the simulation, nonverbal communications exhibited during the simulation, actions taken by participants during the simulation, and the perceived impact of bullying. Role play simulation was a highly effective pedagogy requiring no technology, was free, and elicited learning at both the cognitive and affective domains of learning. PMID:28628071

  20. Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures

    Science.gov (United States)

    Kazmitcheff, Guillaume; Nguyen, Yann; Miroir, Mathieu; Péan, Fabien; Ferrary, Evelyne; Cotin, Stéphane; Sterkers, Olivier; Duriez, Christian

    2014-01-01

    Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed. PMID:25157373

  1. [Planning and simulation of minimally-invasive robotic heart surgery].

    Science.gov (United States)

    Coste-Manière, Eve; Adhami, Louaï; Severac-Bastide, Renault; Boissonnat, Jean-Daniel; Carpentier, Alain

    2002-04-01

    Due to their numerous advantages, mainly in terms of patient benefit, mini-invasive robotically assisted interventions are gaining in importance in various surgical fields. However, this conversion has its own challenges that stem from both its novelty and complexity. In this paper we propose to accompany the surgeons in their transition, by offering an integrated environment that enables them to make better use of this new technology. The proposed system is patient-dependent, and enables the planning, validation, simulation, teaching and archiving of robotically assisted interventions. The approach is illustrated for a coronary bypass graft using the daVinci tele-operated robot.

  2. Sensor and actuator modeling of a realistic wheeled mobile robot simulator

    OpenAIRE

    José Gonçalves; José Lima; Hélder Filipe Pinto de Oliveira; Paulo José Cerqueira Gomes da Costa

    2008-01-01

    This paper describes the sensor and actuator modelingof a realistic wheeled mobile robot simulator. The motivationof developing such simulator is to produce a personalizedversatile tool that allows production and validationof robot software reducing considerably the developmenttime. The mobile robot simulator was developed in ObjectPascal with its dynamics based on the ODE (OpenDynamics Engine), allowing to develop robot software fora three wheel omnidirectional robot equipped with Infra-Red ...

  3. Validation of a Novel Virtual Reality Simulator for Robotic Surgery

    Directory of Open Access Journals (Sweden)

    Henk W. R. Schreuder

    2014-01-01

    Full Text Available Objective. With the increase in robotic-assisted laparoscopic surgery there is a concomitant rising demand for training methods. The objective was to establish face and construct validity of a novel virtual reality simulator (dV-Trainer, Mimic Technologies, Seattle, WA for the use in training of robot-assisted surgery. Methods. A comparative cohort study was performed. Participants (n=42 were divided into three groups according to their robotic experience. To determine construct validity, participants performed three different exercises twice. Performance parameters were measured. To determine face validity, participants filled in a questionnaire after completion of the exercises. Results. Experts outperformed novices in most of the measured parameters. The most discriminative parameters were “time to complete” and “economy of motion” (P<0.001. The training capacity of the simulator was rated 4.6 ± 0.5 SD on a 5-point Likert scale. The realism of the simulator in general, visual graphics, movements of instruments, interaction with objects, and the depth perception were all rated as being realistic. The simulator is considered to be a very useful training tool for residents and medical specialist starting with robotic surgery. Conclusions. Face and construct validity for the dV-Trainer could be established. The virtual reality simulator is a useful tool for training robotic surgery.

  4. Rim Sim: A Role-Play Simulation

    Science.gov (United States)

    Barrett, Robert C.; Frew, Suzanne L.; Howell, David G.; Karl, Herman A.; Rudin, Emily B.

    2003-01-01

    Rim Sim is a 6-hour, eight-party negotiation that focuses on creating a framework for the long-term disaster-recovery efforts. It involves a range of players from five countries affected by two natural disasters: a typhoon about a year ago and an earthquake about 6 months ago. The players are members of an International Disaster Working Group (IDWG) that has been created by an international commission. The IDWG has been charged with drawing up a framework for managing two issues: the reconstruction of regionally significant infrastructure and the design of a mechanism for allocating funding to each country for reconstruction of local infrastructure and ongoing humanitarian needs. The first issue will involve making choices among five options (two harbor options, two airport options, and one rail-line option), each of which will have three levels at which to rebuild. The second issue will involve five starting-point options. Participants are encouraged to invent other options for both issues. The goal of Rim Sim is to raise questions about traditional approaches to disaster-preparedness planning and reconstruction efforts in an international setting, in this case the Pacific Rim. Players must confront the reverberating effects of disasters and the problems of using science and technical information in decisionmaking, and are introduced to a consensus-building approach emphasizing face-to-face dialog and multinational cooperation in dealing with humanitarian concerns, as well as long-term efforts to reconstruct local and regional infrastructure. The Rim Sim simulation raises four key points: ripple effects of disasters, role of science, multiparty negotiation, and building personal relationships.

  5. From robot to human grasping simulation

    CERN Document Server

    León, Beatriz; Sancho-Bru, Joaquin

    2013-01-01

    The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of

  6. HYDRODYNAMIC ANALYSIS AND SIMULATION OF A SWIMMING BIONIC ROBOT TUNA

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A dynamic model for undulatory locomotion was proposed to study the swimming mechanism of a developed bionic robot tuna. On the basis of inviscid hydrodynamics and rigid-body dynamics, the momentum and propulsive force required for propelling the swimming robot tuna's flexible body was calculated. By solving the established dynamic equations and efficiency formula, the swimming velocity and propulsive efficiency of the bionic robot tuna were obtained. The relationship between the kinematic parameters of the robot tuna's body curve and the hydrodynamic performances was established and discussed after hydrodynamic simulations. The results presented in this article can be used to increase the swimming speed, propulsive thrust, and the efficiency of underwater vehicles effectively.

  7. Humanoid Robot 3 -D Motion Simulation for Hardware Realization

    Institute of Scientific and Technical Information of China (English)

    CAO Xi; ZHAO Qun-fei; MA Pei-sun

    2007-01-01

    In this paper, three dimensions kinematics andkinetics simulation arc discussed for hardware realization ofa physical biped walking-chair robot. The direct and inverseclose-form kinematics solution of the biped walking-chairis deduced. Several gaits are realized with thekinematics solution, including walking straight on levelfloor, going up stair, squatting down and standing up. ZeroMoment Point(ZMP) equation is analyzed considering themovement of the crew. The simulated biped walking-chairrobot is used for mechanical design, gaits development andvalidation before they are tested on real robot.

  8. Qualitative Evaluation of a Role Play Bullying Simulation.

    Science.gov (United States)

    Gillespie, Gordon L; Brown, Kathryn; Grubb, Paula; Shay, Amy; Montoya, Karen

    Bullying against nurses is becoming a pervasive problem. In this article, a role play simulation designed for undergraduate nursing students is described. In addition, the evaluation findings from a subsample of students who participated in a role play simulation addressing bullying behaviors are reported. Focus group sessions were completed with a subset of eight students who participated in the intervention. Sessions were audiorecorded, transcribed verbatim, and analyzed using Colaizzi's procedural steps for qualitative analysis. Themes derived from the data were "The Experience of Being Bullied", "Implementation of the Program", "Desired Outcome of the Program", and "Context of Bullying in the Nursing Profession". Role play simulation was an effective and active learning strategy to diffuse education on bullying in nursing practice. Bullying in nursing was identified as a problem worthy of incorporation into the undergraduate nursing curriculum. To further enhance the learning experience with role play simulation, adequate briefing instructions, opportunity to opt out of the role play, and comprehensive debriefing are essential.

  9. Fault-Tolerant Robot Programming through Simulation with Realistic Sensor Models

    OpenAIRE

    Axel Waggershauser; Thomas Braeunl; Andreas Koestler

    2008-01-01

    We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robots in a common environment. The simulated robots are closely modeled after robots from the EyeBot family and have an identical application programmer interface. The simulation supports driving commands at two levels of abstraction as well as numerous sensors such as shaft encoders, infrared distance sensors, and compass. Simulation of on-board digital cameras via synthetic images allows the ...

  10. Virtual Reality Simulation of Fire Fighting Robot Dynamic and Motion

    CERN Document Server

    Setiawan, Joga D; Budiyono, Agus

    2008-01-01

    This paper presents one approach in designing a Fire Fighting Robot which has been contested annually in a robotic student competition in many countries following the rules initiated at the Trinity College. The approach makes use of computer simulation and animation in a virtual reality environment. In the simulation, the amount of time, starting from home until the flame is destroyed, can be confirmed. The efficacy of algorithms and parameter values employed can be easily evaluated. Rather than spending time building the real robot in a trial and error fashion, now students can explore more variation of algorithm, parameter and sensor-actuator configuration in the early stage of design. Besides providing additional excitement during learning process and enhancing students understanding to the engineering aspects of the design, this approach could become a useful tool to increase the chance of winning the contest.

  11. MRPPSim: A Multi-Robot Path Planning Simulation

    Directory of Open Access Journals (Sweden)

    Ebtehal Turki Saho Alotaibi

    2016-08-01

    Full Text Available Multi-robot path planning problem is an interesting problem of research having great potential for several optimization problems in the world. In multi-robot path planning problem domain (MRPP, robots must move from their start locations to their goal locations avoiding collisions with each other. MRPP is a relevant problem in several domains, including; automatic packages inside a warehouse, automated guided vehicles, planetary exploration, robotics mining, and video games. This work introduces MRPPSim; a new modeling, evaluation and simulation tool for multi-robot path planning algorithms and its applications. In doing so, it handles all the aspects related to the multi-robot path planning algorithms. Through its working, MRPPSim unifies the representation for the input. This algorithm provides researchers with a set of evaluation models with each of them serving a set of objectives. It provides a comprehensive method to evaluate and compare the algorithm’s performance to the ones that solve public benchmark problems inas shown in literature. The work presented in this paper also provides a complete tool to reformat and control user input, critical small benchmark, biconnected, random and grid problems. Once all of this is performed, it calculates the common performance measurements of multi-robot path planning algorithms in a unified way. The work presented in this paper animates the results so the researchers can follow their algorithms’ executions. In addition, MRPPSim is designed as set of models, each is dedicated to a specific function, this allows new algorithm, evaluation model, or performance measurements to be easily plugged into the simulator.

  12. Medical Robotic and Telesurgical Simulation and Education Research

    Science.gov (United States)

    2012-09-01

    Acquaintance Period. The subjects walked through the curriculum of 4 tasks on the robot/simulator. They were allowed to get acquainted with the...Jensen P, et al. Bile duct injury during laparoscopic cholecystectomy: a prospective nationwide series. J Am CollSurg 1997; 184: 571–578. 2. Merrie AE

  13. The fractional-nonlinear robotic manipulator: Modeling and dynamic simulations

    Science.gov (United States)

    David, S. A.; Balthazar, J. M.; Julio, B. H. S.; Oliveira, C.

    2012-11-01

    In this paper, we applied the Riemann-Liouville approach and the fractional Euler-Lagrange equations in order to obtain the fractional-order nonlinear dynamics equations of a two link robotic manipulator. The aformentioned equations have been simulated for several cases involving: integer and non-integer order analysis, with and without external forcing acting and some different initial conditions. The fractional nonlinear governing equations of motion are coupled and the time evolution of the angular positions and the phase diagrams have been plotted to visualize the effect of fractional order approach. The new contribution of this work arises from the fact that the dynamics equations of a two link robotic manipulator have been modeled with the fractional Euler-Lagrange dynamics approach. The results reveal that the fractional-nonlinear robotic manipulator can exhibit different and curious behavior from those obtained with the standard dynamical system and can be useful for a better understanding and control of such nonlinear systems.

  14. A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation

    OpenAIRE

    Nirmala Nirmala; Prianggada Indra Tanaya; Maralo Sinaga

    2015-01-01

    The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structur...

  15. Robots

    Institute of Scientific and Technical Information of China (English)

    驷萍

    1997-01-01

    一篇介绍机器人的文章写得如此耐读,如此清新! 首先.我们弄清了robot一词的来历: It was used first in 1920 in a play by Czcchoslovak writer Karel Capek.The wordrobot comes from the Czech word for slave. 上句提供了一个时间:1920。文章接着便抓住这个时间做文章: 且The word robot.and robots themselves are less than 100 years old.But humanshave been dreaming of real and imaginary copies of themselves for thousands of years. 文章就这样写出了波澜,1920年和 thousands of years自然而然构成了强烈对比。1954年和1960s是两个谈及机器人时不得不一提的时间: In 1954,the world’s first robot was produced in the United States. During the 1960s,the first industrial robots appeared beside human workers infactories.下面这句让我们体味到 the Czech word for slave中的 slave不仅言之有理,而且影视和小说里的机器人“造反”,进而 killed the humans who made them的情节也“事出有因”: What do today’s robots do?Robots do work.Work that human consideruninteresting or dangerous.…do many jobs that people consider tiring. 本文将机器人的“功过”放在一起写,笔

  16. Development of automation and robotics for space via computer graphic simulation methods

    Science.gov (United States)

    Fernandez, Ken

    1988-01-01

    A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

  17. A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

    Science.gov (United States)

    2016-05-01

    camera control for remote exploration. In: Proceedings of ACM CHI 2004 Conference on Human Factors in Computing Systems; 2004 Apr 24–29; Vienna...Austria. New York (NY): ACM ; c2004. p. 511–517. Kunkler K. The role of medical simulation: an overview. The International Journal of Medical Robotics and...Schreckenghost D. Survey of metrics for human-robot interaction. In: Proceedings of the 8th ACM /IEEE Human-Robot Interaction Conference; HRI 2013

  18. Dynamic modeling and simulation for nonholonomic welding mobile robot

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between -0.2 mm and +0.2 mm, and the total distance of travel for the slider is consistently within ±2 mm. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot.

  19. Prototyping artificial jaws for the robotic dental testing simulator.

    Science.gov (United States)

    Alemzadeh, K; Raabe, D

    2008-11-01

    This paper presents a robot periphery prototyped for the six-degrees-of-freedom robotic dental testing simulator, simulating the wear of materials on dental components, such as individual teeth, crowns, bridges, or a full set of teeth. The robot periphery consists of the artificial jaws and compliance module. The jaws have been reverse engineered and represent a human-like mandible and maxilla with artificial teeth. Each clinically fabricated tooth consists of a crown and glass ceramic roots which are connected using resin cement. Normal clinical occlusion of the artificial jaws assembly was emulated by a dental articulator based on 'Andrew's six keys to occlusion'. The radii of the von Spee curve, the Monson curve, and the Wilson curve were also measured as important jaw characteristic indicators to aid normal occlusion. A compliance module had to be built between the lower jaw and the robot platform to sustain the fluctuating forces that occur during normal chewing in the occlusal contact areas, where these high bite forces are major causes of dental component failure. A strain gauge force transducer has been integrated into the machined lower jaw, underneath the second molars, to measure axial biting forces applied to the posterior teeth. The experiments conducted have shown that the sensor is able to sense small changes in the compression force satisfactorily, when applied perpendicular to the occlusal surfaces of the teeth.

  20. Mastery-Based Virtual Reality Robotic Simulation Curriculum: The First Step Toward Operative Robotic Proficiency.

    Science.gov (United States)

    Hogg, Melissa E; Tam, Vernissia; Zenati, Mazen; Novak, Stephanie; Miller, Jennifer; Zureikat, Amer H; Zeh, Herbert J

    Hepatobiliary surgery is a highly complex, low-volume specialty with long learning curves necessary to achieve optimal outcomes. This creates significant challenges in both training and measuring surgical proficiency. We hypothesize that a virtual reality curriculum with mastery-based simulation is a valid tool to train fellows toward operative proficiency. This study evaluates the content and predictive validity of robotic simulation curriculum as a first step toward developing a comprehensive, proficiency-based pathway. A mastery-based simulation curriculum was performed in a virtual reality environment. A pretest/posttest experimental design used both virtual reality and inanimate environments to evaluate improvement. Participants self-reported previous robotic experience and assessed the curriculum by rating modules based on difficulty and utility. This study was conducted at the University of Pittsburgh Medical Center (Pittsburgh, PA), a tertiary care academic teaching hospital. A total of 17 surgical oncology fellows enrolled in the curriculum, 16 (94%) completed. Of 16 fellows who completed the curriculum, 4 fellows (25%) achieved mastery on all 24 modules; on average, fellows mastered 86% of the modules. Following curriculum completion, individual test scores improved (p < 0.0001). An average of 2.4 attempts was necessary to master each module (range: 1-17). Median time spent completing the curriculum was 4.2 hours (range: 1.1-6.6). Total 8 (50%) fellows continued practicing modules beyond mastery. Survey results show that "needle driving" and "endowrist 2" modules were perceived as most difficult although "needle driving" modules were most useful. Overall, 15 (94%) fellows perceived improvement in robotic skills after completing the curriculum. In a cohort of board-certified general surgeons who are novices in robotic surgery, a mastery-based simulation curriculum demonstrated internal validity with overall score improvement. Time to complete the

  1. Playing doctor: Simulation in medical school as affective practice.

    Science.gov (United States)

    Underman, Kelly

    2015-07-01

    Simulated patient encounters, in which a trained layperson role-plays a patient, have become increasingly important in medical education. One such type is the gynecological teaching associate (GTA), who teaches medical students how to perform the pelvic examination using her own body. This paper considers the role that simulation like the GTA session plays in medical students' professional socialization. Drawn from interviews and archival sources gathered from medical students, medical faculty, and GTAs, this paper explores the tensions between artificiality and authenticity in order to understand how, through pedagogical practice, medical students come to embody medical culture through simulation. This paper uses the theoretical framework of the medical habitus to understand the role of emotion in medical student socialization. It argues that simulation is an example of affective practice: any rehearsal of techniques or styles of expressing, experiencing, or managing emotion that reshape the body's capacity to feel. Copyright © 2015 Elsevier Ltd. All rights reserved.

  2. 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...

  3. Interactive Simulated Robot Construction and Controller Evolution

    Science.gov (United States)

    2012-07-09

    evolvability. 2. METHODS The design environment uses the Open Dynamics En- gine (ODE) physics engine with a graphics window and keyboard-driven input to...the allotted time. The simulator captured the time-stamped command keystrokes from each user’s session as well as the simulation environment that...created with an earlier version of the application,which did not include keystroke capture. For this reason, we can- not analyze the user inputs for

  4. Lessons in Biogeography: Simulating Evolution Using Playing Cards.

    Science.gov (United States)

    Knapp, Paul A.; Thompson, James M.

    1994-01-01

    States that teaching the concepts of evolution to secondary school and college students is difficult. Presents a playing card game-based simulation that teaches the complex idea of natural selection in a simple, nonthreatening way. Includes three figures, one table, and step-by-step instructional procedures. (CFR)

  5. Using Playing Cards to Simulate a Molecular Clock

    Science.gov (United States)

    Westerling, Karin E.

    2008-01-01

    Changes in DNA base-repair may serve as an indicator of the time elapsed since divergence from a common ancestor. DNA sequences can now be analyzed. The simulation presented in this article allows students to observe the accumulation of changes in a randomly mutating sequence of playing cards. The cards are analogous to DNA nucleotide or protein…

  6. 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.

  7. Simulation of Flexible Objects in Robotics

    DEFF Research Database (Denmark)

    Fugl, Andreas Rune; Petersen, Henrik Gordon; Willatzen, Morten

    2012-01-01

    In this paper, we present what appears to be the first simulation model for grasping of flexible bodies based on the three-dimensional elastic constitutive relations and Newton's Second Law for solids known as the Navier-Cauchy equations. We give an overview of the most important equations for st...

  8. Designing and implementing nervous system simulations on LEGO robots.

    Science.gov (United States)

    Blustein, Daniel; Rosenthal, Nikolai; Ayers, Joseph

    2013-05-25

    We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step of the method is to develop a nervous system simulation of specific reflexive behaviors of an appropriate model organism; here we use the American Lobster. Exteroceptive reflexes mediated by decussating (crossing) neural connections can explain an animal's taxis towards or away from a stimulus as described by Braitenberg and are particularly well suited for investigation using the NXT platform.(1) The nervous system simulation is programmed using LabVIEW software on the LEGO Mindstorms platform. Once the nervous system is tuned properly, behavioral experiments are run on the robot and on the animal under identical environmental conditions. By controlling the sensory milieu experienced by the specimens, differences in behavioral outputs can be observed. These differences may point to specific deficiencies in the nervous system model and serve to inform the iteration of the model for the particular behavior under study. This method allows for the experimental manipulation of electronic nervous systems and serves as a way to explore neuroscience hypotheses specifically regarding the neurophysiological basis of simple innate reflexive behaviors. The LEGO Mindstorms NXT kit provides an affordable and efficient platform on which to test preliminary biomimetic robot control schemes. The approach is also well suited for the high school classroom to serve as the foundation for a hands-on inquiry-based biorobotics curriculum.

  9. Pilot study on effectiveness of simulation for surgical robot design using manipulability.

    Science.gov (United States)

    Kawamura, Kazuya; Seno, Hiroto; Kobayashi, Yo; Fujie, Masakatsu G

    2011-01-01

    Medical technology has advanced with the introduction of robot technology, which facilitates some traditional medical treatments that previously were very difficult. However, at present, surgical robots are used in limited medical domains because these robots are designed using only data obtained from adult patients and are not suitable for targets having different properties, such as children. Therefore, surgical robots are required to perform specific functions for each clinical case. In addition, the robots must exhibit sufficiently high movability and operability for each case. In the present study, we focused on evaluation of the mechanism and configuration of a surgical robot by a simulation based on movability and operability during an operation. We previously proposed the development of a simulator system that reproduces the conditions of a robot and a target in a virtual patient body to evaluate the operability of the surgeon during an operation. In the present paper, we describe a simple experiment to verify the condition of the surgical assisting robot during an operation. In this experiment, the operation imitating suturing motion was carried out in a virtual workspace, and the surgical robot was evaluated based on manipulability as an indicator of movability. As the result, it was confirmed that the robot was controlled with low manipulability of the left side manipulator during the suturing. This simulation system can verify the less movable condition of a robot before developing an actual robot. Our results show the effectiveness of this proposed simulation system.

  10. Design and evaluation of a personal robot playing a self-management education game with children with diabetes type 1

    NARCIS (Netherlands)

    Blanson Henkemans, O.A.; Bierman, B.P.B.; Janssen, J.; Looije, R.; Neerincx, M.A.; Dooren, M.M.M. van; Vries, J.L.E. de; Burg, G.J. van der; Huisman, S.D.

    2017-01-01

    Objective To assess the effects of a personal robot, providing diabetes self-management education in a clinical setting on the pleasure, engagement and motivation to play a diabetes quiz of children (7–12) with type 1 diabetes mellitus (T1DM), and on their acquisition of knowledge about their

  11. Realistic humanoid robot simulation with an optimized controller: a power consumption minimization approach

    OpenAIRE

    2008-01-01

    This paper describes a humanoid robot simulator supporting joint trajectory optimization, following accurately the real robot characteristics. The simulator, based on a rigid body simulator (Open Dynamics Engine) and an OpenGL based graphics library (GLScene), provides instant visual feedback and realistic dynamics. It allows to design and test behaviours and control methods without access to the real hardware, preventing damages in the real robot in the earlier stages of development. Having ...

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

  13. Probability theory versus simulation of petroleum potential in play analysis

    Science.gov (United States)

    Crovelli, R.A.

    1987-01-01

    An analytic probabilistic methodology for resource appraisal of undiscovered oil and gas resources in play analysis is presented. This play-analysis methodology is a geostochastic system for petroleum resource appraisal in explored as well as frontier areas. An objective was to replace an existing Monte Carlo simulation method in order to increase the efficiency of the appraisal process. Underlying the two methods is a single geologic model which considers both the uncertainty of the presence of the assessed hydrocarbon and its amount if present. The results of the model are resource estimates of crude oil, nonassociated gas, dissolved gas, and gas for a geologic play in terms of probability distributions. The analytic method is based upon conditional probability theory and a closed form solution of all means and standard deviations, along with the probabilities of occurrence. ?? 1987 J.C. Baltzer A.G., Scientific Publishing Company.

  14. Virtual reality robotic surgical simulation: an analysis of gynecology trainees.

    Science.gov (United States)

    Sheth, Sangini S; Fader, Amanda N; Tergas, Ana I; Kushnir, Christina L; Green, Isabel C

    2014-01-01

    To analyze the learning curves of gynecology trainees on several virtual reality da Vinci Skills Simulator exercises. Prospective cohort pilot study. Academic hospital-based gynecology training program. Novice robotic surgeons from a gynecology training program. Novice robotic surgeons from an academic gynecology training program completed 10 repetitions of 4 exercises on the da Vinci Skills Simulator: matchboard, ring and rail, suture sponge, and energy switching. Performance metrics measured included time to completion, economy of instrument movement, excessive force, collisions, master workspace range, missed targets, misapplied energy, critical errors, and overall score. Statistical analyses were conducted to define the learning curve for trainees and the optimal number of repetitions for each exercise. A total of 34 participants were enrolled, of which 9 were medical students, 22 were residents, and 3 were fellows. There was a significant improvement in performance between the 1st and 10th repetitions across multiple metrics for all exercises. Senior trainees performed the suture exercise significantly faster than the junior trainees during the first and last repetitions (p = 0.004 and p = 0.003, respectively). However, the performance gap between seniors and juniors narrowed significantly by the 10th repetition. The mean number of repetitions required to achieve performance plateau ranged from 6.4 to 9.3. Virtual reality robotic simulation improves ability through repetition at all levels of training. Further, a performance plateau may exist during a single training session. Larger studies are needed to further define the most high-yield simulator exercises, the ideal number of repetitions, and recommended intervals between training sessions to improve operative performance. Copyright © 2014 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  15. The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation

    OpenAIRE

    M. Ghazal; A. Talezadeh; Taheri, M.; M. Nazemi-Zade

    2014-01-01

    To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of...

  16. Robot off-line programming and simulation as a true CIME-subsystem

    DEFF Research Database (Denmark)

    Nielsen, L.F; Trostmann, S; Trostmann, Erik

    1992-01-01

    A robot off-line programming and real-time simulation system, ROPSIM, which is based on the neutral interface concept and features simulation of the dynamics of both the controller and robot arm, has been developed. To avoid dependency on dedicated robot models, ROPSIM is based on generic models ...... model definition data and robot program definition data with systems of other origin or different functionality......A robot off-line programming and real-time simulation system, ROPSIM, which is based on the neutral interface concept and features simulation of the dynamics of both the controller and robot arm, has been developed. To avoid dependency on dedicated robot models, ROPSIM is based on generic models...... describing the robot controller, robot arm geometry, and the robot and arm kinetics. The software was developed using the C++ programming language. The key modules are discussed. The system is a true computer-integrated manufacturing and engineering subsystem which facilitates the exchange and reuse of robot...

  17. A new robot-assisted orthopedic surgery simulation system

    Institute of Scientific and Technical Information of China (English)

    WU Dong-mei; DU Zhi-jiang; JIA Zhi-heng; YANG Donghai; SUN Li-ning

    2006-01-01

    The paper proposes a novel desktop virtual surgical simulation system capable of not only surgical training but also operative planning, surgery rehearsal and telesurgery, which is mainly used on the robot-assisted orthopedic surgery system, HIT-RAOS. The paper first introduces the hardware system: HIT-RAOS. Then presents several major characters of the virtual system: developing tools, building schemes and collision detection algorithm. Additionally, virtual reality based telesurgery is implemented. Based on these works, experiments of locking of intramedullary nails are conducted, and results are content.

  18. VIRTUAL COMMISSIONING OF A ROBOTIC CELL USING TECNOMATIX PROCESS SIMULATE

    Directory of Open Access Journals (Sweden)

    Nicolae-Adrian DUMITRASCU

    2017-06-01

    Full Text Available The concept of Virtual Commissioning (VC has become one of the most essential phases in the development and simulation of automated manufacturing processes. By creating a digital copy of the real system installment, companies have the ability to test out more complex scenarios with robots and complicated mechatronics design, greatly decreasing the startup time of the plant and shortening the product’s time to the market, while increasing the overall quality at the same time. This paper presents the core concepts of VC and all the required resources and technologies that are involved in the development of a state-of-the-art manufacturing process.

  19. STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

    Institute of Scientific and Technical Information of China (English)

    Zhang Zheng; Ma Shugen; Li Bin; Zhang Liping; Cao Binggang

    2006-01-01

    Objective To study mechanics characteristics of two cooperative reconfigurable planetary robots when they get across an obstacle, and to find out the relationship between the maximum height of a stair with the configuration of the two-robot, and to find some restrictions of kinematics for the cooperation. Methods Multirobot cooperation theory is used in the whole study process. Inverse kinematics of the robot is used to form a desired configuration in the cooperation process. Static equations are established to analyze the relations between the friction factor, the configuration of robots and the maximum height of a stair. Kinematics analysis is used to find the restrictions of the two collaborative robots in position, velocity and acceleration. Results 3D simulation shows that the two cooperative robots can climb up a stair under the condition of a certain height and a certain friction factor between robot wheel and the surface of the stair. Following the restrictions of kinematics, the climbing mission is fulfilled successfully and smoothly. Conclusion The maximum height of a stair, which the two cooperative robots can climb up, is involved in the configuration of robots, friction factor between the stair and the robots. The most strict restriction of the friction factor does not appear in the horizontal position. In any case, the maximum height is smaller than half of the distance between the centroid of robot1 with the centroid of robot2. However, the height can be higher than the radius of one robot wheel, which profit from the collaboration.

  20. Participation and Enjoyment in Play with a Robot between Children with Cerebral Palsy who use AAC and their Peers.

    Science.gov (United States)

    Ferm, Ulrika M; Claesson, Britt K; Ottesjö, Cajsa; Ericsson, Stina

    2015-06-01

    This study explores children with complex communication needs, their peers and adult support persons in play with the talking and moving robot LekBot. Two triads were filmed playing with LekBot at pre-school. LekBot was developed to facilitate independent and enjoyable play on equal terms for children with significant communication disabilities and their peers. Using Conversation Analysis, participatory symmetry and enjoyment were investigated in relation to spoken and gestural communication, embodied stance, gaze, and affective display. Data originated from three video-recorded sessions that were approximately 2 hours long. Four different interaction situations were identified and explored: Participatory Asymmetry, Adult Facilitation, Greater Participatory Symmetry and Creativity, and Turn-taking and Enjoyable Play with LekBot. Neither participatory symmetry nor enjoyment were easily achieved in the play sessions and may require considerable effort, including adult involvement, but creative, spontaneous and highly enjoyable play, correlating with participatory symmetry to various degrees, was observed in a few instances. The findings are discussed with regard to play, AAC and the future development of robots to facilitate play.

  1. Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

    Science.gov (United States)

    2011-01-18

    allocation problems effectively. A distributed auctioneering algorithm was applied to team coordination tasks . Vehicles wishing to participate in the...invest in application such as search and rescue , threat detection, patrolling, and counter- terrorism. The high level of complexities in such areas...localization, planning, coordination, formation, and task allocation . Deployment in the real world is the end-goal of robotics, but simulation

  2. A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation

    Directory of Open Access Journals (Sweden)

    Nirmala Nirmala

    2015-05-01

    Full Text Available The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.

  3. Systems Engineering as a critical tool in mobile robot simulation

    Directory of Open Access Journals (Sweden)

    Citlalih Yollohtli Alejandra Gutiérrez Estrada

    2013-01-01

    Full Text Available This paper explains a mobile robot simulation process in a static scenario with obstacles, which generated a location map supported by various prototypes created throughout the project, used to analyze the behavior of autonomous navigation algorithms and implemented mapping. This project had the management and formalization support from Software Systems Engineering through the spiral lifecycle model, used to develop and test the intended processes and human reasoning. Each step of the spiral lifecycle model iteration considered the goals, artificial intelligence (AI and simulation aspects by identifying the robot’s purpose, as well as solution alternatives to define the methods to achieve the intended goals. As a project with a common objective for a multidisciplinary research group, the work and results obtained by means of systems engineering allowed tackling the interests of several end users and handling functional and non-functional requirements separately.

  4. Fault-Tolerant Robot Programming through Simulation with Realistic Sensor Models

    Directory of Open Access Journals (Sweden)

    Axel Waggershauser

    2008-11-01

    Full Text Available We introduce a simulation system for mobile robots that allows a realistic interaction of multiple robots in a common environment. The simulated robots are closely modeled after robots from the EyeBot family and have an identical application programmer interface. The simulation supports driving commands at two levels of abstraction as well as numerous sensors such as shaft encoders, infrared distance sensors, and compass. Simulation of on-board digital cameras via synthetic images allows the use of image processing routines for robot control within the simulation. Specific error models for actuators, distance sensors, camera sensor, and wireless communication have been implemented. Progressively increasing error levels for an application program allows for testing and improving its robustness and fault-tolerance.

  5. Simulation of Mechanical Transmissions for Base Translation of an Industrial Robot

    OpenAIRE

    Dumitru Adrian Stefan; Calin-Octavian Miclosina

    2009-01-01

    This paper presents the simulation of 2 chained mechanical transmissions used to obtain the base translation of an industrial robot: worm - worm gear transmission and motion screw - nut transmission. For simulation, CATIA V5 software was used.

  6. Worker selection of safe speed and idle condition in simulated monitoring of two industrial robots.

    Science.gov (United States)

    Karwowski, W; Rahimi, M

    1991-05-01

    Industrial robots often operate at high speed, with unpredictable motion patterns and erratic idle times. Serious injuries and deaths have occurred due to operator misperception of these robot design and performance characteristics. The main objective of the research project was to study human perceptual aspects of hazardous robotics workstations. Two laboratory experiments were designed to investigate workers' perceptions of two industrial robots with different physical configurations and performance capabilities. Twenty-four subjects participated in the study. All subjects were chosen from local industries, and had had considerable exposure to robots and other automated equipment in their working experience. Experiment 1 investigated the maximum speed of robot arm motions that workers, who were experienced with operation of industrial robots, judged to be 'safe' for monitoring tasks. It was found that the selection of safe speed depends on the size of the robot and the speed with which the robot begins its operation. Speeds of less than 51 cm/s and 63 cm/s for large and small robots, respectively, were perceived as safe, i.e., ones that did not result in workers feeling uneasy or endangered when working in close proximity to the robot and monitoring its actions. Experiment 2 investigated the minimum value of robot idle time (inactivity) perceived by industrial workers as system malfunction, and an indication of the 'safe-to-approach' condition. It was found that idle times of 41 s and 28 s or less for the small and large robots, respectively, were perceived by workers to be a result of system malfunction. About 20% of the workers waited only 10 s or less before deciding that the robot had stopped because of system malfunction. The idle times were affected by the subjects' prior exposure to a simulated robot accident. Further interpretations of the results and suggestions for operational limitations of robot systems are discussed.

  7. Robotic Surgery Simulator: Elements to Build a Training Program.

    Science.gov (United States)

    Tillou, Xavier; Collon, Sylvie; Martin-Francois, Sandrine; Doerfler, Arnaud

    2016-01-01

    Face, content, and construct validity of robotic surgery simulators were confirmed in the literature by several studies, but elements to build a training program are still lacking. The aim of our study was to validate a progressive training program and to assess according to prior surgical experience the amount of training needed with a robotic simulator to complete the program. Exercises using the Da Vinci Skill Simulator were chosen to ensure progressive learning. A new exercise could only be started if a minimal score of 80% was achieved in the prior one. The number of repetitions to achieve an exercise was not limited. We devised a "performance index" by calculating the ratio of the sum of scores for each exercise over the number of repetitions needed to complete the exercise with at least an 80% score. The study took place at the François Baclesse Cancer Center. Participants all work at the primary care university Hospital located next to the cancer center. A total of 32 surgeons participated in the study- 2 experienced surgeons, 8 junior and 8 senior residents in surgery, 6 registrars, and 6 attending surgeons. There was no difference between junior and senior residents, whereas the registrars had better results (p < 0.0001). The registrars performed less exercise repetitions compared to the junior or senior residents (p = 0.012). Attending surgeons performed significantly more repetitions than registrars (p = 0.024), but they performed fewer repetitions than junior or senior residents with no statistical difference (p = 0.09). The registrars had a performance index of 50, which is the best result among all novice groups. Attending surgeons were between senior and junior residents with an index at 33.85. Choice of basic exercises to manipulate different elements of the robotic surgery console in a specific and progressive order enables rapid progress. The level of prior experience in laparoscopic surgery affects outcomes. More advanced laparoscopic expertise

  8. Virtual Entity-Based Rapid Prototype for Design and Simulation of Humanoid Robots

    Directory of Open Access Journals (Sweden)

    Guofeng Tong

    2013-07-01

    Full Text Available This paper proposes a framework for a virtual entity‐based rapid prototype (VERP to facilitate the design and simulation of humanoid robots. The VERP framework consists of three components: virtual entities, a high‐fidelity simulation environment with physical and rendering engines, and an interface between the physical and simulation environments. To study the effectiveness of the proposed framework, we present a complete prototype for a humanoid robot using virtual entity modelling, control algorithm design and simulation. The humanoid robot is mathematically modelled with adjustable physical parameters which determine the kinematic and dynamic behaviour of the virtual entity in the simulation environment. With the simulated model, a control scheme for the virtual entity and the actual humanoid robot are designed and implemented through the interface. The empirical experiments and numerical analysis show the effectiveness and preciseness of the proposed VERP in terms of simulation fidelity, dynamic performance, and control interface.

  9. STUDY ON SINGULAR CONFIGURATIONS AND COMPUTER SIMULATION OF 6R ROBOT

    Institute of Scientific and Technical Information of China (English)

    Zhang Kai; Hu Dejin; Liu Chengliang

    2004-01-01

    When robot is at singular configuration,the limited hand velocity would require some joints with infeasible speeds so as to lead unsafety of the system.A method of solving the approximate velocity of joint near singular configuration point by adding damped vector is proposed and a modified algorithm is provided.With the analysis of J?,the singular configurations of 6R robot are divided into structure boundary singularity ,boundary singularity ,inner singularity and wrist singularity.The conditions of singularities of the robot have been ascertained.The computer simulations of the singularities of the robot are developed,which have many advantages over previous description methods of the singular configurations of robot.With the help of boundary singularity analysis,a application in welding trajectory planning checking of the robot has been carried out and the simulation result proved visualized and useful.

  10. The Use of the Articulated Total Body Model as a Robot Dynamics Simulation Tool

    Science.gov (United States)

    1988-07-01

    AARL-SR-90-512 AD-A235 930l[liill ~i 11111111111 iIII J The Use of the Articulated Total Body Model as a Robot Dynamics Simulation Tool Louise A...R 4. TITLE AND SUBTITLE S. FUNDING NUMBERS The Use of the Articulated Total Body Model as a Robot Dynamics Simulation Tool PE 62202F 6. AUTHOR(S) PR...Lagrange method. In this paper the use of the ATH model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this

  11. A step toward 'plug and play' robotics with SoC technology

    DEFF Research Database (Denmark)

    Sørensen, Anders Stengaard; Falsig, Simon; Ugilt, Rolf

    p, li { white-space: pre-wrap; } This article describe our progress toward simplifying and streamlining the low level systems integration of experimental robots, combining a System on Chip (SoC) approach with conventional modular approaches. The combined approach has increased flexibility, improv...

  12. Control of industrial robots for hardware-in-the-loop simulation of satellite docking

    Science.gov (United States)

    Ma, Ou; Zebenay, Melak; Boge, Toralf

    2011-06-01

    One of the most challenging and risky missions for spacecraft is to perform Rendezvous and Docking (RvD) autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the impact-contact dynamics simulation capability of a new, robotics-based, hardware-in-the-loop (HIL) RvD simulation facility which uses two industrial robots to simulate 6-DOF dynamic maneuvering of two docking satellites. The facility is capable of physically simulating the final approaching within 25-meter range and the entire docking/capturing process in a satellite on-orbit servicing mission. The paper briefly discusses the difficulties of using industrial robots for HIL contact dynamics simulation and how these problems are solved. Admittance control strategy is proposed to control the robotic system to make the robot dynamically behave like the spacecraft during a physical interception. The control strategy works as an outer loop on the top of the existing control system of the industrial robot and hence, it does not require altering the joint control hardware and software which are inaccessible for an industrial robot. A simulation study has shown that the methodology can accurately simulate the impact-contact dynamics behavior of the spacecraft in a docking operation.

  13. Current status of validation for robotic surgery simulators - a systematic review.

    Science.gov (United States)

    Abboudi, Hamid; Khan, Mohammed S; Aboumarzouk, Omar; Guru, Khurshid A; Challacombe, Ben; Dasgupta, Prokar; Ahmed, Kamran

    2013-02-01

    To analyse studies validating the effectiveness of robotic surgery simulators. The MEDLINE(®), EMBASE(®) and PsycINFO(®) databases were systematically searched until September 2011. References from retrieved articles were reviewed to broaden the search. The simulator name, training tasks, participant level, training duration and evaluation scoring were extracted from each study. We also extracted data on feasibility, validity, cost-effectiveness, reliability and educational impact. We identified 19 studies investigating simulation options in robotic surgery. There are five different robotic surgery simulation platforms available on the market. In all, 11 studies sought opinion and compared performance between two different groups; 'expert' and 'novice'. Experts ranged in experience from 21-2200 robotic cases. The novice groups consisted of participants with no prior experience on a robotic platform and were often medical students or junior doctors. The Mimic dV-Trainer(®), ProMIS(®), SimSurgery Educational Platform(®) (SEP) and Intuitive systems have shown face, content and construct validity. The Robotic Surgical SimulatorTM system has only been face and content validated. All of the simulators except SEP have shown educational impact. Feasibility and cost-effectiveness of simulation systems was not evaluated in any trial. Virtual reality simulators were shown to be effective training tools for junior trainees. Simulation training holds the greatest potential to be used as an adjunct to traditional training methods to equip the next generation of robotic surgeons with the skills required to operate safely. However, current simulation models have only been validated in small studies. There is no evidence to suggest one type of simulator provides more effective training than any other. More research is needed to validate simulated environments further and investigate the effectiveness of animal and cadaveric training in robotic surgery.

  14. The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink

    Science.gov (United States)

    Song, Dalei; Zheng, Lidan; Wang, Li; Qi, Weiwei; Li, Yanli

    A simulation method of adaptive controller is proposed for the humanoid robot system based on co-simulation of Solidworks, ADAMS and Simulink. A complex mathematical modeling process is avoided by this method, and the real time dynamic simulating function of Simulink would be exerted adequately. This method could be generalized to other complicated control system. This method is adopted to build and analyse the model of humanoid robot. The trajectory tracking and adaptive controller design also proceed based on it. The effect of trajectory tracking is evaluated by fitting-curve theory of least squares method. The anti-interference capability of the robot is improved a lot through comparative analysis.

  15. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  16. Preliminary testing by adults of a haptics-assisted robot platform designed for children with physical impairments to access play.

    Science.gov (United States)

    Sakamaki, Isao; Adams, Kim; Medina, Maria Fernanda Gomez; Cruz, Javier Leonardo Castellanos; Jafari, Nooshin; Tavakoli, Mahdi; Janz, Heidi

    2017-07-11

    Development of children's cognitive and perceptual skills depends heavily on object exploration and experience in their physical world. For children who have severe physical impairments, one of the biggest concerns is the loss of opportunities for meaningful play with objects, including physical contact and manipulation. Assistive robots can enable children to perform object manipulation through the control of simple interfaces. Touch sensations conveyed through haptic interfaces in the form of force reflection or force assistance can help a child to sense the environment and to control a robot. A robotic system with forbidden region virtual fixtures (VFs) was tested in an object sorting task. Three sorting tasks-by color, by shape, and by both color and shape-were performed by 10 adults without disability and one adult with cerebral palsy. Tasks performed with VFs were accomplished faster than tasks performed without VFs, and deviations of the motion area were smaller with VFs than without VFs. For the participant with physical impairments, two out of three tasks were slower with the VFs. This implies that forbidden region VFs are not always able to improve user task performance. Alignment with an individual's unique motion characteristics can improve VF assistance.

  17. Playing the American Revolution: A Historical Microcomputer Simulation.

    Science.gov (United States)

    Sargent, James E.; Hueston, Stephen P.

    1988-01-01

    Explanation of the purpose of microcomputer simulations in history classes at the college or secondary school level focuses on the development of one simulation, The American Revolution. Highlights include effects on learning processes of using simulations in a microcomputer laboratory; student evaluations of the simulation; and creation of the…

  18. "Reluctant Participants" in Role Play Simulations: Stage Fright or Bewilderment?

    Science.gov (United States)

    Saunders, Danny

    1985-01-01

    Discusses factors contributing to participant reluctance in role playing--isolation of role play from the curriculum; lack of interest because of perceived irrelevance to social psychological themes; and acting anxiety. A two-step design which involves gradual role play introduction and observation by reluctant participants is suggested as a…

  19. Effects of food ecology on social play: a laboratory simulation.

    Science.gov (United States)

    Baldwin, J D; Baldwin, J I

    1976-01-01

    A laboratory group of 8 squirrel monkeys was exposed to two experimental conditions in which food was made moderately and extremely difficult to obtain, compared with the free access conditions of baseline. Both experiments produced sharp decreased in the frequency of social play within 4 to 6 days. The stronger manipulation produced the more dramatic effect, reducing play to 1% of the baseline level (P less than .001). Neither experiment produced a total absence of play as was observed in a previous field study in southwestern Panama (Baldwin and Baldwin 1973, 1974) which suggests that the field study sampled conditions of even more severe and/or prolonged food deprivation. No pathological or dysfunctional consequences were observed in any of the circumstances where play was reduced to zero or near zero. The question is raised whether certain theories of play have overstated the case for the necessity of play experience in producing normal socialization in primates. Alternative hypotheses are presented concerning the factors that determine the frequency of play and the consequences of play versus no-play for socialization. After both experiments, the frequency of play rose to a level 50% higher than the average baseline levels of play. This "rebound" reached a peak 5 to 6 days after the termination of each experiment; and during the subsequent days the frequency of play declined to more normal levels. A reinforcement theory is presented as a possible explanation of the rebound effect.

  20. Modeling and Simulation of Wave Gait of a Hexapod Walking Robot: A CAD/CAE Approach

    Directory of Open Access Journals (Sweden)

    Abhijit Mahapatra

    2013-03-01

    Full Text Available In the present paper, an attempt has been made to carry out dynamic analysis of a hexapod robot using the concept of multibody dynamics. A CAD (Computer Aided Design model of a realistic hexapod robot has been made for dynamic simulation of its locomotion using ADAMS (Automatic Dynamic Analysis of Mechanical Systems multibody dynamics solver. The kinematic model of each leg of three degrees of freedom has been designed using CATIA (Computer Aided Three Dimensional Interactive Application and SimDesigner package in order to develop an overall kinematic model of the robot, when it follows a straight path. Joint Torque variation as well as the variation of the aggregate center of mass of the robot was analyzed for the wave tetrapod gait. The simulation results provide the basis for developing the control algorithm as well as an intelligent decision making for the robot while in motion.

  1. Robotic Design Choice Overview using Co-simulation and Design Space Exploration

    DEFF Research Database (Denmark)

    Christiansen, Martin Peter; Larsen, Peter Gorm; Nyholm Jørgensen, Rasmus

    2015-01-01

    Rapid robotic system development has created a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present a collaborative modelling technique that combines discrete-event models of controller software with continuous-time models of physical...... robot components. The proposed co-modelling method utilises Vienna Development Method (VDM) and Matlab for discrete-event modelling and 20-sim for continuous-time modelling. The model-based development of a mobile robot mink feeding system is used to illustrate the collaborative modelling method....... Simulations are used to evaluate the robot model output response in relation to operational demands. An example of a load carrying challenge in relation to the feeding robot is presented and a design space is defined with candidate solutions in both the mechanical and software domains. Simulation results...

  2. A Comparison of Robotic Simulation Performance on Basic Virtual Reality Skills: Simulator Subjective Vs. Objective Assessment Tools.

    Science.gov (United States)

    Dubin, Ariel K; Smith, Roger; Julian, Danielle; Tanaka, Alyssa; Mattingly, Patricia

    2017-07-27

    This study aims to answer the question of whether there is a difference between robotic virtual reality simulator performance assessment and validated human reviewers. Current surgical education relies heavily upon simulation. Several assessment tools are available to the trainee, including the actual robotic simulator assessment metrics and the Global Evaluative Assessment of Robotic Skills (GEARS) metrics, both of which have been independently validated. GEARS is a rating scale through which human evaluators can score trainees' performances on six domains: depth perception, bimanual dexterity, efficiency, force sensitivity, autonomy, and robotic control. Each domain is scored on a 5-point Likert scale with anchors. We used two common robotic simulators, the dV-Trainer (dVT) and the da Vinci Skills Simulator (dVSS) to compare the performance metrics of robotic surgical simulators to the GEARS for a basic robotic task on each simulator. Prospective single-blinded randomized study SETTING: Surgical education and training center PATIENTS OR PARTICIPANTS: Surgeons, surgeons in training INTERVENTIONS: Demographic information was collected including gender, age, level of training, specialty, and previous surgical and simulator experience. Subjects performed two trials of Ring and Rail 1 (RR1) on each of two simulators (dVSS and dVT) after undergoing randomization and warm-up exercises. The second RR1 trial simulator performance was recorded and the de-identified videos were sent to human reviewers using GEARS. Eight different simulator assessment metrics were identified and paired with a similar performance metric in the GEARS tool. The GEARS evaluation scores and simulator assessment scores were paired and a Spearman's rho calculated for their level of correlation. 74 subjects were enrolled in this randomized study with 9 subjects excluded for missing or incomplete data. There was a strong correlation between GEARS score and simulator metric score for Time to Complete

  3. Study on motion simulation of arc welding robot based on UG

    Institute of Scientific and Technical Information of China (English)

    Feng Shengqiang; Hu Shengsun; Du Naicheng; Shen Junqi

    2008-01-01

    The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX4.0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC+ +6.0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphics condition.

  4. Analysis and simulation of fully ankle actuated planar bipedal robots

    NARCIS (Netherlands)

    Franken, M.C.J.; van Oort, Gijs; Stramigioli, Stefano

    2008-01-01

    This paper deals with the analysis of planar bipedal robots, based on passive dynamic walkers, which are actuated only by actuation of the ankle joints. An overview of the major design characteristics of such robots and their influence on the feasibility of a stable limit cycle is presented. It is

  5. Analysis and simulation of fully ankle actuated planar bipedal robots

    NARCIS (Netherlands)

    Franken, Michel; Oort, van Gijs; Stramigioli, Stefano

    2008-01-01

    This paper deals with the analysis of planar bipedal robots, based on passive dynamic walkers, which are actuated only by actuation of the ankle joints. An overview of the major design characteristics of such robots and their influence on the feasibility of a stable limit cycle is presented. It is s

  6. A Course in Simulation and Demonstration of Humanoid Robot Motion

    Science.gov (United States)

    Liu, Hsin-Yu; Wang, Wen-June; Wang, Rong-Jyue

    2011-01-01

    An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback…

  7. The BG-simulation for Byzantine Mobile Robots

    CERN Document Server

    Izumi, Taisuke; Tixeuil, Sébastien; Wada, Koichi

    2011-01-01

    This paper investigates the task solvability of mobile robot systems subject to Byzantine faults. We first consider the gathering problem, which requires all robots to meet in finite time at a non-predefined location. It is known that the solvability of Byzantine gathering strongly depends on a number of system attributes, such as synchrony, the number of Byzantine robots, scheduling strategy, obliviousness, orientation of local coordinate systems and so on. However, the complete characterization of the attributes making Byzantine gathering solvable still remains open. In this paper, we show strong impossibility results of Byzantine gathering. Namely, we prove that Byzantine gathering is impossible even if we assume one Byzantine fault, an atomic execution system, the n-bounded centralized scheduler, non-oblivious robots, instantaneous movements and a common orientation of local coordinate systems (where n denote the number of correct robots). Those hypotheses are much weaker than used in previous work, induc...

  8. The cerebellum in action: a simulation and robotics study.

    Science.gov (United States)

    Hofstötter, Constanze; Mintz, Matti; Verschure, Paul F M J

    2002-10-01

    The control or prediction of the precise timing of events are central aspects of the many tasks assigned to the cerebellum. Despite much detailed knowledge of its physiology and anatomy, it remains unclear how the cerebellar circuitry can achieve such an adaptive timing function. We present a computational model pursuing this question for one extensively studied type of cerebellar-mediated learning: the classical conditioning of discrete motor responses. This model combines multiple current assumptions on the function of the cerebellar circuitry and was used to investigate whether plasticity in the cerebellar cortex alone can mediate adaptive conditioned response timing. In particular, we studied the effect of changes in the strength of the synapses formed between parallel fibres and Purkinje cells under the control of a negative feedback loop formed between inferior olive, cerebellar cortex and cerebellar deep nuclei. The learning performance of the model was evaluated at the circuit level in simulated conditioning experiments as well as at the behavioural level using a mobile robot. We demonstrate that the model supports adaptively timed responses under real-world conditions. Thus, in contrast to many other models that have focused on cerebellar-mediated conditioning, we investigated whether and how the suggested underlying mechanisms could give rise to behavioural phenomena.

  9. Tele-surgery simulation with a patient organ model for robotic surgery training.

    Science.gov (United States)

    Suzuki, S; Suzuki, N; Hattori, A; Hayashibe, M; Konishi, K; Kakeji, Y; Hashizume, M

    2005-12-01

    Robotic systems are increasingly being incorporated into general laparoscopic and thoracoscopic surgery to perform procedures such as cholecystectomy and prostatectomy. Robotic assisted surgery allows the surgeon to conduct minimally invasive surgery with increased accuracy and with potential benefits for patients. However, current robotic systems have their limitations. These include the narrow operative field of view, which can make instrument manipulation difficult. Current robotic applications are also tailored to specific surgical procedures. For these reasons, there is an increasing demand on surgeons to master the skills of instrument manipulation and their surgical application within a controlled environment. This study describes the development of a surgical simulator for training and mastering procedures performed with the da Vinci surgical system. The development of a tele-surgery simulator and the construction of a training center are also described, which will enable surgeons to simulate surgery from or in remote places, to collaborate over long distances, and for off-site expert assistance.

  10. Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

    Science.gov (United States)

    Chen, ChuXin; Trivedi, Mohan M.

    1992-03-01

    This research is focused on enhancing the overall productivity of an integrated human-robot system. A simulation, animation, visualization, and interactive control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for multisensor simulation, kinematics and locomotion animation, dynamic motion and manipulation animation, transformation between real and virtual modes within the same graphics system, ease in exchanging software modules and hardware devices between real and virtual world operations, and interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation, and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

  11. A pilot study of surgical training using a virtual robotic surgery simulator.

    Science.gov (United States)

    Tergas, Ana I; Sheth, Sangini B; Green, Isabel C; Giuntoli, Robert L; Winder, Abigail D; Fader, Amanda N

    2013-01-01

    Our objectives were to compare the utility of learning a suturing task on the virtual reality da Vinci Skills Simulator versus the da Vinci Surgical System dry laboratory platform and to assess user satisfaction among novice robotic surgeons. Medical trainees were enrolled prospectively; one group trained on the virtual reality simulator, and the other group trained on the da Vinci dry laboratory platform. Trainees received pretesting and post-testing on the dry laboratory platform. Participants then completed an anonymous online user experience and satisfaction survey. We enrolled 20 participants. Mean pretest completion times did not significantly differ between the 2 groups. Training with either platform was associated with a similar decrease in mean time to completion (simulator platform group, 64.9 seconds [P = .04]; dry laboratory platform group, 63.9 seconds [P virtual reality platform. The majority found the training "definitely useful" in improving robotic surgical skills (mean, 4.6) and would attend future training sessions (mean, 4.5). Training on the virtual reality robotic simulator or the dry laboratory robotic surgery platform resulted in significant improvements in time to completion and economy of motion for novice robotic surgeons. Although there was a perception that both simulators improved performance, there was a preference for the virtual reality simulator. Benefits unique to the simulator platform include autonomy of use, computerized performance feedback, and ease of setup. These features may facilitate more efficient and sophisticated simulation training above that of the conventional dry laboratory platform, without loss of efficacy.

  12. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  13. Design and Simulation of Jet-driven Vascular Robot

    Directory of Open Access Journals (Sweden)

    Jiang Fan

    2013-04-01

    Full Text Available For driven and adjustment attitude shortcomings of the existing vascular robot, a jet-driven vascular robot is designed, consists of the upper and lower shell, micro-batteries, variable pump, radio control block, 12 suction nozzles, 24 2/2-way solenoid valves and operation mechanism. The propel force of jet-driven, pressure in elastic capsule, propulsive efficiency and other parameters of vascular robot are analyzed, the propulsive efficiency is 41.6% in initial calculation. The flow path control method of robot posture adjustment in vascular is obtained. CFD technology is used to analyze the flows with capsule contraction and expansion of variable pump and the external flow field characteristics of vascular robot under the moving mode and the posture adjustment. The results show that the contraction and expansion of the variable pump can jet and suck the fluid, to drive vascular robot go straight in blood vessel, in the same time, the pressure field and velocity field under condition of pitch and roll, is met to the movement trend of the robot correspondingly.

  14. Platform for Testing Robotic Vehicles on Simulated Terrain

    Science.gov (United States)

    Lindemann, Randel

    2006-01-01

    The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to

  15. Simulation modeling and tracing optimal trajectory of robotic mining machine effector

    Science.gov (United States)

    Fryanov, VN; Pavlova, LD

    2017-02-01

    Within the framework of the robotic coal mine design for deep-level coal beds with the high gas content in the seismically active areas in the southern Kuzbass, the motion path parameters for an effector of a robotic mining machine are evaluated. The simulation model is meant for selection of minimum energy-based optimum trajectory for the robot effector, calculation of stresses and strains in a coal bed in a variable perimeter shortwall in the course of coal extraction, determination of coordinates of a coal bed edge area with the maximum disintegration of coal, and for choice of direction of the robot effector to get in contact with the mentioned area and to break coal at the minimum energy input. It is suggested to use the model in the engineering of the robot intelligence.

  16. Improving Collaborative Play between Children with Autism Spectrum Disorders and Their Siblings: The Effectiveness of a Robot-Mediated Intervention Based on Lego® Therapy

    Science.gov (United States)

    Huskens, Bibi; Palmen, Annemiek; Van der Werff, Marije; Lourens, Tino; Barakova, Emilia

    2015-01-01

    The aim of the study was to investigate the effectiveness of a brief robot-mediated intervention based on Lego® therapy on improving collaborative behaviors (i.e., interaction initiations, responses, and play together) between children with ASD and their siblings during play sessions, in a therapeutic setting. A concurrent multiple baseline design…

  17. Improving collaborative play between children with autism spectrum disorders and their siblings: The effectiveness of a robot-mediated intervention based on Lego® therapy

    NARCIS (Netherlands)

    Huskens, B.E.B.M.; Palmen, A.M.J.W.; Werff, M. van der; Lourens, T.; Barakova, E.I.

    2015-01-01

    The aim of the study was to investigate the effectiveness of a brief robot-mediated intervention based on Lego® therapy on improving collaborative behaviors (i.e., interaction initiations, responses, and play together) between children with ASD and their siblings during play sessions, in a therapeut

  18. Validation study of a virtual reality robotic simulator--role as an assessment tool?

    Science.gov (United States)

    Lee, Jason Y; Mucksavage, Phillip; Kerbl, David C; Huynh, Victor B; Etafy, Mohamed; McDougall, Elspeth M

    2012-03-01

    Virtual reality simulators are often used for surgical skill training since they facilitate deliberate practice in a controlled, low stakes environment. However, to be considered for assessment purposes rigorous construct and criterion validity must be demonstrated. We performed face, content, construct and concurrent validity testing of the dV-Trainer™ robotic surgical simulator. Urology residents, fellows and attending surgeons were enrolled in this institutional review board approved study. After a brief introduction to the dV-Trainer each subject completed 3 repetitions each of 4 virtual reality tasks on it, including pegboard ring transfer, matchboard object transfer, needle threading of rings, and the ring and rail task. One week later subjects completed 4 similar tasks using the da Vinci® robot. Subjects were assessed on total task time and total errors using the built-in scoring algorithm and manual scoring for the dV-Trainer and the da Vinci robot, respectively. Seven experienced and 13 novice robotic surgeons were included in the study. Experienced surgeons were defined by greater than 50 hours of clinical robotic console time. Of novice robotic surgeons 77% ranked the dV-Trainer as a realistic training platform and 71% of experienced robotic surgeons ranked it as useful for resident training. Experienced robotic surgeons outperformed novices in many dV-Trainer and da Vinci robot exercises, particularly in the number of errors. On pooled data analysis dV-Trainer total task time and total errors correlated with da Vinci robot total task time and total errors (p = 0.026 and 0.011, respectively). This study confirms the face, content, construct and concurrent validity of the dV-Trainer, which may have a potential role as an assessment tool. Copyright © 2012 American Urological Association Education and Research, Inc. Published by Elsevier Inc. All rights reserved.

  19. Simulation of translational piezoelectric microactuators with application in miniaturized robots

    Directory of Open Access Journals (Sweden)

    Marta Vílchez Monge

    2012-11-01

    Full Text Available In the design of miniaturized robots, different types of microelectromechanical actuators must be evaluated to determine the most appropriate one for each specific function as well as the best actuation effect for the size, force, supply voltage, energy, precision and degrees of freedom required.The piezoelectric effect is one of the most promising effects to incorporate microactuators in miniaturized robots. This paper presents a brief comparison on actuation methods for translational displacement and discusses its feasibility for application in miniaturized robots. The specific case of evaluation of a translational piezoelectric actuator using COMSOL Multiphysics is described, as well as an application example for a microgripper to be incorporated in a miniaturized robot for grasping submicrometric objects.

  20. Modeling and Simulation of Elementary Robot Behaviors using Associative Memories

    Directory of Open Access Journals (Sweden)

    Claude F. Touzet

    2008-11-01

    Full Text Available Today, there are several drawbacks that impede the necessary and much needed use of robot learning techniques in real applications. First, the time needed to achieve the synthesis of any behavior is prohibitive. Second, the robot behavior during the learning phase is ? by definition ? bad, it may even be dangerous. Third, except within the lazy learning approach, a new behavior implies a new learning phase. We propose in this paper to use associative memories (self-organizing maps to encode the non explicit model of the robot-world interaction sampled by the lazy memory, and then generate a robot behavior by means of situations to be achieved, i.e., points on the self-organizing maps. Any behavior can instantaneously be synthesized by the definition of a goal situation. Its performance will be minimal (not necessarily bad and will improve by the mere repetition of the behavior.

  1. Deep Blue Cannot Play Checkers: The Need for Generalized Intelligence for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Troy D. Kelley

    2010-01-01

    Full Text Available Generalized intelligence is much more difficult than originally anticipated when Artificial Intelligence (AI was first introduced in the early 1960s. Deep Blue, the chess playing supercomputer, was developed to defeat the top rated human chess player and successfully did so by defeating Gary Kasporov in 1997. However, Deep Blue only played chess; it did not play checkers, or any other games. Other examples of AI programs which learned and played games were successful at specific tasks, but generalizing the learned behavior to other domains was not attempted. So the question remains: Why is generalized intelligence so difficult? If complex tasks require a significant amount of development, time and task generalization is not easily accomplished, then a significant amount of effort is going to be required to develop an intelligent system. This approach will require a system of systems approach that uses many AI techniques: neural networks, fuzzy logic, and cognitive architectures.

  2. An easy and efficient method for flexible robots modeling and simulation

    Science.gov (United States)

    Celentano, Laura

    2013-10-01

    In this paper a very easy, numerically stable and computationally efficient method is presented, which allows to model and simulate a flexible robot with high precision, also under the hypothesis of large link deformations and of time-varying geometrical and physical parameters of the robot and of the end-effector. This methodology uses the same approach of the rigid robots modeling, after suitably and fictitiously subdividing each link of the robot into sublinks, rigid to the aim of the calculus of the inertia matrix and flexible to the aim of the calculus of the elastic matrix. The static and dynamic precision of the method is proved with interesting theorems. Finally, the method is used to model, control and simulate a crane with three flexible links and a varying length cable carrying a body with a variable mass.

  3. Manoeuvre test simulation of a teleoperated robot designed for flow measurement in natural water bodies

    Directory of Open Access Journals (Sweden)

    Carlos Eduardo Díaz Gutiérrez

    2012-12-01

    Full Text Available This article describes the simulation results of manoeuvring operations used in ships, but applied to an SA-1 teleoperated aquatic robot. The SA-1 is a type of robot designed for flow measurement in natural water bodies (rivers, lakes. A robot’s dynamic stability and course stability must be guaranteed due to the different tasks assigned to it. These features can be demonstrated through the pull-out manoeuvre, the Dieudonné spiral manoeuvre, modified Kempf manoeuvre and turning circle manoeuvre. System behaviour when using such manoeuvres can be used to propose a better control system for improving robot performance or modify system design.

  4. Kinematic analysis and simulation of a substation inspection robot guided by magnetic sensor

    Science.gov (United States)

    Xiao, Peng; Luan, Yiqing; Wang, Haipeng; Li, Li; Li, Jianxiang

    2017-01-01

    In order to improve the performance of the magnetic navigation system used by substation inspection robot, the kinematic characteristics is analyzed based on a simplified magnetic guiding system model, and then the simulation process is executed to verify the reasonability of the whole analysis procedure. Finally, some suggestions are extracted out, which will be helpful to guide the design of the inspection robot system in the future.

  5. CoRoBa, a Multi Mobile Robot Control and Simulation Framework

    Directory of Open Access Journals (Sweden)

    Eric Colon

    2008-11-01

    Full Text Available This paper describes on-going development of a multi robot control framework named CoRoBa. CoRoBa is theoretically founded by reifying Real Time Design Patterns. It uses CORBA as its communication Middleware and consequently benefits from the interoperability of this standard. A multi-robot 3D simulator written in Java3D integrates seamlessly with this framework. Several demonstration applications have been developed to validate the design and implementation options.

  6. An object oriented multi-robotic graphic simulation environment for programming the welding tasks

    Institute of Scientific and Technical Information of China (English)

    崔泽; 赵杰; 崔岩; 蔡鹤皋

    2002-01-01

    An object-oriented multi-robotic graphic simulation environment is described in this paper. Object-oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user-friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi-robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi-thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.

  7. Play It Again: Teaching Statistics with Monte Carlo Simulation

    Science.gov (United States)

    Sigal, Matthew J.; Chalmers, R. Philip

    2016-01-01

    Monte Carlo simulations (MCSs) provide important information about statistical phenomena that would be impossible to assess otherwise. This article introduces MCS methods and their applications to research and statistical pedagogy using a novel software package for the R Project for Statistical Computing constructed to lessen the often steep…

  8. Offline motion planning and simulation of two-robot welding coordination

    Science.gov (United States)

    Zhang, Tie; Ouyang, Fan

    2012-03-01

    This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots' relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-Sim Mechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

  9. A Simulation Environment for Bio-inspired Heterogeneous Chained Modular Robots

    Directory of Open Access Journals (Sweden)

    Alberto Brunete

    2014-02-01

    Full Text Available This paper presents a new simulation environment aimed at heterogeneous chained modular robots. This simulator allows for the testing of the feasibility of the design, the checking of how the modules will perform in the field, and the verifying of the hardware, electronics and communication designs before the prototype is built, saving time and resources. The paper shows how the simulator is built and how it can be set up to adapt to new designs. It also gives some examples of its use showing different heterogeneous modular robots running in different environments.

  10. Internet Based General Computer Simulation Platform for Distributed Multi-Robotic System

    Institute of Scientific and Technical Information of China (English)

    迟艳玲; 张斌; 王硕; 谭民

    2002-01-01

    A general computer simulation platform is designed for the purpose of catrrying out experiments on the Distributed Multi-Robotic System. The simulation platform is based on Internet and possesses generality, validity, real-time display and function of supporting algorithm developing. In addition, the platform is equipped wit recording and replay module, and simulation experiment can be reviewed at anytime.By now; a few algorithms have been developed on the Simulation Platform designed.

  11. Virtual reality robotic surgery simulation curriculum to teach robotic suturing: a randomized controlled trial.

    Science.gov (United States)

    Kiely, Daniel J; Gotlieb, Walter H; Lau, Susie; Zeng, Xing; Samouelian, Vanessa; Ramanakumar, Agnihotram V; Zakrzewski, Helena; Brin, Sonya; Fraser, Shannon A; Korsieporn, Pira; Drudi, Laura; Press, Joshua Z

    2015-09-01

    The objective of this randomized, controlled trial was to assess whether voluntary participation in a proctored, proficiency-based, virtual reality robotic suturing curriculum using the da Vinci(®) Skills Simulator™ improves robotic suturing performance. Residents and attending surgeons were randomized to participation or non-participation during a 5 week training curriculum. Robotic suturing skills were evaluated before and after training using an inanimate vaginal cuff model, which participants sutured for 10 min using the da Vinci(®) Surgical System. Performances were videotaped, anonymized, and subsequently graded independently by three robotic surgeons. 27 participants were randomized. 23 of the 27 completed both the pre- and post-test, 13 in the training group and 10 in the control group. Mean training time in the intervention group was 238 ± 136 min (SD) over the 5 weeks. The primary outcome (improvement in GOALS+ score) and the secondary outcomes (improvement in GEARS, total knots, satisfactory knots, and the virtual reality suture sponge 1 task) were significantly greater in the training group than the control group in unadjusted analysis. After adjusting for lower baseline scores in the training group, improvement in the suture sponge 1 task remained significantly greater in the training group and a trend was demonstrated to greater improvement in the training group for the GOALS+ score, GEARS score, total knots, and satisfactory knots.

  12. Design and simulation of an image-based fuzzy tracking controller for a wheeled mobile robot

    Science.gov (United States)

    Shiao, Ying Shing; Wu, Ching Wei

    2011-12-01

    Image processing algorithms and fuzzy logic method are used to design a visual tracking controller for mobile robot navigation. In this paper, a wheeled mobile robot is equipped with a camera for detecting its task space. The grabbed environmental images are treated using image recognition processing to obtain target's size and position. The images are treated using input membership functions as the fuzzy logic controller input. The recognized target's size and position are input into a fuzzy logic controller in which fuzzy rules are used for inference. The inference results are output to the defuzzifier to obtain a physical control signal to control the mobile robot's movement. The velocity and direction of the mobile robot are the output of fuzzy logic controller. The differences in velocities for two wheels are used to control the robot's movement directions. The fuzzy logic controller outputs the control commands to drive the mobile robot to reach a position 50cm front of the target location. The simulation results verify that the proposed FLC is effective in navigating the mobile robot to track a moving target.

  13. Investigating Ground Swarm Robotics Using Agent Based Simulation

    Science.gov (United States)

    2006-12-01

    beyond the capabilities of a single one (Sahin, 2005). The origins of swarm robotics can be traced back to nature, where ant and termite colonies have...McLurkin’s experimental swarm robots “fit the bill,” a good counter-example is that of a robo-soccer team found in Robocup competitions (D’Andrea, 2003) as...accessed Nov 2006. Cioppa, T., “Efficient Nearly Orthogonal and Space-filling Experimental Designs for High-dimensional Complex Models,” Ph.D

  14. Development and training of a learning expert system in an autonomous mobile robot via simulation

    Energy Technology Data Exchange (ETDEWEB)

    Spelt, P.F.; Lyness, E.; DeSaussure, G. (Oak Ridge National Lab., TN (USA). Center for Engineering Systems Advanced Research)

    1989-11-01

    The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. Recently at CESAR a learning expert system was created to operate on board an autonomous robot working at a process control panel. The authors discuss two-computer simulation system used to create, evaluate and train this learning system. The simulation system has a graphics display of the current status of the process being simulated, and the same program which does the simulating also drives the actual control panel. Simulation results were validated on the actual robot. The speed and safety values of using a computerized simulator to train a learning computer, and future uses of the simulation system, are discussed.

  15. Use of industrial robots for hardware-in-the-loop simulation of satellite rendezvous and docking

    Science.gov (United States)

    Ma, Ou; Flores-Abad, Angel; Boge, Toralf

    2012-12-01

    One of the most challenging and risky operations for spacecraft is to perform rendezvous and docking autonomously in space. To ensure a safe and reliable operation, such a mission must be carefully designed and thoroughly verified before a real space mission can be launched. This paper describes the control strategy for achieving high fidelity contact dynamics simulation of a new, robotics-based, hardware-in-the-loop (HIL) rendezvous and docking simulation facility that uses two industrial robots to physically simulate the 6-DOF dynamic maneuvering of two docking satellites. The facility is capable of physically simulating the final approaching within a 25-meter range and the entire docking/capturing process for a satellite on-orbit servicing mission. The key difficulties of using industrial robots for high-fidelity HIL contact dynamics simulation were found and different solution techniques were investigated in the presented project. An admittance control method was proposed to achieve the goal of making the robots in the HIL simulation process match the impedance of the two docking satellites. Simulation study showed the effectiveness and performance of the proposed solution method.

  16. Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

    Science.gov (United States)

    Trube, Matthew J.; Hyslop, Andrew M.; Carignan, Craig R.; Easley, Joseph W.

    2012-01-01

    A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

  17. Modified impedance control for robotic saw cutting: Simulation and implementation in three degrees of freedom

    Energy Technology Data Exchange (ETDEWEB)

    Kriikku, E.M. [Westinghouse Savannah River Co., Aiken, SC (United States); Reynolds, D.L.; Carroll, J.J.; Dawson, D.M. [Clemson Univ., SC (United States). School of Electrical and Computer Engineering

    1993-12-31

    The Savannah River Site (SRS) production and decommissioning operations produce solid radioactive transuranic (TRU) waste. This waste must be repackaged and sent to the Waste Isolation Pilot Plant (WIPP) for permanent disposal. The Savannah River Technology Center (SRTC) built a test facility to demonstrate simulated waste processing. The test facility use`s a CIMCORP multi-axis robot system, a CIMROC{trademark} II robot controller, and an electric circular saw to remotely open and size reduce plywood crates. The robot can either be teleoperated using joysticks or autonomously controlled via the, CIMROC{trademark} II. Both methods are inadequate for circular saw cutting of plywood crates due to frequent saw blade binding. Blade binding results from the current commercial robot controller limitations. The limitations are overcome by incorporating additional sensor information into the existing controller structure. In this paper we utilize a force sensor and a frequency counter to implement a modified impedance controller which prevents saw blade binding.

  18. Modified impedance control for robotic saw cutting: Simulation and implementation in three degrees of freedom

    Energy Technology Data Exchange (ETDEWEB)

    Kriikku, E.M. (Westinghouse Savannah River Co., Aiken, SC (United States)); Reynolds, D.L.; Carroll, J.J.; Dawson, D.M. (Clemson Univ., SC (United States). School of Electrical and Computer Engineering)

    1993-01-01

    The Savannah River Site (SRS) production and decommissioning operations produce solid radioactive transuranic (TRU) waste. This waste must be repackaged and sent to the Waste Isolation Pilot Plant (WIPP) for permanent disposal. The Savannah River Technology Center (SRTC) built a test facility to demonstrate simulated waste processing. The test facility use's a CIMCORP multi-axis robot system, a CIMROC[trademark] II robot controller, and an electric circular saw to remotely open and size reduce plywood crates. The robot can either be teleoperated using joysticks or autonomously controlled via the, CIMROC[trademark] II. Both methods are inadequate for circular saw cutting of plywood crates due to frequent saw blade binding. Blade binding results from the current commercial robot controller limitations. The limitations are overcome by incorporating additional sensor information into the existing controller structure. In this paper we utilize a force sensor and a frequency counter to implement a modified impedance controller which prevents saw blade binding.

  19. Simulation, Modeling, and Programming for Autonomous Robots : preface

    NARCIS (Netherlands)

    Brugali, Davide; Broenink, Johannes F.; Kroeger, Torsten; MacDonald, Bruce A.

    2014-01-01

    Robots are versatile machines that are increasingly being used not only to per- form dirty, dangerous, and dull tasks in manufacturing industries, but also to achieve societal objectives, such as enhancing safety in transportation, reducing the use of pesticide in agriculture, helping people with

  20. Simulation and visualization tool design for robot software

    NARCIS (Netherlands)

    Lu, Zhou; Ran, Tjalling; Broenink, Jan F.; Chalmers, K.; Pedersen, J.B.

    2016-01-01

    Modern embedded systems are designed for multiple and increasingly demanding tasks. Complex concurrent software is required by multi-task automated service robotics for implementing their challenging (control) algorithms. TERRA is a communicating Sequential Processes (CSP) algebra-based Eclipse grap

  1. Medical Robotic and Telesurgical Simulation and Education Research

    Science.gov (United States)

    2013-09-01

    patient but also the entire operative team ( scrub nurse, circulating nurse, first surgical assistant/instrument technician, and anesthesia team). The...Current telecommunication networks are capable of supporting safe robotic telesurgery. Surgical Rehearsal: System capabilities report on three...trials in coming months. Automatic Surgery: Government recommends not pursuing this experiment. 15. SUBJECT TERMS Telesurgery, Surgical Rehearsal

  2. Simulation, modeling, and programming for autonomous robots : preface

    NARCIS (Netherlands)

    Brugali, Davide; Broenink, Jan F.; Kroeger, Torsten; MacDonald, Bruce A.

    2014-01-01

    Robots are versatile machines that are increasingly being used not only to per- form dirty, dangerous, and dull tasks in manufacturing industries, but also to achieve societal objectives, such as enhancing safety in transportation, reducing the use of pesticide in agriculture, helping people with he

  3. AN IMPLEMENTATION OF PACMAN GAME USING ROBOTS

    Directory of Open Access Journals (Sweden)

    Madhav. Rao

    2011-12-01

    Full Text Available 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 technology careers. Young gaming enthusiasts are aware of different playing strategies used in the computer games. If the course curriculum uses integrated approach bybuilding a game in physical robotic environment, students’ strategy developing skills are tapped and students can get jumpstarted in learning course with interest. Algorithms developed by students to realize the game, could find similar real world applications. One such popular game, Pacman is implemented using two iRobot Roomba robots. One robot is considered as Pacman, which escapes from other robot. The other robot, referred as Ghost, tries to attack Pacman. Network camera was used to find robot localization. Interprocesscommunication was included to share the data among different processes. The programs for Pacman and Ghost robots were built using Player/Stage, an open source package, compatible with iRobot platform. The algorithms were prior tested in Player/Stage simulation platform before implementing with real robots. The partial successof Pacman game in robots is discussed in the paper. This attempt should encourage in realizing more computer games in robotics education curriculum and generate immense interest in robotics education using low cost ready to use robots.

  4. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix B

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

    1984-01-01

    The purpose of the Robotics Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAN 77 and implemented on a VAX 11/750 computer using the VMS operating system. This programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With this manual and the in-code documentation, and experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities.

  5. [Role playing as an essential element of simulation procedures in medicine].

    Science.gov (United States)

    Dieckmann, Peter; Rall, Marcus; Eich, Christoph; Schnabel, Kai; Jünger, Jana; Nikendei, Christoph

    2008-01-01

    Role playing is an important element of virtually all simulation-based procedures. An improved understanding for methodological aspects facilitates its goal-oriented use in education and training, research and examinations. In the present paper we describe how different forms of role play are used in different simulation-based procedures. We describe a plausibility study from skills labs demonstrating that the introduction of role-playing can increase perceived realism. Finally we derive practical suggestions for the conduction of role plays in medical simulation.

  6. Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform

    Science.gov (United States)

    Falotico, Egidio; Vannucci, Lorenzo; Ambrosano, Alessandro; Albanese, Ugo; Ulbrich, Stefan; Vasquez Tieck, Juan Camilo; Hinkel, Georg; Kaiser, Jacques; Peric, Igor; Denninger, Oliver; Cauli, Nino; Kirtay, Murat; Roennau, Arne; Klinker, Gudrun; Von Arnim, Axel; Guyot, Luc; Peppicelli, Daniel; Martínez-Cañada, Pablo; Ros, Eduardo; Maier, Patrick; Weber, Sandro; Huber, Manuel; Plecher, David; Röhrbein, Florian; Deser, Stefan; Roitberg, Alina; van der Smagt, Patrick; Dillman, Rüdiger; Levi, Paul; Laschi, Cecilia; Knoll, Alois C.; Gewaltig, Marc-Oliver

    2017-01-01

    Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task. Rather, the embodiment has to be simulated as well. While adequate tools exist to simulate either complex neural networks or robots and their environments, there is so far no tool that allows to easily establish a communication between brain and body models. The Neurorobotics Platform is a new web-based environment that aims to fill this gap by offering scientists and technology developers a software infrastructure allowing them to connect brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems for in silico experimentation. In order to simplify the workflow and reduce the level of the required programming skills, the platform provides editors for the specification of experimental sequences and conditions, environments, robots, and brain–body connectors. In addition to that, a variety of existing robots and environments are provided. This work presents the architecture of the first release of the Neurorobotics Platform developed in subproject 10 “Neurorobotics” of the Human Brain Project (HBP).1 At the current state, the Neurorobotics Platform allows researchers to design and run basic experiments in neurorobotics using simulated robots and simulated environments linked to simplified versions of brain models. We illustrate the capabilities of the platform with three example experiments: a Braitenberg task implemented on a mobile robot, a sensory-motor learning task based on a robotic controller

  7. Medical Robotic and Telesurgical Simulation and Education Research

    Science.gov (United States)

    2015-09-01

    experience of why certain material qualities were so important. The goals for this phase, in addition to mass production, were to maintain device integrity...of abdominal laparoscopic surgery. Using reported median values from survey data, financial benefits were estimated at $168,767, based on annual...cost analyses of robotic surgery for both urology and pediatric surgery, in an effort to develop a novel model for determining return on investment

  8. Medical Robotic and Telesurgical Simulation and Education Research

    Science.gov (United States)

    2016-09-01

    for Maestro AR, described below, and FRS exercises described earlier. Mimic’s Maestro AR ( Augmented Reality ) provides procedure-specific exercises...and report. Award + 700 days. Surgical Rehearsal. Develop virtual reality environment for training operating room staff in robotic surgery. Develop...placement of cannulas. 2. Interpret tactile feedback to adjust or maintain positioning. Physical Model/Virtual Properly use surgical tools (i.e

  9. Industrial Robotics Platform for Simulation Design, Planning and Optimization based on Off-line CAD Programming

    Directory of Open Access Journals (Sweden)

    Baizid Khelifa

    2016-01-01

    Full Text Available This paper presents IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform which we developed based on SolidWorks API. The main objective is to integrate features from mechanical and robotics CAD software into the same platform in order to facilitate the development process through a friendly interaction interface. The platform provides important steps to develop a given robotized task such as: defining a given task, CAD learning of the end-effectors’ trajectory, checking the manipulator’s reach-ability to perform a task, simulating the motion and preventing the trajectory from possible collisions. To assess the usability of the proposed platform, a car’s doors painting task using a 6 Degree Of Freedom industrial manipulator has been developed.

  10. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    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 and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1, pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.96

  11. An innovative approach for modeling and simulation of an automated industrial robotic arm operated electro-pneumatically

    Science.gov (United States)

    Popa, L.; Popa, V.

    2017-08-01

    The article is focused on modeling an automated industrial robotic arm operated electro-pneumatically and to simulate the robotic arm operation. It is used the graphic language FBD (Function Block Diagram) to program the robotic arm on Zelio Logic automation. The innovative modeling and simulation procedures are considered specific problems regarding the development of a new type of technical products in the field of robotics. Thus, were identified new applications of a Programmable Logic Controller (PLC) as a specialized computer performing control functions with a variety of high levels of complexit.

  12. Student Perceptions of a Role-Playing Simulation in an Introductory International Relations Course

    Science.gov (United States)

    Giovanello, Sean P.; Kirk, Jason A.; Kromer, Mileah K.

    2013-01-01

    An emerging assumption in undergraduate political science education is that role-playing simulations are an effective teaching tool. While previous studies have addressed the pedagogical advantages of simulations as compared to more traditional teaching techniques, less attention has been paid to student perceptions of these simulations. This…

  13. Field Robotics in Sports: Automatic Generation of guidance Lines for Automatic Grass Cutting, Striping and Pitch Marking of Football Playing Fields

    Directory of Open Access Journals (Sweden)

    Ole Green

    2011-03-01

    Full Text Available Progress is constantly being made and new applications are constantly coming out in the area of field robotics. In this paper, a promising application of field robotics in football playing fields is introduced. An algorithmic approach for generating the way points required for the guidance of a GPS-based field robotic through a football playing field to automatically carry out periodical tasks such as cutting the grass field, pitch and line marking illustrations and lawn striping is represented. The manual operation of these tasks requires very skilful personnel able to work for long hours with very high concentration for the football yard to be compatible with standards of Federation Internationale de Football Association (FIFA. In the other side, a GPS-based guided vehicle or robot with three implements; grass mower, lawn stripping roller and track marking illustrator is capable of working 24 h a day, in most weather and in harsh soil conditions without loss of quality. The proposed approach for the automatic operation of football playing fields requires no or very limited human intervention and therefore it saves numerous working hours and free a worker to focus on other tasks. An economic feasibility study showed that the proposed method is economically superimposing the current manual practices.

  14. Extending virtual robots towards RoboCup Soccer Simulation and @Home

    NARCIS (Netherlands)

    van Noort, S.; Visser, A.

    2013-01-01

    The RoboCup is an initiative to promote the development of robotics in a social relevant way. The competition consists of several leagues and it would be beneficial if developments in one league could be reused in other leagues. This paper describes the development of a simulation model for a humano

  15. Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

    Institute of Scientific and Technical Information of China (English)

    XIAO Xiao-hui; WU Gong-ping; DU E; SHI Tie-lin

    2005-01-01

    A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non-obstacle straight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange's equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype's travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

  16. Differences in tibiofemoral kinematics between the unloaded robotic passive path and a weightbearing knee simulator

    Directory of Open Access Journals (Sweden)

    Markus Wünschel

    2012-01-01

    Full Text Available Cadaveric in vitro studies are essential to test hypotheses concerning surgical manipulations in the same individual. Robotic technologies as well as different knee-models have been developed to get an in-depth comprehension of knee joint kinematics. The purpose of this study was to compare utilization of these different established principles. Ten human cadaveric knee specimens were used to measure the kinematics during a weight-bearing flexion in a 6-degrees-of-freedom knee simulator. While flexing the knee, joint quadriceps muscle forces were dynamically simulated to reach a vertical ground reaction force of 100N. Fourteen knee specimens were mounted in 6-degrees-of-freedom robotic manipulator with a universal force sensor. The unloaded flexing motion of each specimen was measured by finding positions for each degree of flexion where all forces are minimal (passive path. The kinematic data of the kneesimulator and the robot concerning internal-external rotation, anterior-posterior translation, varus-valgus motion, and medial-lateral translation was examined. For all investigated degrees of freedom the kinematics of the robotic passive path differed from the loaded kinematics in the knee simulator. Simulated bodyweight as well as the examination method used has a substantial influence on joint kinematics during flexion which has to be considered when interpreting biomechanical studies as well as clinical tests.

  17. [Key technologies and implementation of the medical equipment road transportation simulation platform based on 6-DOF parallel robots].

    Science.gov (United States)

    Pei, Yidong; Pei, Baoqing; Li, Hui; Fan, Yubo

    2013-01-01

    In view of the shortage of medical equipment road transportation simulation platform, we put forward a road transportation simulation method based on 6-DOF parallel robots. A 3D road spectrum model was built by the improvement of the harmonic superposition method. The simulation model was then compared with the standard model to verify its performance. Taking the road spectrum as the excitation, we could get the robot motion data to control the parallel robot through the S-shaped linear interpolation of the absolute position. It can simulate the movement of vehicles with different speed under various road conditions efficiently and accurately.

  18. Modeling, Control and Simulation of a Novel Mobile Robotic System

    Science.gov (United States)

    Bai, Xiaoli; Davis, Jeremy; Doebbler, James; Turner, James D.; Junkins, John L.

    We in the Department of Aerospace Engineering at Texas A&M University are developing an autonomous mobile robotic system to emulate six degree of freedom (DOF) relative spacecraft motion during proximity operations. The base uses an active split offset castor (ASOC) drive train to achieve omni-directional planar motion with desired tracking position errors in the ± 1 cm range and heading angle error in the ±0.5° range. With six independently controlled wheels, we achieve a nominally uniform motor torque distribution and reduce the total disturbances with system control redundancy. A CAD (Computer-aided Design) sketch of our onethird scale model prototype is shown.

  19. Creation of Robotic Snake to Validate Contact Modeling in Simulation

    Science.gov (United States)

    2013-12-01

    acrylonitrile butadiene styrene (PC-ABS) plastic connected by MX-28 Dynamixel motors. The links were designed so that the robot could be tracked using a...of a series of links designed using SolidWorks CAD software joined together by MX-28 Dynamixel motors (figure 1). The diameter of the links was...chosen so they would be close to the diameter of the original CMU links and still be able to contain the Dynamixel motors being used to drive the snake

  20. Multiagent Modeling and Simulation in Human-Robot Mission Operations Work System Design

    Science.gov (United States)

    Sierhuis, Maarten; Clancey, William J.; Sims, Michael H.; Shafto, Michael (Technical Monitor)

    2001-01-01

    This paper describes a collaborative multiagent modeling and simulation approach for designing work systems. The Brahms environment is used to model mission operations for a semi-autonomous robot mission to the Moon at the work practice level. It shows the impact of human-decision making on the activities and energy consumption of a robot. A collaborative work systems design methodology is described that allows informal models, created with users and stakeholders, to be used as input to the development of formal computational models.

  1. "Alarm-corrected" ergonomic armrest use could improve learning curves of novices on robotic simulator.

    Science.gov (United States)

    Yang, Kun; Perez, Manuela; Hossu, Gabriela; Hubert, Nicolas; Perrenot, Cyril; Hubert, Jacques

    2017-01-01

    In robotic surgery, the professional ergonomic habit of using an armrest reduces operator fatigue and increases the precision of motion. We designed and validated a pressure surveillance system (PSS) based on force sensors to investigate armrest use. The objective was to evaluate whether adding an alarm to the PSS system could shorten ergonomic training and improve performance. Twenty robot and simulator-naïve participants were recruited and randomized in two groups (A and B). The PSS was installed on a robotic simulator, the dV-Trainer, to detect contact with the armrest. The Group A members completed three tasks on the dV-Trainer without the alarm, making 15 attempts at each task. The Group B members practiced the first two tasks with the alarm and then completed the final tasks without the alarm. The simulator provided an overall score reflecting the trainees' performance. We used the new concept of an "armrest load" score to describe the ergonomic habit of using the armrest. Group B had a significantly higher performance score (p alarm associated with the PSS rectified ergonomic errors and accelerated professional ergonomic habit acquisition. The combination of the PSS and alarm is effective in significantly shortening the learning curve in the robotic training process.

  2. Algorithm of Attitude Control and Its Simulation of Free-Flying Space Robot

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free-flying space robot.However, in this method, a large amount of fuel will be consumed, and it will shorten the on-orbit life span of space robot, it also vibrate the system and make the system unsteady.The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator.In this method it is realized by planning motion trajectory of the end-effector of manipulator without using reaction wheel or reaction thruster.In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.

  3. [Objective surgery -- advanced robotic devices and simulators used for surgical skill assessment].

    Science.gov (United States)

    Suhánszki, Norbert; Haidegger, Tamás

    2014-12-01

    Robotic assistance became a leading trend in minimally invasive surgery, which is based on the global success of laparoscopic surgery. Manual laparoscopy requires advanced skills and capabilities, which is acquired through tedious learning procedure, while da Vinci type surgical systems offer intuitive control and advanced ergonomics. Nevertheless, in either case, the key issue is to be able to assess objectively the surgeons' skills and capabilities. Robotic devices offer radically new way to collect data during surgical procedures, opening the space for new ways of skill parameterization. This may be revolutionary in MIS training, given the new and objective surgical curriculum and examination methods. The article reviews currently developed skill assessment techniques for robotic surgery and simulators, thoroughly inspecting their validation procedure and utility. In the coming years, these methods will become the mainstream of Western surgical education.

  4. The Structural Design, Simulation Analysis and Parameter Optimization of the Cheetah Robot's Lumbar Vertebrae

    Institute of Scientific and Technical Information of China (English)

    LUO Qing-sheng; KE Zhi-fang; ZHANG Bo-xi; LIU Fang-zheng

    2013-01-01

    The quality of skeleton system for the cheetah robot goes hand in hand with its bionic result of its shape, structure and functions. In view of the skeleton system constitution and structural characteristic of the cheetah, the team applied structure design, stimulation analysis and parameter optimization to developing the cheetah robot. In addition, after the invention of cheetah robot’s anterior lumbar vertebra based on its functional attribute and connectivity attribute, the Solidworks Simulation was utilized to analyze the design, according to which improvement on the lumbar vertebra was made. Plus, the advantages of the CAD and CAE made the high efficiency of design work and high quality of the cheetah robot possible.

  5. Training Surgical Residents With a Haptic Robotic Central Venous Catheterization Simulator.

    Science.gov (United States)

    Pepley, David F; Gordon, Adam B; Yovanoff, Mary A; Mirkin, Katelin A; Miller, Scarlett R; Han, David C; Moore, Jason Z

    2017-06-20

    Ultrasound guided central venous catheterization (CVC) is a common surgical procedure with complication rates ranging from 5 to 21 percent. Training is typically performed using manikins that do not simulate anatomical variations such as obesity and abnormal vessel positioning. The goal of this study was to develop and validate the effectiveness of a new virtual reality and force haptic based simulation platform for CVC of the right internal jugular vein. A CVC simulation platform was developed using a haptic robotic arm, 3D position tracker, and computer visualization. The haptic robotic arm simulated needle insertion force that was based on cadaver experiments. The 3D position tracker was used as a mock ultrasound device with realistic visualization on a computer screen. Upon completion of a practice simulation, performance feedback is given to the user through a graphical user interface including scoring factors based on good CVC practice. The effectiveness of the system was evaluated by training 13 first year surgical residents using the virtual reality haptic based training system over a 3 month period. The participants' performance increased from 52% to 96% on the baseline training scenario, approaching the average score of an expert surgeon: 98%. This also resulted in improvement in positive CVC practices including a 61% decrease between final needle tip position and vein center, a decrease in mean insertion attempts from 1.92 to 1.23, and a 12% increase in time spent aspirating the syringe throughout the procedure. A virtual reality haptic robotic simulator for CVC was successfully developed. Surgical residents training on the simulation improved to near expert levels after three robotic training sessions. This suggests that this system could act as an effective training device for CVC. Copyright © 2017 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  6. Off-line simulation inspires insight: A neurodynamics approach to efficient robot task learning.

    Science.gov (United States)

    Sousa, Emanuel; Erlhagen, Wolfram; Ferreira, Flora; Bicho, Estela

    2015-12-01

    There is currently an increasing demand for robots able to acquire the sequential organization of tasks from social learning interactions with ordinary people. Interactive learning-by-demonstration and communication is a promising research topic in current robotics research. However, the efficient acquisition of generalized task representations that allow the robot to adapt to different users and contexts is a major challenge. In this paper, we present a dynamic neural field (DNF) model that is inspired by the hypothesis that the nervous system uses the off-line re-activation of initial memory traces to incrementally incorporate new information into structured knowledge. To achieve this, the model combines fast activation-based learning to robustly represent sequential information from single task demonstrations with slower, weight-based learning during internal simulations to establish longer-term associations between neural populations representing individual subtasks. The efficiency of the learning process is tested in an assembly paradigm in which the humanoid robot ARoS learns to construct a toy vehicle from its parts. User demonstrations with different serial orders together with the correction of initial prediction errors allow the robot to acquire generalized task knowledge about possible serial orders and the longer term dependencies between subgoals in very few social learning interactions. This success is shown in a joint action scenario in which ARoS uses the newly acquired assembly plan to construct the toy together with a human partner.

  7. Different genetic algorithms and the evolution of specialization: a study with groups of simulated neural robots.

    Science.gov (United States)

    Ferrauto, Tomassino; Parisi, Domenico; Di Stefano, Gabriele; Baldassarre, Gianluca

    2013-01-01

    Organisms that live in groups, from microbial symbionts to social insects and schooling fish, exhibit a number of highly efficient cooperative behaviors, often based on role taking and specialization. These behaviors are relevant not only for the biologist but also for the engineer interested in decentralized collective robotics. We address these phenomena by carrying out experiments with groups of two simulated robots controlled by neural networks whose connection weights are evolved by using genetic algorithms. These algorithms and controllers are well suited to autonomously find solutions for decentralized collective robotic tasks based on principles of self-organization. The article first presents a taxonomy of role-taking and specialization mechanisms related to evolved neural network controllers. Then it introduces two cooperation tasks, which can be accomplished by either role taking or specialization, and uses these tasks to compare four different genetic algorithms to evaluate their capacity to evolve a suitable behavioral strategy, which depends on the task demands. Interestingly, only one of the four algorithms, which appears to have more biological plausibility, is capable of evolving role taking or specialization when they are needed. The results are relevant for both collective robotics and biology, as they can provide useful hints on the different processes that can lead to the emergence of specialization in robots and organisms.

  8. Development and Validation of a Novel Robotic Procedure Specific Simulation Platform: Partial Nephrectomy.

    Science.gov (United States)

    Hung, Andrew J; Shah, Swar H; Dalag, Leonard; Shin, Daniel; Gill, Inderbir S

    2015-08-01

    We developed a novel procedure specific simulation platform for robotic partial nephrectomy. In this study we prospectively evaluate its face, content, construct and concurrent validity. This hybrid platform features augmented reality and virtual reality. Augmented reality involves 3-dimensional robotic partial nephrectomy surgical videos overlaid with virtual instruments to teach surgical anatomy, technical skills and operative steps. Advanced technical skills are assessed with an embedded full virtual reality renorrhaphy task. Participants were classified as novice (no surgical training, 15), intermediate (less than 100 robotic cases, 13) or expert (100 or more robotic cases, 14) and prospectively assessed. Cohort performance was compared with the Kruskal-Wallis test (construct validity). Post-study questionnaire was used to assess the realism of simulation (face validity) and usefulness for training (content validity). Concurrent validity evaluated correlation between virtual reality renorrhaphy task and a live porcine robotic partial nephrectomy performance (Spearman's analysis). Experts rated the augmented reality content as realistic (median 8/10) and helpful for resident/fellow training (8.0-8.2/10). Experts rated the platform highly for teaching anatomy (9/10) and operative steps (8.5/10) but moderately for technical skills (7.5/10). Experts and intermediates outperformed novices (construct validity) in efficiency (p=0.0002) and accuracy (p=0.002). For virtual reality renorrhaphy, experts outperformed intermediates on GEARS metrics (p=0.002). Virtual reality renorrhaphy and in vivo porcine robotic partial nephrectomy performance correlated significantly (r=0.8, p platform displayed face, content and construct validity. Performance in the procedure specific virtual reality task correlated highly with a porcine model (concurrent validity). Future efforts will integrate procedure specific virtual reality tasks and their global assessment. Copyright © 2015

  9. Simulation, Role-Playing, and Sociodrama in the Social Studies. With an Annotated Bibliography.

    Science.gov (United States)

    Garvey, Dale M.; Garvey, Sancha K.

    1967-01-01

    Classroom experience for social studies students in simulation, role-playing, and sociodrama provides not only an interesting way of learning, but also an appreciation for the complexity and interdependence of social systems in the modern world. Role-playing requires a student to assume an identity other than his own to increase his understanding…

  10. What Can Students Learn in an Extended Role-Play Simulation on Technology and Society?

    Science.gov (United States)

    Loui, Michael C.

    2009-01-01

    In a small course on technology and society, students participated in an extended role-play simulation for two weeks. Each student played a different adult character in a fictional community, which faces technological decisions in three scenarios set in the near future. The three scenarios involved stem cell research, nanotechnology, and privacy.…

  11. APPLICATION OF A FUZZY-SIMULATION MODEL OF SCHEDULING ROBOTIC FLEXIBLE ASSEMBLY CELLS

    Directory of Open Access Journals (Sweden)

    Khalid Abd

    2013-01-01

    Full Text Available This study describes the application of the developed model to the scheduling of the Robotic Flexible Assembly Cells (RFACs. The present study is a continuation of the paper titled “Development of a Fuzzy-Simulation Model of Scheduling Robotic Flexible Assembly Cells”. This new model for multi-objective scheduling problems in RFACs was based on combining a fuzzy-based mathematical model with simulation software tools. In this study, a hypothetical case study of RFACs is presented to demonstrate the effectiveness of the developed model and then compare the results that are obtained by the new methodology with the common scheduling rules. The simulation results show that the performance of the proposed methodology outperforms the most popular scheduling rules from previous research.

  12. Toward anthropomimetic robotics: development, simulation, and control of a musculoskeletal torso.

    Science.gov (United States)

    Wittmeier, Steffen; Alessandro, Cristiano; Bascarevic, Nenad; Dalamagkidis, Konstantinos; Devereux, David; Diamond, Alan; Jäntsch, Michael; Jovanovic, Kosta; Knight, Rob; Marques, Hugo Gravato; Milosavljevic, Predrag; Mitra, Bhargav; Svetozarevic, Bratislav; Potkonjak, Veljko; Pfeifer, Rolf; Knoll, Alois; Holland, Owen

    2013-01-01

    Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, were developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.

  13. Gait simulation via a 6-DOF parallel robot with iterative learning control.

    Science.gov (United States)

    Aubin, Patrick M; Cowley, Matthew S; Ledoux, William R

    2008-03-01

    We have developed a robotic gait simulator (RGS) by leveraging a 6-degree of freedom parallel robot, with the goal of overcoming three significant challenges of gait simulation, including: 1) operating at near physiologically correct velocities; 2) inputting full scale ground reaction forces; and 3) simulating motion in all three planes (sagittal, coronal and transverse). The robot will eventually be employed with cadaveric specimens, but as a means of exploring the capability of the system, we have first used it with a prosthetic foot. Gait data were recorded from one transtibial amputee using a motion analysis system and force plate. Using the same prosthetic foot as the subject, the RGS accurately reproduced the recorded kinematics and kinetics and the appropriate vertical ground reaction force was realized with a proportional iterative learning controller. After six gait iterations the controller reduced the root mean square (RMS) error between the simulated and in situ; vertical ground reaction force to 35 N during a 1.5 s simulation of the stance phase of gait with a prosthetic foot. This paper addresses the design, methodology and validation of the novel RGS.

  14. Effect of cadence regulation on muscle activation patterns during robot assisted gait: a dynamic simulation study.

    Science.gov (United States)

    Hussain, Shahid; Xie, Sheng Q; Jamwal, Prashant K

    2013-03-01

    Cadence or stride frequency is an important parameter being controlled in gait training of neurologically impaired subjects. The aim of this study was to examine the effects of cadence variation on muscle activation patterns during robot assisted unimpaired gait using dynamic simulations. A twodimensional (2-D) musculoskeletal model of human gait was developed considering eight major muscle groups along with existing ground contact force (GCF) model. A 2-D model of a robotic orthosis was also developed which provides actuation to the hip, knee and ankle joints in the sagittal plane to guide subjects limbs on reference trajectories. A custom inverse dynamics algorithm was used along with a quadratic minimization algorithm to obtain a feasible set of muscle activation patterns. Predicted patterns of muscle activations during slow, natural and fast cadence were compared and the mean muscle activations were found to be increasing with an increase in cadence. The proposed dynamic simulation provide important insight into the muscle activation variations with change in cadence during robot assisted gait and provide the basis for investigating the influence of cadence regulation on neuromuscular parameters of interest during robot assisted gait.

  15. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  16. Simulation Platform of Underwater Quadruped Walking Robot Based on MotionGenesis Kane 5 3 and Central Pattern Generator

    Institute of Scientific and Technical Information of China (English)

    Ke Yang; XuYang Wang; Tong Ge; Chao Wu

    2014-01-01

    It will still in lack of a simulation platform used to learn the walking of underwater quadruped walking robot. In order to alleviate this shortage, a simulation platform for the underwater quadruped walking robot based on Kane dynamic model and CPG-based controller is constructed. The Kane dynamic model of the underwater quadruped walking robot is processed with a commercial package MotionGenesis Kane 5�3. The forces between the feet and ground are represented as a spring and damper. The relation between coefficients of spring and damper and stability of underwater quadruped walking robot in the stationary state is studied. The CPG-based controller consisted of Central Pattern Generator ( CPG) and PD controller is presented, which can be used to control walking of the underwater quadruped walking robot. The relation between CPG parameters and walking speed of underwater quadruped walking robot is investigated. The relation between coefficients of spring and damper and walking speed of underwater quadruped walking robot is studied. The results show that the simulation platform can imitate the stable walking of the underwater quadruped walking robot.

  17. A Systematic Review of Virtual Reality Simulators for Robot-assisted Surgery.

    Science.gov (United States)

    Moglia, Andrea; Ferrari, Vincenzo; Morelli, Luca; Ferrari, Mauro; Mosca, Franco; Cuschieri, Alfred

    2016-06-01

    No single large published randomized controlled trial (RCT) has confirmed the efficacy of virtual simulators in the acquisition of skills to the standard required for safe clinical robotic surgery. This remains the main obstacle for the adoption of these virtual simulators in surgical residency curricula. To evaluate the level of evidence in published studies on the efficacy of training on virtual simulators for robotic surgery. In April 2015 a literature search was conducted on PubMed, Web of Science, Scopus, Cochrane Library, the Clinical Trials Database (US) and the Meta Register of Controlled Trials. All publications were scrutinized for relevance to the review and for assessment of the levels of evidence provided using the classification developed by the Oxford Centre for Evidence-Based Medicine. The publications included in the review consisted of one RCT and 28 cohort studies on validity, and seven RCTs and two cohort studies on skills transfer from virtual simulators to robot-assisted surgery. Simulators were rated good for realism (face validity) and for usefulness as a training tool (content validity). However, the studies included used various simulation training methodologies, limiting the assessment of construct validity. The review confirms the absence of any consensus on which tasks and metrics are the most effective for the da Vinci Skills Simulator and dV-Trainer, the most widely investigated systems. Although there is consensus for the RoSS simulator, this is based on only two studies on construct validity involving four exercises. One study on initial evaluation of an augmented reality module for partial nephrectomy using the dV-Trainer reported high correlation (r=0.8) between in vivo porcine nephrectomy and a virtual renorrhaphy task according to the overall Global Evaluation Assessment of Robotic Surgery (GEARS) score. In one RCT on skills transfer, the experimental group outperformed the control group, with a significant difference in overall

  18. Development of a Robotics-based Satellites Docking Simulator

    NARCIS (Netherlands)

    Zebenay, M.

    2014-01-01

    The European Proximity Operation Simulator (EPOS) is a hardware-in-the-loop (HIL) system aiming, among other objectives, at emulating on-orbit docking of spacecraft for verification and validation of the docking phase. This HIL docking simulator set-up essentially consists of docking interfaces, sim

  19. 机器人的力觉临场感仿真%HAPTIC TELEPRESENCE SIMULATION FOR ROBOTS

    Institute of Scientific and Technical Information of China (English)

    张克敏; 梁锡昌

    2012-01-01

    为开发基于虚拟现实的机器人临场感仿真实验平台,提出并研究一种新的机器人力觉临场感仿真方法,以虚拟三自由度机器人为具体实例进行详细分析.首先将整个仿真过程离散化,在每个离散点上计算出虚拟机器人末端的力,再通过建立合理的力反馈计算模型,得出操作者感觉到的力与关节力矩之间的离散型递推方程,最后开发相应程序,以进行力觉临场感仿真实验,仿真结果表明该算法的有效性.%In order to develop telepresence simulation experimental platform for robots based on virtual reality, it is proposed and studied that a new method of haptic simulation for robots, and take 3-DOF (degree of freedom) robots for good example to analyze in detail, firstly, whole simulation process will be discrete, and calculated force of endpoint of robots in every discrete point, and obtained discrete recursive equation between sensing force and joint torque through building reasonably force feedback model, finally, compiled corresponding VS ( visual studio) program to conduct haptic telepresence simulation experiment, its simulation result proves the validity of the algorithm.

  20. Hybrid Rendering Architecture for Realtime and Photorealistic Simulation of Robot-Assisted Surgery.

    Science.gov (United States)

    Müller, Sebastijan; Bihlmaier, Andreas; Irgenfried, Stephan; Wörn, Heinz

    2016-01-01

    In this paper we present a method for combining realtime and non-realtime (photorealistic) rendering with open source software. Realtime rendering provides sufficient realism and is a good choice for most simulation and regression testing purposes in robot-assisted surgery. However, for proper end-to-end testing of the system, some computer vision algorithms require high fidelity images that capture more minute details of the real scene. One of the central practical obstacles to combining both worlds in a uniform way is creating models that are suitable for both kinds of rendering paradigms. We build a modeling pipeline using open source tools that builds on established, open standards for data exchange. The result is demonstrated through a unified model of the medical OpenHELP phantom used in the Gazebo robotics simulator, which can at the same time be rendered with more visual fidelity in the Cycles raytracer.

  1. Micro-Scale Motion Precision Simulation Method for a New-Type 6-DOF Micro-Manipulation Robot

    Institute of Scientific and Technical Information of China (English)

    YE Xin; ZHANG Zhi-jing; WANG Yu-shu

    2007-01-01

    A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA) , and the prediction of robot's motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.

  2. Evaluation of automated decision making methodologies and development of an integrated robotic system simulation. Volume 1. Study results

    Energy Technology Data Exchange (ETDEWEB)

    Lowrie, J.W.; Fermelia, A.J.; Haley, D.C.; Gremban, K.D.; Vanbaalen, J.

    1982-09-01

    A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

  3. A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation

    Directory of Open Access Journals (Sweden)

    Aiman Omer

    2015-12-01

    Full Text Available Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs’ joints. Taking the WABIAN-2R as an example, it uses harmonic gears in its joint to increase the torque. However, using such a mechanism increases the weight of the legs and therefore increases energy consumption. Therefore, the idea of developing a mechanism with adjustable stiffness to be connected to the leg joint is introduced here. The proposed mechanism would have the ability to provide passive and active motion. The mechanism would be attached to the ankle pitch joint as an artificial tendon. Using computer simulations, the dynamical performance of the mechanism is analytically evaluated.

  4. The use of the articulated total body model as a robot dynamics simulation tool

    Science.gov (United States)

    Obergfell, Louise A.; Avula, Xavier J. R.; Kalegs, Ints

    1988-01-01

    The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

  5. Emergent adaptive behaviour of GRN-controlled simulated robots in a changing environment

    Directory of Open Access Journals (Sweden)

    Yao Yao

    2016-12-01

    Full Text Available We developed a bio-inspired robot controller combining an artificial genome with an agent-based control system. The genome encodes a gene regulatory network (GRN that is switched on by environmental cues and, following the rules of transcriptional regulation, provides output signals to actuators. Whereas the genome represents the full encoding of the transcriptional network, the agent-based system mimics the active regulatory network and signal transduction system also present in naturally occurring biological systems. Using such a design that separates the static from the conditionally active part of the gene regulatory network contributes to a better general adaptive behaviour. Here, we have explored the potential of our platform with respect to the evolution of adaptive behaviour, such as preying when food becomes scarce, in a complex and changing environment and show through simulations of swarm robots in an A-life environment that evolution of collective behaviour likely can be attributed to bio-inspired evolutionary processes acting at different levels, from the gene and the genome to the individual robot and robot population.

  6. Design of a robotized workstation making use of the integration of CAD models and Robotic Simulation software as way of pairing and comparing real and virtual environments

    Directory of Open Access Journals (Sweden)

    Velíšek Karol

    2017-01-01

    Full Text Available Over the last years, there has been an increasing tendency and pressure on the faster implementation robotic devices and systems in manufacturing. Such transition involves several disciplines starting with the prototyping of CAD models itself. The paper addresses the creation of CAD models and is mainly aimed at their integration in a given simulation environment according to the conception and guidelines of Industry 4.0, where the part itself becomes the entity carrying most of the needed information at any time of a production process. The creation of such CAD models is key for the further and better customization of simulations. In other to better exemplify all this, the paper describes the whole process of “virtual to real life implementation” of a given robotized workplace needed to be developed at the Institute. The design of such robotized workplace included the use of an ABB IRB 120 robot and several other devices which were all designed, simulated and analyzed in a virtual environment before the final development and implementation. This paper helped demonstrating the importance of having exactly the same model (real and virtual with respect to the success of the offline simulations.

  7. Modeling, Simulation and Control of a Redundant SCARA-Type Manipulator Robot

    Directory of Open Access Journals (Sweden)

    Claudio Urrea

    2012-08-01

    Full Text Available In this paper, the modeling of a redundant SCARA‐type manipulator robot with five degrees of freedom is presented. We propose three controllers ‐ hyperbolic sine‐cosine, sliding mode, and calculated torque ‐ which are applied to the discussed model. A simulation environment is developed using MatLab/Simulink programming tools. This simulation environment is employed to perform several tests (including actuatorsʹ dynamics on the model of the redundant manipulator, with each different controller, under path tracking requirements. Results were obtained from comparative curves and rms index for joints and Cartesian errors.

  8. Medical Robotic and Telesurgical Simulation and Education Research

    Science.gov (United States)

    2014-09-01

    Cleveland, OH) for integration into the DVSS. This expansion of the system demonstrates the ability of the simulator platform to blend together... rubber resins. Since we were still 11 experimenting with the placement of the exercises, the first 3D printed dome structure was created with a...heavier shell material also solved the problem of anchoring the dome. The devices weight was now sufficient so that the natural movements of the

  9. Constraint-based Ground contact handling in Humanoid Robotics Simulation

    OpenAIRE

    Martin Moraud, Eduardo; Hale, Joshua G.; Cheng, Gordon

    2008-01-01

    International audience; This paper presents a method for resolving contact in dynamic simulations of articulated figures. It is intended for humanoids with polygonal feet and incorporates Coulomb friction exactly. The proposed technique is based on a constraint selection paradigm. Its implementation offers an exact mode which guarantees correct behavior, as well as an efficiency optimized mode which sacrifices accuracy for a tightly bounded computational burden, thus facilitating batch simula...

  10. Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot

    Directory of Open Access Journals (Sweden)

    Hadi El Daou

    2013-05-01

    Full Text Available Abstract This paper presents a bio-mimetic approach to design and simulate a tortoise-like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio-mimetic virtual robot using MD ADAMS platform. From the in vitro experiments, the geometrical and inertial properties of body limbs are measured, and a model of tortoise kinematics is derived. From the in vivo experiments the contact forces between each limb and the ground are measured. The contributions of hind and forelimbs in the generation of propelling and braking forces are studied. The motion of the joints between limb segments are recorded and used to solve the inverse kinematics problem. A virtual model of a tortoise-like robot is built; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom. This model is referred to as TATOR II. It has the inertial and geometrical properties measured during the in vitro experiments. TATOR II motion is achieved using a Proportional-Derivative controller copying the joint angle trajectories calculated from the in vivo experiments.

  11. Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot

    Directory of Open Access Journals (Sweden)

    Hadi El Daou

    2013-05-01

    Full Text Available This paper presents a bio‐mimetic approach to design and simulate a tortoise‐like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio‐mimetic virtual robot using MD ADAMS platform. From the in vitro experiments, the geometrical and inertial properties of body limbs are measured, and a model of tortoise kinematics is derived. From the in vivo experiments the contact forces between each limb and the ground are measured. The contributions of hind and forelimbs in the generation of propelling and braking forces are studied. The motion of the joints between limb segments are recorded and used to solve the inverse kinematics problem. A virtual model of a tortoise‐like robot is built; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom. This model is referred to as TATOR II. It has the inertial and geometrical properties measured during the in vitro experiments. TATOR II motion is achieved using a Proportional‐Derivative controller copying the joint angle trajectories calculated from the in vivo experiments.

  12. GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments

    Science.gov (United States)

    Hernandez-Bennetts, Victor; Fan, Han; Lilienthal, Achim; Gonzalez-Jimenez, Javier

    2017-01-01

    This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment. PMID:28644375

  13. GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments

    Directory of Open Access Journals (Sweden)

    Javier Monroy

    2017-06-01

    Full Text Available This work presents a simulation framework developed under the widely used Robot Operating System (ROS to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.. Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment.

  14. GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments.

    Science.gov (United States)

    Monroy, Javier; Hernandez-Bennets, Victor; Fan, Han; Lilienthal, Achim; Gonzalez-Jimenez, Javier

    2017-06-23

    This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment.

  15. Agent Robot Soccer Simulation Game System%智能体机器人足球比赛模拟系统

    Institute of Scientific and Technical Information of China (English)

    梁家海; 陆丽丹

    2016-01-01

    Objective]Due to the high cost and technical difficulties of physical robot soccer game system,the agent robot simulation game system was proposed to provide reference for the organization and algorithms of robot soccer game.[Methods]According to the character-istics of the robot,a robot soccer tournament system was designed to solve the problems of robot soccer tournament platform.The study simulated real robot by agent.The control al-gorithm of robot soccer tournament was based on the agent.The motion speed,shooting speed,energy,collision avoidance capabilities and intentions on agent were used to establish a multi-robot soccer tournament under the impact parameter simulation system by network technology.[Results]Game results showed that the system could effectively stimulate the re-al tournament.[Conclusion]Robot soccer simulation game system is not only a platform for robot soccer simulation game,but also a solid impact assessment study of robot soccer com-petition strategy and related parameters.%【目的】实体机器人足球比赛系统成本高、技术难度大,而智能体(Agent)机器人模拟足球比赛系统可以为实体机器人足球比赛系统的设计提供参考。【方法】根据实体机器人的特点,用智能体模拟实体机器人,将机器人足球比赛的控制算法建立在智能体上,对智能体设置运动速度、射门速度、能量、避碰等能力及意图,再利用网络技术,建立一个多种影响参数的足球机器人比赛模拟系统。【结果】该系统能有效按研究者设定的参数(条件)进行比赛,比赛结果与实际基本相符。【结论】智能体足球机器人比赛模拟系统不仅可以作为实体机器人足球比赛的模拟平台,还可以作为实体机器人足球比赛策略和相关参数的研究平台。

  16. Concept verification of three dimensional free motion simulator for space robot

    Science.gov (United States)

    Okamoto, Osamu; Nakaya, Teruomi; Pokines, Brett

    1994-01-01

    In the development of automatic assembling technologies for space structures, it is an indispensable matter to investigate and simulate the movements of robot satellites concerned with mission operation. The movement investigation and simulation on the ground will be effectively realized by a free motion simulator. Various types of ground systems for simulating free motion have been proposed and utilized. Some of these methods are a neutral buoyancy system, an air or magnetic suspension system, a passive suspension balance system, and a free flying aircraft or drop tower system. In addition, systems can be simulated by computers using an analytical model. Each free motion simulation method has limitations and well known problems, specifically, disturbance by water viscosity, limited number of degrees-of-freedom, complex dynamics induced by the attachment of the simulation system, short experiment time, and the lack of high speed super-computer simulation systems, respectively. The basic idea presented here is to realize 3-dimensional free motion. This is achieved by combining a spherical air bearing, a cylindrical air bearing, and a flat air bearing. A conventional air bearing system has difficulty realizing free vertical motion suspension. The idea of free vertical suspension is that a cylindrical air bearing and counter balance weight realize vertical free motion. This paper presents a design concept, configuration, and basic performance characteristics of an innovative free motion simulator. A prototype simulator verifies the feasibility of 3-dimensional free motion simulation.

  17. Evolutionary robotics simulations help explain why reciprocity is rare in nature

    Science.gov (United States)

    André, Jean-Baptiste; Nolfi, Stefano

    2016-01-01

    The relative rarity of reciprocity in nature, contrary to theoretical predictions that it should be widespread, is currently one of the major puzzles in social evolution theory. Here we use evolutionary robotics to solve this puzzle. We show that models based on game theory are misleading because they neglect the mechanics of behavior. In a series of experiments with simulated robots controlled by artificial neural networks, we find that reciprocity does not evolve, and show that this results from a general constraint that likely also prevents it from evolving in the wild. Reciprocity can evolve if it requires very few mutations, as is usually assumed in evolutionary game theoretic models, but not if, more realistically, it requires the accumulation of many adaptive mutations. PMID:27616139

  18. Evolutionary robotics simulations help explain why reciprocity is rare in nature.

    Science.gov (United States)

    André, Jean-Baptiste; Nolfi, Stefano

    2016-09-12

    The relative rarity of reciprocity in nature, contrary to theoretical predictions that it should be widespread, is currently one of the major puzzles in social evolution theory. Here we use evolutionary robotics to solve this puzzle. We show that models based on game theory are misleading because they neglect the mechanics of behavior. In a series of experiments with simulated robots controlled by artificial neural networks, we find that reciprocity does not evolve, and show that this results from a general constraint that likely also prevents it from evolving in the wild. Reciprocity can evolve if it requires very few mutations, as is usually assumed in evolutionary game theoretic models, but not if, more realistically, it requires the accumulation of many adaptive mutations.

  19. Evolutionary robotics simulations help explain why reciprocity is rare in nature

    Science.gov (United States)

    André, Jean-Baptiste; Nolfi, Stefano

    2016-09-01

    The relative rarity of reciprocity in nature, contrary to theoretical predictions that it should be widespread, is currently one of the major puzzles in social evolution theory. Here we use evolutionary robotics to solve this puzzle. We show that models based on game theory are misleading because they neglect the mechanics of behavior. In a series of experiments with simulated robots controlled by artificial neural networks, we find that reciprocity does not evolve, and show that this results from a general constraint that likely also prevents it from evolving in the wild. Reciprocity can evolve if it requires very few mutations, as is usually assumed in evolutionary game theoretic models, but not if, more realistically, it requires the accumulation of many adaptive mutations.

  20. Teacher's Skill Improvement by Role-Play and Simulations on Collaborative Educational Virtual Worlds

    Science.gov (United States)

    Lorenzo, Carlos-Miguel

    2014-01-01

    This study looked at teachers' role-play and simulations in order to increase teachers' skills in psycho-pedagogical support on educational virtual worlds. We put forward a proposal to encourage the use of 3D scenarios where teachers can improve their skills for situations of cultural and ethical concerns that require a high level…

  1. Role-Playing Simulation as a Communication Tool in Community Dialogue: Karkonosze Mountains Case Study

    Science.gov (United States)

    Krolikowska, Karolina; Kronenberg, Jakub; Maliszewska, Karolina; Sendzimir, Jan; Magnuszewski, Piotr; Dunajski, Andrzej; Slodka, Anna

    2007-01-01

    This article describes a process of role-playing simulation (RPS) as it was used during an educational exercise in community dialogue in the Karkonosze Mountains region of southwest Poland. Over the past decade Karkonosze National Park, a regional tourist magnet, has provided an excellent example of environmental conflict emerging from the…

  2. Expressions of Critical Thinking in Role-Playing Simulations: Comparisons across Roles

    Science.gov (United States)

    Ertmer, Peggy A.; Strobel, Johannes; Cheng, Xi; Chen, Xiaojun; Kim, Hannah; Olesova, Larissa; Sadaf, Ayesha; Tomory, Annette

    2010-01-01

    The development of critical thinking is crucial in professional education to augment the capabilities of pre-professional students. One method for enhancing critical thinking is participation in role-playing simulation-based scenarios where students work together to resolve a potentially real situation. In this study, undergraduate nursing…

  3. MODELADO, SIMULACIÓN Y CONTROL DEL ROBOT PARA CIRUGÍA LAPAROSCÓPICA 'LAPBOT' MODELING, SIMULATION AND CONTROL OF SURGICAL LAPAROSCOPIC ROBOT 'LAPBOT'

    Directory of Open Access Journals (Sweden)

    Sergio Alexander Salinas

    2009-12-01

    Full Text Available Este artículo presenta el modelado matemático y estructural, la simulación por computador y el control por par calculado del robot para cirugía laparoscópica ‘LapBot’, que ha sido desarrollado en el Grupo de Investigación de Automática Industrial de la Universidad del Cauca, Colombia. Inicialmente se muestra un resumen de los principales robots utilizados como asistentes para cirugías de laparoscopia en el mundo, y de cómo tratan ellos el problema del paso por la incisión practicada en la cavidad abdominal. Con base en lo anterior se describen los requerimientos que deben cumplir los robots de este tipo y a partir de éstos se diseña el robot LapBot. Se muestra el modelo cinemático y dinámico del robot LapBot, así como el modelo de la restricción espacial que representa el punto de incisión abdominal. Se implementa una estrategia de control basada en el modelo del robot (control por par calculado. Diversas trayectorias en un plano y en un espacio de tres dimensiones son utilizadas para validar tanto el modelo como el controlador.This paper presents the mathematical and structural model, simulation and computed torque control of the LapBot robot, developed by the Group of Investigation of Industrial Automatics, of the University of Cauca, Colombia. First, a summary of the principal surgery assistant robots of the world is presented, and how they solve the problem of passing through the incision into the abdominal cavity. Based on this, the conditions that must be fulfilled by the robots of this type is exposed, and from these conditions the LapBot robot is designed. Its kinematics and dynamics model is shown, as well as the mathematical spatial restriction that incision represents. A control strategy based on the model (computed torque control is implemented. Several trajectories defined in a plane and in a three dimensions space are used to validate the model and the control.

  4. A hybrid CPG-ZMP control system for stable walking of a simulated flexible spine humanoid robot.

    Science.gov (United States)

    Or, Jimmy

    2010-04-01

    Biped humanoid robots have gained much popularity in recent years. These robots are mainly controlled by two major control methods, the biologically-inspired approach based on Central Pattern Generator (CPG) and the engineering-oriented approach based on Zero Moment Point (ZMP). Given that flexibility in the body torso is required in some human activities, we believe that it is beneficial for the next generation of humanoid robots to have a flexible spine as humans do. In order to cope with the increased complexity in controlling this type of robot, a new kind of control system is necessary. Currently, there is no controller that allows a flexible spine humanoid robot to maintain stability in real-time while walking with dynamic spine motions. This paper presents a new hybrid CPG-ZMP control system for the walking of a realistically simulated flexible spine humanoid robot. Experimental results showed that using our control method, the robot is able to adapt its spine motions in real-time to allow stable walking. Our control system could be used for the control of the next generation humanoid robots.

  5. Testing the design and placement of ORUs for robotic/EVA maintenance with computer-aided simulation

    Science.gov (United States)

    Leonard, J. W.

    NASA's Space Station Freedom will have a service life sufficiently long to entail extensive robotic and EVA maintenance activities associated with orbital replaceable units (ORUs). Attention is presently given to the results of computer-aided simulations of such activities which were conducted in order to ascertain preferable locations for suitably robotically- and EVA-accessible ORUs. Extensive attention has been given to operations involving the various possible positions of Freedom's airlock doors.

  6. Can teenage novel users perform as well as General Surgery residents upon initial exposure to a robotic surgical system simulator?

    Science.gov (United States)

    Mehta, A; Patel, S; Robison, W; Senkowski, T; Allen, J; Shaw, E; Senkowski, C

    2017-06-05

    New techniques in minimally invasive and robotic surgical platforms require staged curricula to insure proficiency. Scant literature exists as to how much simulation should play a role in training those who have skills in advanced surgical technology. The abilities of novel users may help discriminate if surgically experienced users should start at a higher simulation level or if the tasks are too rudimentary. The study's purpose is to explore the ability of General Surgery residents to gain proficiency on the dVSS as compared to novel users. The hypothesis is that Surgery residents will have increased proficiency in skills acquisition as compared to naive users. Six General Surgery residents at a single institution were compared with six teenagers using metrics measured by the dVSS. Participants were given two 1-h sessions to achieve an MScoreTM in the 90th percentile on each of the five simulations. MScoreTM software compiles a variety of metrics including total time, number of attempts, and high score. Statistical analysis was run using Student's t test. Significance was set at p value technology.

  7. Kinematic Modeling and Simulation of a 2-R Robot by Using Solid Works and Verification by MATLAB/Simulink

    Directory of Open Access Journals (Sweden)

    Fernini Brahim

    2012-05-01

    Full Text Available Simulation of robot systems which is getting very popular, especially with the lowering cost of computers, can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. Object staging modelisation using robots holds, wether for the object or the robot, the following models: The geometric one, the kinematics one and the dynamic one. To do so, the modelisation of a 2-R robot type is being implemented. Comparing between two robot postures with the same trajectory (path and for the same length of time and establishing a computing code to obtain the kinematic and dynamic parameters are the main tasks. SolidWorks and Matlab/Simulink softwares are used to check the theory and the robot motion simulation. The verification of the obtained results by both softwares allows us to, qualitatively evaluate ,underline the rightness of the chosen model and to get the right conclusions. The results of simulations were discussed. An agreement between the two softwares is certainly Obtained.

  8. Modeling and Simulation to Muscle Strength Training of Lower Limbs Rehabilitation Robots

    Directory of Open Access Journals (Sweden)

    Ke-Yi Wang

    2015-01-01

    Full Text Available Considering the issues of lower limb rehabilitation robots with single control strategies and poor training types, a training method for improving muscle strength was put forward in this paper. Patients’ muscle strength could be achieved by targeted exercises at the end of rehabilitation. This approach could be realized through programming wires’ force. On the one hand, each wires force was measured by tension sensor and force closed loop control was established to control the value of wires’ force which was acted on trainees. On the other hand, the direction of output force was changed by detecting the trainees’ state of motion and the way of putting load to patient was achieved. Finally, the target of enhancing patients’ muscle strength was realized. Dynamic model was built by means of mechanism and training types of robots. Force closed loop control strategy was established based on training pattern. In view of the characteristics of the redundance and economy of wire control, the process for simple wire's load changes was discussed. In order to confirm the characteristics of robot control system, the controller was simulated in Matlab/Simulink. It was verified that command signal could be traced by control system availably and the load during muscle training would be provided effectively.

  9. Design and Simulation of Two Robotic Systems for Automatic Artichoke Harvesting

    Directory of Open Access Journals (Sweden)

    Domenico Longo

    2013-12-01

    Full Text Available The target of this research project was a feasibility study for the development of a robot for automatic or semi-automatic artichoke harvesting. During this project, different solutions for the mechanical parts of the machine, its control system and the harvesting tools were investigated. Moreover, in cooperation with the department DISPA of University of Catania, different field structures with different kinds of artichoke cultivars were studied and tested. The results of this research could improve artichoke production for preserves industries. As a first step, an investigation on existing machines has been done. From this research, it has been shown that very few machines exist for this purpose. Based also on previous experiences, some proposals for different robotic systems have been done, while the mobile platform itself was developed within another research project. At the current stage, several different configurations of machines and harvesting end-effectors have been designed and simulated using a 3D CAD environment interfaced with Matlab®. Moreover, as support for one of the proposed machines, an artificial vision algorithm has been developed in order to locate the artichokes on the plant, with respect to the robot, using images taken with a standard webcam.

  10. Fuzzy Logic Velocity Control of a Biped Robot Locomotion and Simulation

    Directory of Open Access Journals (Sweden)

    Arif Ankarali

    2012-10-01

    Full Text Available In this paper, fuzzy logic velocity control of a biped robot to generate gait is studied. The system considered in this study has six degrees of freedom with hip, knee and ankle joints. The joint angular positions are determined utilizing the Cartesian coordinate information of the joints obtained by using camera captured data of the motion. The first derivatives of the calculated joint angular positions are applied as the reference angular velocity input to the fuzzy controllers of the joint servomotors to generate a gait motion. The assumed motion for the biped robot is horizontal walking on a flat surface. The actuated joints are hip, knee and ankle joints which are driven by DC servomotors. The calculated angular velocities of the joints from camera captured motion data are utilized to get the driving velocity functions of the model as sine functions. These functions are applied to the fuzzy controller as the reference angular velocity inputs. The control signals produced by the fuzzy controllers are applied to the servomotors and then the response of the servomotor block is introduced as an input to the SimMechanics model of the biped robot. The simulation results are provided which evaluate the effectiveness of the fuzzy logic controller on joint velocities to generate gait motion.

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

    NARCIS (Netherlands)

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

    2013-01-01

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

  12. Animation of virtual mannequins, robot-like simulation or motion captures

    CERN Document Server

    Chablat, Damien

    2007-01-01

    In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid definitively physical model, old support of the design, without loss of information, new tools must be available. Especially, a tool making it possible to check simply and quickly the maintainability of complex mechanical sets using the numerical model is necessary. Since one decade, our team works on the creation of tool for the generation and the analysis of trajectories of virtual mannequins. The simulation of human tasks can be carried out either by robot-like simulation or by simulation by motion capture. This paper presents some results on the both two methods. The first method is based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for access and visibility task taking into account ergonomic constrain...

  13. Simulation and off-line programming at Sandia`s Intelligent Systems and Robotics Center

    Energy Technology Data Exchange (ETDEWEB)

    Xavier, P.G.; Fahrenholtz, J.C.; McDonald, M. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center] [and others

    1997-11-01

    One role of the Intelligent Robotics and System Center (ISRC) at Sandia National Laboratories is to address certain aspects of Sandia`s mission to design, manufacture, maintain, and dismantle nuclear weapon components. Hazardous materials, devices, and environments are often involved. Because of shrinking resources, these tasks must be accomplished with a minimum of prototyping, while maintaining high reliability. In this paper, the authors describe simulation, off-line programming/planning, and related tools which are in use, under development, and being researched to solve these problems at the ISRC.

  14. Mathematical Modeling, Simulation and Optimization for Selected Robotic Processes related to Manufacturing of Unique Concrete Elements

    DEFF Research Database (Denmark)

    Cortsen, Jens

    to publikationer, hvor den ene beskriver den matematiske model for robotkompensation når en ekstern kraft påvirker robotten. Den anden publikation præsenterer et komplet off-line framework for robotkompensation for high speed fræsning. I afhandlingen præsenterer vi ligeledes en komplet løsning for fremstilling af...... dobbeltkurvede armerings gitter med to samarbejdende robotter, hvor delprocesserne er bøjning, transportering og binding af ameringsstænger. Robotinstallationen er baseret på et off-line simuleringsprogram med dynamisk simulerings support for stangnedbøjning og samtidigt robot control for at reducere...

  15. Reinforcement Learning in Large State Spaces Simulated Robotic Soccer as a Testbed

    OpenAIRE

    Tuyls, Karl; Maes, Sam; Manderick, Bernard

    2003-01-01

    Large state spaces and incomplete information are two problems that stand out in learning in multi-agent systems. In this paper we tackle them both by using a combination of decision trees and Bayesian networks (BNs) to model the environment and the Q-function. Simulated robotic soccer is used as a testbed, since there agents are faced with both large state spaces and incomplete information. The long-term goal of this research is to define generic techniques that allow agents to learn in larg...

  16. Effects of imperfect automation and individual differences on concurrent performance of military and robotics tasks in a simulated multitasking environment.

    Science.gov (United States)

    Chen, J Y C; Terrence, P I

    2009-08-01

    This study investigated the performance and workload of the combined position of gunner and robotics operator in a simulated military multitasking environment. Specifically, the study investigated how aided target recognition (AiTR) capabilities for the gunnery task with imperfect reliability (false-alarm-prone vs. miss-prone) might affect the concurrent robotics and communication tasks. Additionally, the study examined whether performance was affected by individual differences in spatial ability and attentional control. Results showed that when the robotics task was simply monitoring the video, participants had the best performance in their gunnery and communication tasks and the lowest perceived workload, compared with the other robotics tasking conditions. There was a strong interaction between the type of AiTR unreliability and participants' perceived attentional control. Overall, for participants with higher perceived attentional control, false-alarm-prone alerts were more detrimental; for low attentional control participants, conversely, miss-prone automation was more harmful. Low spatial ability participants preferred visual cueing and high spatial ability participants favoured tactile cueing. Potential applications of the findings include personnel selection for robotics operation, robotics user interface designs and training development. The present results will provide further understanding of the interplays among automation reliability, multitasking performance and individual differences in military tasking environments. These results will also facilitate the implementation of robots in military settings and will provide useful data to military system designs.

  17. Role-play simulations for climate change adaptation education and engagement

    Science.gov (United States)

    Rumore, Danya; Schenk, Todd; Susskind, Lawrence

    2016-08-01

    In order to effectively adapt to climate change, public officials and other stakeholders need to rapidly enhance their understanding of local risks and their ability to collaboratively and adaptively respond to them. We argue that science-based role-play simulation exercises -- a type of 'serious game' involving face-to-face mock decision-making -- have considerable potential as education and engagement tools for enhancing readiness to adapt. Prior research suggests role-play simulations and other serious games can foster public learning and encourage collective action in public policy-making contexts. However, the effectiveness of such exercises in the context of climate change adaptation education and engagement has heretofore been underexplored. We share results from two research projects that demonstrate the effectiveness of role-play simulations in cultivating climate change adaptation literacy, enhancing collaborative capacity and facilitating social learning. Based on our findings, we suggest such exercises should be more widely embraced as part of adaptation professionals' education and engagement toolkits.

  18. Exploratory Analysis of an On-line Evolutionary Algorithm for in Simulated Robots

    NARCIS (Netherlands)

    Haasdijk, E.; Smit, S.K.; Eiben, A.E.

    2012-01-01

    In traditional evolutionary robotics, robot controllers are evolved in a separate design phase preceding actual deployment; we call this off-line evolution. Alternatively, robot controllers can evolve while the robots perform their proper tasks, during the actual operational phase; we call this on-l

  19. Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

    Directory of Open Access Journals (Sweden)

    Mahmoud Gouasmi

    2012-12-01

    Full Text Available The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. The trajectory planning of redundant manipulators is a very active area since many tasks require special characteristics to be satisfied. The importance of redundant manipulators has increased over the last two decades because of the possibility of avoiding singularities as well as obstacles within the course of motion. The angle that the last link of a 2 DOF manipulator makes with the x-axis is required in order to find the solution for the inverse kinematics problem. This angle could be optimized with respect to a given specified key factor (time, velocity, torques while the end-effector performs a chosen trajectory (i.e., avoiding an obstacle in the task space. Modeling and simulation of robots could be achieved using either of the following models: the geometrical model (positions, postures, the kinematic model and the dynamic model. To do so, the modelization of a 2-R robot type is implemented. Our main tasks are comparing two robot postures with the same trajectory (path and for the same length of time, and establishing a computing code to obtain the kinematic and dynamic parameters. SolidWorks and MATLAB/Simulink softwares are used to check the theory and the robot motion simulation. This could be easily generalized to a 3-R robot and possibly therefore to any serial robot (Scara, Puma, etc.. The verification of the obtained results by both softwares allows us to qualitatively evaluate and underline the validityof the chosen model and obtain the right conclusions. The results of the simulations are discussed and an agreement between the two softwares is certainly obtained.

  20. An interactive Virtual Reality simulation system for robot control and operator training

    Energy Technology Data Exchange (ETDEWEB)

    Miner, N.E.; Stansfield, S.A.

    1993-11-01

    Robotic systems are often very complex and difficult to operate, especially as multiple robots are integrated to accomplish difficult tasks. In addition, training the operators of these complex robotic systems is time-consuming and costly. In this paper, a virtual reality based robotic control system is presented. The virtual reality system provides a means by which operators can operate, and be trained to operate, complex robotic systems in an intuitive, cost-effective way. Operator interaction with the robotic system is at a high, task-oriented, level. Continuous state monitoring prevents illegal robot actions and provides interactive feedback to the operator and real-time training for novice users.

  1. The organizational context of ethical dilemmas: a role-playing simulation for the intensive care unit.

    Science.gov (United States)

    Strosberg, M A

    2001-01-01

    The allocation of health care resources often requires decision makers to balance conflicting ethical principles. The resource-constrained intensive care unit (ICU) provides an ideal setting to study how decision makers go about their balancing act in a complex and dynamic environment. The author presents a role-playing simulation exercise which models ICU admission and discharge decision making. Designed for the class-room, the simulation engages a variety of ethical, managerial, and public policy issues including end-of-life decision making, triage, and rationing. The simulation is based on a sequence of scenarios or "decision rounds" delineating conditions in the ICU in terms of disposition of ICU patients, number of available ICU beds, prognoses of candidates for admission, and other physiological and organizational information. Students, playing the roles of attending physician, hospital administrator, nurse manager, triage officer, and ethics committee member, are challenged to reach consensus in the context of multiple power centers and conflicting goals. An organization theory perspective, incorporated into the simulation, provides insight on how decisions are actually made and stimulates discussion on how decision making might be improved.

  2. Three-dimensional needle-tip localization by electric field potential and camera hybridization for needle electromyography exam robotic simulator

    Science.gov (United States)

    He, Siyu; Gomez-Tames, Jose; Yu, Wenwei

    2016-01-01

    As one of neurological tests, needle electromygraphy exam (NEE) plays an important role to evaluate the conditions of nerves and muscles. Neurology interns and novice medical staff need repetitive training to improve their skills in performing the exam. However, no training systems are able to reproduce multiple pathological conditions to simulate real needle electromyogram exam. For the development of a robotic simulator, three components need to be realized: physical modeling of upper limb morphological features, position-dependent electromyogram generation, and needle localization; the latter is the focus of this study. Our idea is to couple two types of sensing mechanism in order to acquire the needle-tip position with high accuracy. One is to segment the needle from camera images and calculate its insertion point on the skin surface by a top-hat transform algorithm. The other is voltage-based depth measurement, in which a conductive tissue-like phantom was used to realize both needle-tip localization and physical sense of needle insertion. For that, a pair of electrodes was designed to generate a near-linear voltage distribution along the depth direction of the tissue-like phantom. The accuracy of the needle-tip position was investigated by the electric field potential and camera hybridization. The results showed that the needle tip could be detected with an accuracy of 1.05±0.57 mm. PMID:27382339

  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. Special purpose parallel computer architecture for real-time control and simulation in robotic applications

    Science.gov (United States)

    Fijany, Amir (Inventor); Bejczy, Antal K. (Inventor)

    1993-01-01

    This is a real-time robotic controller and simulator which is a MIMD-SIMD parallel architecture for interfacing with an external host computer and providing a high degree of parallelism in computations for robotic control and simulation. It includes a host processor for receiving instructions from the external host computer and for transmitting answers to the external host computer. There are a plurality of SIMD microprocessors, each SIMD processor being a SIMD parallel processor capable of exploiting fine grain parallelism and further being able to operate asynchronously to form a MIMD architecture. Each SIMD processor comprises a SIMD architecture capable of performing two matrix-vector operations in parallel while fully exploiting parallelism in each operation. There is a system bus connecting the host processor to the plurality of SIMD microprocessors and a common clock providing a continuous sequence of clock pulses. There is also a ring structure interconnecting the plurality of SIMD microprocessors and connected to the clock for providing the clock pulses to the SIMD microprocessors and for providing a path for the flow of data and instructions between the SIMD microprocessors. The host processor includes logic for controlling the RRCS by interpreting instructions sent by the external host computer, decomposing the instructions into a series of computations to be performed by the SIMD microprocessors, using the system bus to distribute associated data among the SIMD microprocessors, and initiating activity of the SIMD microprocessors to perform the computations on the data by procedure call.

  5. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix B: ROBSIM programmer's guide

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.; Wolfe, W. J.; Nguyen, T.

    1986-01-01

    The purpose of the Robotic Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAM 77 and implemented on a VAX 11/750 computer using the VMS operating system. The programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With the manual and the in-code documentation, an experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities.

  6. Distributed cerebellar plasticity implements adaptable gain control in a manipulation task: a closed-loop robotic simulation

    Directory of Open Access Journals (Sweden)

    Jesus A Garrido Alcazar

    2013-10-01

    Full Text Available Adaptable gain regulation is at the core of the forward controller operation performed by the cerebro-cerebellar loops and it allows the intensity of motor acts to be finely tuned in a predictive manner. In order to learn and store information about body-object dynamics and to generate an internal model of movement, the cerebellum is thought to employ long-term synaptic plasticity. LTD at the PF-PC synapse has classically been assumed to subserve this function (Marr, 1969. However, this plasticity alone cannot account for the broad dynamic ranges and time scales of cerebellar adaptation. We therefore tested the role of plasticity distributed over multiple synaptic sites (Gao et al., 2012; Hansel et al., 2001 by generating an analog cerebellar model embedded into a control loop connected to a robotic simulator. The robot used a three-joint arm and performed repetitive fast manipulations with different masses along an 8-shape trajectory. In accordance with biological evidence, the cerebellum model was endowed with both LTD and LTP at the PF-PC, MF-DCN and PC-DCN synapses. This resulted in a network scheme whose effectiveness was extended considerably compared to one including just PF-PC synaptic plasticity. Indeed, the system including distributed plasticity reliably self-adapted to manipulate different masses and to learn the arm-object dynamics over a time course that included fast learning and consolidation, along the lines of what has been observed in behavioral tests. In particular, PF-PC plasticity operated as a time correlator between the actual input state and the system error, while MF-DCN and PC-DCN plasticity played a key role in generating the gain controller. This model suggests that distributed synaptic plasticity allows generation of the complex learning properties of the cerebellum. The incorporation of further plasticity mechanisms and of spiking signal processing will allow this concept to be extended in a more realistic

  7. Serious Simulation Role-Playing Games for Transformative Climate Change Education: "World Climate" and "Future Climate"

    Science.gov (United States)

    Rooney-Varga, J. N.; Sterman, J.; Sawin, E.; Jones, A.; Merhi, H.; Hunt, C.

    2012-12-01

    Climate change, its mitigation, and adaption to its impacts are among the greatest challenges of our times. Despite the importance of societal decisions in determining climate change outcomes, flawed mental models about climate change remain widespread, are often deeply entrenched, and present significant barriers to understanding and decision-making around climate change. Here, we describe two simulation role-playing games that combine active, affective, and analytical learning to enable shifts of deeply held conceptions about climate change. The games, World Climate and Future Climate, use a state-of-the-art decision support simulation, C-ROADS (Climate Rapid Overview and Decision Support) to provide users with immediate feedback on the outcomes of their mitigation strategies at the national level, including global greenhouse gas (GHG) emissions and concentrations, mean temperature changes, sea level rise, and ocean acidification. C-ROADS outcomes are consistent with the atmosphere-ocean general circulation models (AOGCMS), such as those used by the IPCC, but runs in less than one second on ordinary laptops, providing immediate feedback to participants on the consequences of their proposed policies. Both World Climate and Future Climate role-playing games provide immersive, situated learning experiences that motivate active engagement with climate science and policy. In World Climate, participants play the role of United Nations climate treaty negotiators. Participant emissions reductions proposals are continually assessed through interactive exploration of the best available science through C-ROADS. Future Climate focuses on time delays in the climate and energy systems. Participants play the roles of three generations: today's policymakers, today's youth, and 'just born.' The game unfolds in three rounds 25 simulated years apart. In the first round, only today's policymakers make decisions; In the next round, the young become the policymakers and inherit the

  8. Computer Simulation of Robotic Device Components in 3D Printer Manufacturing

    Directory of Open Access Journals (Sweden)

    M. A. Kiselev

    2016-01-01

    Full Text Available The paper considers a relevant problem "Computer simulation of robotic device components in manufacturing on a 3D printer" and highlights the problem of computer simulation based on the cognitive programming technology of robotic device components. The paper subject is urgent because computer simulation of force-torque and accuracy characteristics of robot components in terms of their manufacturing properties and conditions from polymeric and metallic materials is of paramount importance for programming and manufacturing on the 3D printers. Two types of additive manufacturing technologies were used:1. FDM (Fused deposition modeling - layered growth of products from molten plastic strands;2. SLM (Selective laser melting - selective laser sintering of metal powders, which, in turn, create:• conditions for reducing the use of expensive equipment;• reducing weight and increasing strength through optimization of  the lattice structures when using a bionic design;• a capability to implement mathematical modeling of individual components of robotic and other devices in terms of appropriate characteristics;• a 3D printing capability to create unique items, which cannot be made by other known methods.The paper aim was to confirm the possibility of ensuring the strength and accuracy characteristics of cases when printing from polymeric and metallic materials on a 3D printer. The investigation emphasis is on mathematical modeling based on the cognitive programming technology using the additive technologies in their studies since it is, generally, impossible to make the obtained optimized structures on the modern CNC machines.The latter allows us to create a program code to be clear to other developers without cost, additional time for development, adaptation and implementation.Year by year Russian companies increasingly use a 3D-print system in mechanical engineering, aerospace industry, and for scientific purposes. Machines for the additive

  9. Media-fill simulation tests in manual and robotic aseptic preparation of injection solutions in syringes.

    Science.gov (United States)

    Krämer, Irene; Federici, Matteo; Kaiser, Vanessa; Thiesen, Judith

    2016-04-01

    The purpose of this study was to evaluate the contamination rate of media-fill products either prepared automated with a robotic system (APOTECAchemo™) or prepared manually at cytotoxic workbenches in the same cleanroom environment and by experienced operators. Media fills were completed by microbiological environmental control in the critical zones and used to validate the cleaning and disinfection procedures of the robotic system. The aseptic preparation of patient individual ready-to-use injection solutions was simulated by using double concentrated tryptic soy broth as growth medium, water for injection and plastic syringes as primary packaging materials. Media fills were either prepared automated (500 units) in the robot or manually (500 units) in cytotoxic workbenches in the same cleanroom over a period of 18 working days. The test solutions were incubated at room temperature (22℃) over 4 weeks. Products were visually inspected for turbidity after a 2-week and 4-week period. Following incubation, growth promotion tests were performed with Staphylococcus epidermidis. During the media-fill procedures, passive air monitoring was performed with settle plates and surface monitoring with contact plates on predefined locations as well as fingerprints. The plates got incubated for 5-7 days at room temperature, followed by 2-3 days at 30-35℃ and the colony forming units (cfu) counted after both periods. The robot was cleaned and disinfected according to the established standard operating procedure on two working days prior to the media-fill session, while on six other working days only six critical components were sanitized at the end of the media-fill sessions. Every day UV irradiation was operated for 4 h after finishing work. None of the 1000 media-fill products prepared in the two different settings showed turbidity after the incubation period thereby indicating no contamination with microorganisms. All products remained uniform, clear, and light

  10. Design of GUI Simulation Platform for Demolition Robot Based on Robotics Toolbox%基于Robotics Toolbox的拆除机器人GUI仿真平台设计

    Institute of Scientific and Technical Information of China (English)

    朱婷婷; 岑豫皖

    2014-01-01

    以拆除机器人工作装置为研究目标,采用MATLAB Robotics Toolbox建模,并在GUI中调用Robotics Toolbox程序,建立了该装置运动学仿真图形用户界面。在该平台可以进行正、逆运动学仿真研究,快速绘制工作装置总工作空间和特定姿态角下的工作空间,在工作空间利用鼠标自动拾取目标点的坐标数值并进行运动学逆解计算,动态显示运动轨迹等。仿真实验表明其有效性和实用性。%Taking demolition robot working device as research objective,MATLAB Robotics Toolbox was used to build its mod-el,the Robotics Toolbox program was called in GUI,the kinematics simulation graphical user interface of the device was established. The platform can be used to simulate the forward kinematics and the inverse kinematics,to draw the working device's envelope diagram of the whole work space and the work space with a particular attitude angle quickly,to pick up the coordinate values of a target point automatically in the work space by mouse and to calculate its inverse kinematics,to display the trajectory dynamically,etc. Simulation results show its effectiveness and practicality.

  11. Integration of simulations and visualizations into classroom contexts through role playing

    Science.gov (United States)

    Moysey, S. M.

    2016-12-01

    While simulations create a novel way to engage students, the idea of numerical modeling may be overwhelming to a wide swath of students - particularly non-geoscience majors or those students early in their earth science education. Yet even for these students, simulations and visualizations remain a powerful way to explore concepts and take ownership over their learning. One approach to bring these tools into the classroom is to introduce them as a component of a larger role-playing activity. I present two specific examples of how I have done this within a general education course broadly focused on water resources sustainability. In the first example, we have created an online multi-player watershed management game where players make management decisions for their individual farms, which in turn set the parameters for a watershed-scale groundwater model that continuously runs in the background. Through the simulation students were able to influence the behavior of the environment and see feedbacks on their individual land within the game. Though the original intent was to focus student learning on the hydrologic aspects of the watershed behavior, I have found that the value of the simulation is actually in allowing students to become immersed in a way that enables deep conversations about topics ranging from environmental policy to social justice. The second example presents an overview of a role playing activity focused on a multi-party negotiation of water rights in the Klamath watershed. In this case each student takes on a different role in the negotiation (e.g., farmer, energy producer, government, environmental advocate, etc.) and is presented with a rich set of data tying environmental and economic factors to the operation of reservoirs. In this case the simulation model is very simple, i.e., a mass balance calculator that students use to predict the consequences of their management decisions. The simplicity of the simulator, however, allows for

  12. A class of fuzzy sliding-mode control simulation for two-link robot manipulators

    Science.gov (United States)

    Zhong, ChunHua

    2012-04-01

    In this paper, I studied the theory of fuzzy logic control of 2R robot, analysed and introduced it detailedly, then applied it to robot tracking control. The validity of the control scheme is verified by end Linear trajectory tracking test of 2R robot robotic manipulator system of fuzzy logic control. It did not depend on the exact mathematical model and could solve effectively the influence of nonlinear and uncertainty.

  13. Model-Driven Robot-Software Design using integrated Models and Co-Simulation

    NARCIS (Netherlands)

    Broenink, Johannes F.; Ni, Yunyun; McAllister, J.; Bhattacharyya, S.

    2012-01-01

    The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software.

  14. Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots.

    Science.gov (United States)

    Wischmann, Steffen; Floreano, Dario; Keller, Laurent

    2012-01-17

    One of the key innovations during the evolution of life on earth has been the emergence of efficient communication systems, yet little is known about the causes and consequences of the great diversity within and between species. By conducting experimental evolution in 20 independently evolving populations of cooperatively foraging simulated robots, we found that historical contingency in the occurrence order of novel phenotypic traits resulted in the emergence of two distinct communication strategies. The more complex foraging strategy was less efficient than the simpler strategy. However, when the 20 populations were placed in competition with each other, the populations with the more complex strategy outperformed the populations with the less complex strategy. These results demonstrate a tradeoff between communication efficiency and robustness and suggest that stochastic events have important effects on signal evolution and the outcome of competition between distinct populations.

  15. Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

    Science.gov (United States)

    Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

    1989-01-01

    An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

  16. Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

    Science.gov (United States)

    Hollinger, Geoffrey A.; Briscoe, Jeri M.

    2004-01-01

    Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.

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

    Science.gov (United States)

    Sakamoto, Hajime; Nakatsu, Ryohei

    2007-12-01

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

  18. A novel virtual reality environment for preoperative planning and simulation of image guided intracardiac surgeries with robotic manipulators.

    Science.gov (United States)

    Yeniaras, Erol; Deng, Zhigang; Syed, Mushabbar A; Davies, Mark G; Tsekos, Nikolaos V

    2011-01-01

    The evolution of image-guided and robot-assisted procedures can be beneficial to intracardiac interventions. This paper proposes a novel approach and a virtual reality system for preoperative planning and intraoperative guidance of cardiac procedures, and for investigating the kinematics and control of a virtual robotic manipulator, based on MRI CINE images. The system incorporates dedicated software modules for processing MR images, generating dynamic trajectories in the continuously changing environment of a beating heart, controlling a specific generic virtual manipulator along those trajectories, and a virtual reality interface that fuses all those information. The proposed system is applied for the simulation of accessing the aortic valve annulus via a small incision on the apex by maneuvering a robotic manipulator through an access corridor that safely transverses the left ventricle (LV) of the beating heart.

  19. Plug-and-Play Planar Ion Traps for Scalable Quantum Computation and Simulation

    Science.gov (United States)

    Amini, Jason; Denison, Douglas; Doret, S. Charles; Faircloth, Daniel; Hayden, Harley; Killian, Tyler; Landgren, David; Martin, Kevin; Merrill, True; Ozakin, Arkadas; Pai, C. S.; Shaikh, Fayaz; Shappert, Chris; Volin, Curtis; Wright, Ken; Harter, Alexa; Slusher, Richart

    2011-05-01

    At the heart of most ion-based quantum information processing and simulation efforts is an RF-Paul trap to confine the ion qubits. Cutting edge experiments are transitioning from a few qubits to a few tens of qubits with many more qubits envisioned for the future. The underlying ion traps need to both grow with the experiments and provide additional features that can simplify and extend these experiments. The Georgia Tech Research Institute (GTRI) is developing modeling and fabrication processes for these new generations of ion traps using silicon VLSI technology in surface- electrode geometries. Verified by detailed in-house trap characterization, GTRI has fabricated traps that approach the plug- and-play ideal and demonstrate reliable ion loading and transport, long dark lifetimes, and stable ion chains. Additional features are in development including junctions, integrated GHz range current guides for global qubit rotations, and micromirrors for light collection.

  20. Mixed reality and human-robot interaction

    CERN Document Server

    Wang, Xiangyu

    2011-01-01

    MR technologies play an increasing role in different aspects of human-robot interactions. The visual combination of digital contents with real working spaces creates a simulated environment that is set out to enhance these aspects. This book presents and discusses fundamental scientific issues, technical implementations, lab testing, and industrial applications and case studies of Mixed Reality in Human-Robot Interaction. It is a reference book that not only acts as meta-book in the field that defines and frames Mixed Reality use in Human-Robot Interaction, but also addresses up-coming trends

  1. Merging Energy Policy Decision Support, Education, and Communication: The 'World Energy' Simulation Role-Playing Game

    Science.gov (United States)

    Rooney-varga, J. N.; Franck, T.; Jones, A.; Sterman, J.; Sawin, E.

    2013-12-01

    To meet international goals for climate change mitigation and adaptation, as well as energy access and equity, there is an urgent need to explore and define energy policy paths forward. Despite this need, students, citizens, and decision-makers often hold deeply flawed mental models of the energy and climate systems. Here we describe a simulation role-playing game, World Energy, that provides an immersive learning experience in which participants can create their own path forward for global energy policy and learn about the impact of their policy choices on carbon dioxide emissions, temperature rise, energy supply mix, energy prices, and energy demand. The game puts players in the decision-making roles of advisors to the United Nations Sustainable Energy for All Initiative (drawn from international leaders from industry, governments, intergovernmental organizations, and citizens groups) and, using a state-of-the-art decision-support simulator, asks them to negotiate a plan for global energy policy. We use the En-ROADS (Energy Rapid Overview and Decision Support) simulator, which runs on a laptop computer in <0.1 sec. En-ROADS enables users to specify many factors, including R&D-driven cost reductions in fossil fuel-based, renewable, or carbon-neutral energy technologies; taxes and subsidies for different energy sources; performance standards and energy efficiency; emissions prices; policies to address other greenhouse gas emissions (e.g., methane, nitrous oxide, chlorofluorocarbons, etc.); and assumptions about GDP and population. In World Energy, participants must balance climate change mitigation goals with equity, prices and access to energy, and the political feasibility of policies. Initial results indicate participants gain insights into the dynamics of the energy and climate systems and greater understanding of the potential impacts policies.

  2. Incorporación del simulador Robot Studio al entorno docente LABSERVER de programación de robots

    OpenAIRE

    Rosado Muñoz, Alfredo; Segura Andrés, Rubén

    2009-01-01

    Descripción del simulador RobotStudio para programación de robots industriales, y la simulación de la plataforma labserver RobotStudio simulator for robot applications and simulating the labserver platform.

  3. Waterhammer Transient Simulation and Model Anchoring for the Robotic Lunar Lander Propulsion System

    Science.gov (United States)

    Stein, William B.; Trinh, Huu P.; Reynolds, Michael E.; Sharp, David J.

    2011-01-01

    Waterhammer transients have the potential to adversely impact propulsion system design if not properly addressed. Waterhammer can potentially lead to system plumbing, and component damage. Multi-thruster propulsion systems also develop constructive/destructive wave interference which becomes difficult to predict without detailed models. Therefore, it is important to sufficiently characterize propulsion system waterhammer in order to develop a robust design with minimal impact to other systems. A risk reduction activity was performed at Marshall Space Flight Center to develop a tool for estimating waterhammer through the use of anchored simulation for the Robotic Lunar Lander (RLL) propulsion system design. Testing was performed to simulate waterhammer surges due to rapid valve closure and consisted of twenty-two series of waterhammer tests, resulting in more than 300 valve actuations. These tests were performed using different valve actuation schemes and three system pressures. Data from the valve characterization tests were used to anchor the models that employed MSCSoftware.EASY5 v.2010 to model transient fluid phenomena by using transient forms of mass and energy conservation. The anchoring process was performed by comparing initial model results to experimental data and then iterating the model input to match the simulation results with the experimental data. The models provide good correlation with experimental results, supporting the use of EASY5 as a tool to model fluid transients and provide a baseline for future RLL system modeling. This paper addresses tasks performed during the waterhammer risk reduction activity for the RLL propulsion system. The problem of waterhammer simulation anchoring as applied to the RLL system is discussed with results from the corresponding experimental valve tests. Important factors for waterhammer mitigation are discussed along with potential design impacts to the RLL propulsion system.

  4. A Multi-Agent Approach to the Simulation of Robotized Manufacturing Systems

    Science.gov (United States)

    Foit, K.; Gwiazda, A.; Banaś, W.

    2016-08-01

    The recent years of eventful industry development, brought many competing products, addressed to the same market segment. The shortening of a development cycle became a necessity if the company would like to be competitive. Because of switching to the Intelligent Manufacturing model the industry search for new scheduling algorithms, while the traditional ones do not meet the current requirements. The agent-based approach has been considered by many researchers as an important way of evolution of modern manufacturing systems. Due to the properties of the multi-agent systems, this methodology is very helpful during creation of the model of production system, allowing depicting both processing and informational part. The complexity of such approach makes the analysis impossible without the computer assistance. Computer simulation still uses a mathematical model to recreate a real situation, but nowadays the 2D or 3D virtual environments or even virtual reality have been used for realistic illustration of the considered systems. This paper will focus on robotized manufacturing system and will present the one of possible approaches to the simulation of such systems. The selection of multi-agent approach is motivated by the flexibility of this solution that offers the modularity, robustness and autonomy.

  5. The Co-Simulation of 6R Robot%6R机器人的联合仿真

    Institute of Scientific and Technical Information of China (English)

    杨林; 李霆; 黄桂武; 扶宇阳

    2013-01-01

      通过MATLAB与SolidWorks之间的文件共享,实现了机器人的联合仿真,从而实现软件开发人员和结构设计人员在某种程度上的协同作业。首先,建立机器人前置连杆坐标系,运用MATLAB机器人工具箱仿真模型。再从SolidWorks环境下获取机器人示教点数据,供MATLAB调用,完成机器人的力学数值仿真;然后利用SolidWorks Motion环境,完成系统的三维实体运动仿真与验证。该方法为仿真设计工作提供了一种快速有效的途径。%The Robot Co-Simulation is achieved through file sharing between MATLAB and SolidWorks,consequently the collaboration is realized between software workers and structure designers at some extent. First the robot front Link coordinate systems and simulation model are established. Then the robot teaching points data are gotten from SolidWorks surroundings for the calling of MATLAB,the robot mechanical numerical simulation is accomplished. At last three-dimensional entity motion simulation and verification of the system is completed with SolidWorks Motion surroundings. This method provides a fast and effective approach for simulation design.

  6. Exploratory Play in Simulation Sandbox Games: A Review of What We Know about Why Players Act Crazy

    Science.gov (United States)

    Tornqvist, Dominicus

    2014-01-01

    There is a kind of seemingly nonsensical play behavior found in the simulation sandbox game genre. This behavior is very spontaneous and impulsive and associated with self-initiated learning, and here the author seeks to better understand what it is, and why it seems associated with simulation sandbox games. That is: What purpose does it serve,…

  7. Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

    Science.gov (United States)

    Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

    1995-01-01

    Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

  8. Robotics Technologies for K-8 Educators:A Semiotic Approach for Instructional Design

    Directory of Open Access Journals (Sweden)

    Antoinette P. Bruciati

    2004-02-01

    Full Text Available Play in the K-8 curriculum? What robotic technologies are currently available for educators having no prior computer programming experience? and How should instruction in robotics technologies for K-8 educators be designed? Robotics engineering courses have provided undergraduate computer science students with opportunities for designing and programming simulations of robotic tasks. In contrast, many teacher education programs have lacked courses in this area. Educators who have not gained a conceptual understanding of computer programming could lack the skills that would have enabled them to successfully integrate robotics technologies into their K-8 curriculum.

  9. Physiological Responses of Young Tennis Players to Training Drills and Simulated Match Play.

    Science.gov (United States)

    Gomes, Rodrigo V; Cunha, Vivian C R; Zourdos, Michael C; Aoki, Marcelo S; Moreira, Alexandre; Fernandez-Fernandez, Jaime; Capitani, Caroline D

    2016-03-01

    The aim of this study was to investigate the responses of young tennis players during 5 different training drills and to compare the responses between drills. Ten (17.0 ± 1.2 years) male tennis players participated in this study. Each athlete completed 5 total training drills. Drills 1-4 consisted of each player returning balls from a ball-serving machine and were stroke/time-controlled over 6 points. The fifth drill was a simulated match (SM) play, between 2 opposing players, and also lasted 6 points. The 4 stroke/time-controlled drills had the following strokes/time for each point: drill 1: 2 strokes/∼4 seconds, drill 2: 4 strokes/∼8 seconds, drill 3: 7 strokes/∼14 seconds, drill 4: 10 strokes/∼20 seconds. Peak heart rate (HR), blood lactate concentration (LA), and rating of perceived exertion (RPE) were measured after the first, third, and sixth point of each drill. Drills were performed in a randomized crossover design; a 2-way repeated-measures analysis of variance was used with significance set at p ≤ 0.05. All dependent variables (HR, LA, and RPE) significantly increased (p ≤ 0.05) as strokes, and time per rally increased in each drill. Furthermore, all variables were elevated to a greater magnitude (p ≤ 0.05) during the 7 and 10 stroke drills after the first, third, and sixth points when compared with the SM and the 2 and 4 stroke drills at the corresponding time points. These results suggest that the physiological responses to tennis training drills were stroke/time-dependent. Therefore, because of the intense intermittent nature of tennis, stroke/time-controlled drills, which require significant physiological demands, should be incorporated along with technically focused shorter drills to fully mimic the conditions of competitive match play.

  10. Muscle fatigue induced by a soccer match-play simulation in amateur Black South African players.

    Science.gov (United States)

    Jones, Robert I; Ryan, Bennett; Todd, Andrew I

    2015-01-01

    The purpose of the current study was to investigate the effects of a soccer-specific fatigue protocol on the temporal changes in torque producing abilities of the thigh within African soccer players. Twenty amateur Black South African soccer players performed the SAFT(90) soccer match-play simulation protocol, while isokinetic measurements were obtained pre-exercise (T0), after the 1st half (T45), after half time (T60) and after the 2nd half (T105). During SAFT(90) performance, significant overall concentric quadriceps peak torque changes were observed (1.05 rad · s(-1) = 16.6%, 3.14 rad · s(-1) = 9.5%). Eccentric hamstring peak torque also decreased significantly over time (1.05 rad · s(-1) = 17.4%, 3.14 rad · s(-1) = 18.5%), with significant reductions occurring during both halves. The functional strength ratio (eccH:conQ) at 3.14 rad · s(-1) was observed to significantly decrease by 10.1% overall. The indicated time-dependent changes in Black South African players have implications for competitive performance and increased predisposition to hamstring muscle injuries. Because of muscle fatigue, the hamstrings may have insufficient eccentric strength during the late swing phase when sprinting, resulting in eccentric overload and damage to the muscle. The changes in strength found in the current study help explain the increased predisposition to hamstring strains during the latter stages of both halves of match-play as reported by epidemiological studies.

  11. Robot-Assisted Crowd Evacuation under Emergency Situations: A Survey

    Directory of Open Access Journals (Sweden)

    Ibraheem Sakour

    2017-04-01

    Full Text Available In the case of emergency situations, robotic systems can play a key role and save human lives in recovery and evacuation operations. To realize such a potential, we have to address many scientific and technical challenges encountered during robotic search and rescue missions. This paper reviews current state-of-the-art robotic technologies that have been deployed in the simulation of crowd evacuation, including both macroscopic and microscopic models used in simulating a crowd. Existing work on crowd simulation is analyzed and the robots used in crowd evacuation are introduced. Finally, the paper demonstrates how autonomous robots could be effectively deployed in disaster evacuation, as well as search and rescue missions.

  12. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix A: ROBSIM user's guide

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelley, J. H.; Depkovich, T. M.; Wolfe, W. J.; Nguyen, T.

    1986-01-01

    The purpose of the Robotics Simulation Program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotics systems. ROBSIM is program in FORTRAN 77 for use on a VAX 11/750 computer under the VMS operating system. This user's guide describes the capabilities of the ROBSIM programs, including the system definition function, the analysis tools function and the postprocessor function. The options a user may encounter with each of these executables are explained in detail and the different program prompts appearing to the user are included. Some useful suggestions concerning the appropriate answers to be given by the user are provided. An example user interactive run in enclosed for each of the main program services, and some of the capabilities are illustrated.

  13. Design methodology for the robotic milking barn : modelling, simulation, validation and optimization

    NARCIS (Netherlands)

    Halachmi, I.

    1999-01-01

    The traditional barn design is a milking parlour oriented. To integrate a milking robot the barn should be redesigned according to the robotic milking concept. The entire system (barn design, feeding and cow-traffic routines, management practices) should encourage 'voluntary milking', i.e., it shoul

  14. Design methodology for the robotic milking barn : modelling, simulation, validation and optimization

    NARCIS (Netherlands)

    Halachmi, I.

    1999-01-01

    The traditional barn design is a milking parlour oriented. To integrate a milking robot the barn should be redesigned according to the robotic milking concept. The entire system (barn design, feeding and cow-traffic routines, management practices) should encourage 'voluntary milking', i.e.,

  15. Designing the optimal robotic milking barn, part 2: behaviour-based simulation

    NARCIS (Netherlands)

    Halachmi, I.

    2000-01-01

    Robotic milking affects factors that determine the barn layout, such as cow behaviour, farm routine, feeding procedure and management practices. As there is hardly any experience with robotic barns, and each farmer has his own management attitude, depending on his personality and local conditions; t

  16. "Like-Me" Simulation as an Effective and Cognitively Plausible Basis for Social Robotics

    Science.gov (United States)

    2009-02-24

    havior of teams from observation. In: RoboCup 2002: robot soccer world cup, Fukuoka, Japan 25. Karin-D’Arcy MR, Povinelli DJ (2002) Do chimpanzees...2001) Building a multimodal human-robot interface. IEEE Intel Syst 16:16–20 41. Povinelli DJ, Eddy TJ (1994) The eyes as a window: what young

  17. A Robotic Voice Simulator and the Interactive Training for Hearing-Impaired People

    Directory of Open Access Journals (Sweden)

    Hideyuki Sawada

    2008-01-01

    Full Text Available A talking and singing robot which adaptively learns the vocalization skill by means of an auditory feedback learning algorithm is being developed. The robot consists of motor-controlled vocal organs such as vocal cords, a vocal tract and a nasal cavity to generate a natural voice imitating a human vocalization. In this study, the robot is applied to the training system of speech articulation for the hearing-impaired, because the robot is able to reproduce their vocalization and to teach them how it is to be improved to generate clear speech. The paper briefly introduces the mechanical construction of the robot and how it autonomously acquires the vocalization skill in the auditory feedback learning by listening to human speech. Then the training system is described, together with the evaluation of the speech training by auditory impaired people.

  18. Theoretical approaches to creation of robotic coal mines based on the synthesis of simulation technologies

    Science.gov (United States)

    Fryanov, V. N.; Pavlova, L. D.; Temlyantsev, M. V.

    2017-09-01

    Methodological approaches to theoretical substantiation of the structure and parameters of robotic coal mines are outlined. The results of mathematical and numerical modeling revealed the features of manifestation of geomechanical and gas dynamic processes in the conditions of robotic mines. Technological solutions for the design and manufacture of technical means for robotic mine are adopted using the method of economic and mathematical modeling and in accordance with the current regulatory documents. For a comparative performance evaluation of technological schemes of traditional and robotic mines, methods of cognitive modeling and matrix search for subsystem elements in the synthesis of a complex geotechnological system are applied. It is substantiated that the process of technical re-equipment of a traditional mine with a phased transition to a robotic mine will reduce unit costs by almost 1.5 times with a significant social effect due to a reduction in the number of personnel engaged in hazardous work.

  19. Foot bone kinematics as measured in a cadaveric robotic gait simulator.

    Science.gov (United States)

    Whittaker, Eric C; Aubin, Patrick M; Ledoux, William R

    2011-04-01

    The bony motion of the foot during the stance phase of gait is useful to further our understanding of joint function, disease etiology, injury prevention and surgical intervention. In this study, we used a 10-segment in vitro foot model with anatomical coordinate systems and a robotic gait simulator (RGS) to measure the kinematics of the tibia, talus, calcaneus, cuboid, navicular, medial cuneiform, first metatarsal, hallux, third metatarsal, and fifth metatarsal from six cadaveric feet. The RGS accurately reproduced in vivo vertical ground reaction force (5.9% body weight RMS error) and tibia to ground kinematics. The kinematic data from the foot model generally agree with invasive in vivo descriptions of bony motion and provides the most realistic description of bony motion currently available for an in vitro model. These data help to clarify the function of several joints that are difficult to study in vivo; for example, the combined range of motion of the talonavicular, naviculocuneiform, metatarsocuneiform joints provided more sagittal plane mobility (27.4°) than the talotibial joint alone (23.2°). Additionally, the anatomical coordinate systems made it easier to meaningfully determine bone-to-bone motion, describing uniplanar motion as rotation about a single axis rather than about three. The data provided in this study allow for many kinematic interpretations to be made about dynamic foot bone motion, and the methodology presents a means to explore many invasive foot biomechanics questions under near-physiologic conditions.

  20. The effectiveness of simulated robots for supporting the learning of introductory programming: a multi-case case study

    Science.gov (United States)

    Major, Louis; Kyriacou, Theocharis; Brereton, Pearl

    2014-07-01

    This work investigates the effectiveness of simulated robots as tools to support the learning of programming. After the completion of a systematic review and exploratory research, a multi-case case study was undertaken. A simulator, named Kebot, was developed and used to run four 10-hour programming workshops. Twenty-three student participants (aged 16-18) in addition to 23 pre-service, and 3 in-service, teachers took part. The effectiveness of this intervention was determined by considering opinions, attitudes, and motivation as well as by analysing students' programming performance. Pre- and post-questionnaires, in- and post-workshop exercises, and interviews were used. Participants enjoyed learning using the simulator and believed the approach to be valuable and engaging. The performance of students indicates that the simulator aids learning as most completed tasks to a satisfactory standard. Evidence suggests robot simulators can offer an effective means of introducing programming. Recommendations to support the development of other simulators are provided.

  1. Simulation-Based Design for Wearable Robotic Systems: An Optimization Framework for Enhancing a Standing Long Jump.

    Science.gov (United States)

    Ong, Carmichael F; Hicks, Jennifer L; Delp, Scott L

    2016-05-01

    Technologies that augment human performance are the focus of intensive research and development, driven by advances in wearable robotic systems. Success has been limited by the challenge of understanding human-robot interaction. To address this challenge, we developed an optimization framework to synthesize a realistic human standing long jump and used the framework to explore how simulated wearable robotic devices might enhance jump performance. A planar, five-segment, seven-degree-of-freedom model with physiological torque actuators, which have variable torque capacity depending on joint position and velocity, was used to represent human musculoskeletal dynamics. An active augmentation device was modeled as a torque actuator that could apply a single pulse of up to 100 Nm of extension torque. A passive design was modeled as rotational springs about each lower limb joint. Dynamic optimization searched for physiological and device actuation patterns to maximize jump distance. Optimization of the nominal case yielded a 2.27 m jump that captured salient kinematic and kinetic features of human jumps. When the active device was added to the ankle, knee, or hip, jump distance increased to between 2.49 and 2.52 m. Active augmentation of all three joints increased the jump distance to 3.10 m. The passive design increased jump distance to 3.32 m by adding torques of 135, 365, and 297 Nm to the ankle, knee, and hip, respectively. Dynamic optimization can be used to simulate a standing long jump and investigate human-robot interaction. Simulation can aid in the design of performance-enhancing technologies.

  2. 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.

  3. Robots integrated with virtual reality simulations for customized motor training in a person with upper extremity hemiparesis: a case study.

    Science.gov (United States)

    Fluet, Gerard G; Merians, Alma S; Qiu, Qinyin; Lafond, Ian; Saleh, Soha; Ruano, Viviana; Delmonico, Andrea R; Adamovich, Sergei V

    2012-06-01

    A majority of studies examining repetitive task practice facilitated by robots for the treatment of upper extremity paresis utilize standardized protocols applied to large groups. Others utilize interventions tailored to patients but do not describe the clinical decision-making process utilized to develop and modify interventions. This case study describes a robot-based intervention customized to match the goals and clinical presentation of person with upper extremity hemiparesis secondary to stroke. The patient, P.M., was an 85-year-old man with left hemiparesis secondary to an intracerebral hemorrhage 5 years prior to examination. Outcomes were measured before and after a 1-month period of home therapy and after a 1-month robotic intervention. The intervention was designed to address specific impairments identified during his physical therapy examination. When necessary, activities were modified on the basis of response to the first week of treatment. P.M. trained in 12 sessions, using six virtually simulated activities. Modifications to original configurations of these activities resulted in performance improvements in five of these activities. P.M. demonstrated a 35-second improvement in Jebsen Test of Hand Function time and a 44-second improvement in Wolf Motor Function Test time subsequent to the robotic training intervention. Reaching kinematics, 24-hour activity measurement, and scores on the Hand and Activities of Daily Living scales of the Stroke Impact Scale all improved as well. A customized program of robotically facilitated rehabilitation was associated with short-term improvements in several measurements of upper extremity function in a patient with chronic hemiparesis.

  4. Robots integrated with virtual reality simulations for customized motor training in a person with upper extremity hemiparesis: a case report

    Science.gov (United States)

    Fluet, Gerard G.; Merians, Alma S.; Qiu, Qinyin; Lafond, Ian; Saleh, Soha; Ruano, Viviana; Delmonico, Andrea R.; Adamovich, Sergei V.

    2014-01-01

    Background and Purpose A majority of studies examining repetitive task practice facilitated by robots for the treatment of upper extremity paresis utilize standardized protocols applied to large groups. Others utilize interventions tailored to patients but don't describe the clinical decision making process utilized to develop and modify interventions. This case report will describe a robot-based intervention customized to match the goals and clinical presentation of a gentleman with upper extremity hemiparesis secondary to stroke. Methods PM is an 85 year-old man with left hemiparesis secondary to an intracerebral hemorrhage five years prior to examination. Outcomes were measured before and after a one month period of home therapy and after a one month robotic intervention. The intervention was designed to address specific impairments identified during his PT examination. When necessary, activities were modified based on the patient's response to his first week of treatment. Outcomes PM trained twelve sessions using six virtually simulated activities. Modifications to original configurations of these activities resulted in performance improvements in five of these activities. PM demonstrated a 35 second improvement in Jebsen Test of Hand Function time and a 44 second improvement in Wolf Motor Function Test time subsequent to the robotic training intervention. Reaching kinematics, 24 hour activity measurement and the Hand and Activities of Daily Living scales of the Stroke Impact Scale all improved as well. Discussion A customized program of robotically facilitated rehabilitation resulted in large short-term improvements in several measurements of upper extremity function in a patient with chronic hemiparesis. PMID:22592063

  5. Can a virtual reality surgical simulation training provide a self-driven and mentor-free skills learning? Investigation of the practical influence of the performance metrics from the virtual reality robotic surgery simulator on the skill learning and associated cognitive workloads.

    Science.gov (United States)

    Lee, Gyusung I; Lee, Mija R

    2017-06-20

    While it is often claimed that virtual reality (VR) training system can offer self-directed and mentor-free skill learning using the system's performance metrics (PM), no studies have yet provided evidence-based confirmation. This experimental study investigated what extent to which trainees achieved their self-learning with a current VR simulator and whether additional mentoring improved skill learning, skill transfer and cognitive workloads in robotic surgery simulation training. Thirty-two surgical trainees were randomly assigned to either the Control-Group (CG) or Experiment-Group (EG). While the CG participants reviewed the PM at their discretion, the EG participants had explanations about PM and instructions on how to improve scores. Each subject completed a 5-week training using four simulation tasks. Pre- and post-training data were collected using both a simulator and robot. Peri-training data were collected after each session. Skill learning, time spent on PM (TPM), and cognitive workloads were compared between groups. After the simulation training, CG showed substantially lower simulation task scores (82.9 ± 6.0) compared with EG (93.2 ± 4.8). Both groups demonstrated improved physical model tasks performance with the actual robot, but the EG had a greater improvement in two tasks. The EG exhibited lower global mental workload/distress, higher engagement, and a better understanding regarding using PM to improve performance. The EG's TPM was initially long but substantially shortened as the group became familiar with PM. Our study demonstrated that the current VR simulator offered limited self-skill learning and additional mentoring still played an important role in improving the robotic surgery simulation training.

  6. Robust optimization of robotic pick and place operations for deformable objects through simulation

    DEFF Research Database (Denmark)

    Bo Jorgensen, Troels; Debrabant, Kristian; Kruger, Norbert

    2016-01-01

    This paper discusses various optimization schemes for partly stochastic and bound optimization, particular with application to solve robotic optimization problems, where robustness of the solutions is crucial. The use case revolves around grasping and manipulation of deformable objects. These kin...

  7. Teleoperated Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Stefan GRUSHKO

    2016-12-01

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

  8. Humanoid Robot simulation and gait planning%人形机器人建模与步态规划

    Institute of Scientific and Technical Information of China (English)

    唐策; 赵现朝; 齐臣坤

    2012-01-01

    目前人形机器人控制的难点主要集中在:关节扭矩不够,运动稳定性不佳等方面.针对以上问题,提出了以下解决方案:针对关节扭矩不够选取了大扭矩电动机的同时,采用三次样条差值使运动轨迹更加平滑,减小输出扭矩.采用ZMP来观察运动轨迹,改善运动的稳定性.同时,由于人形机器人运动稳定性不佳,容易摔倒,使用ODE物理引擎在Labview中建模与仿真,进行更加方便的进行步态规划的研究.最终实现了仿真平台下人形机器人的稳定行走.%The control difficulties of humanoid robot are mainly concentrated on the insufficiency of joints torque and the poor stability of robot motion. To solve the insufficiency of joints torque, high torque motors are chosen, and the cubic spline interpolation is used to smooth the trajectory for reducing the output torque. ZMP trajectory is used to observe and improve the stability of movement. Meanwhile, due to the poor stability, it is easy to tumble the robot down. ODE is used to carry out modeling and simulation on the Labview platform, such that it is more convenient to make a study of the gait planning. Finally, a steady humanoid robot walking is achieved in the simulation environment.

  9. 基于ADAMS的仿人机器人步态仿真与分析%Gait Simulation and Analysis of Humanoid Robot Based on ADAMS

    Institute of Scientific and Technical Information of China (English)

    安志亮; 李卫国; 王利利; 蔡长亮

    2015-01-01

    Humanoid robot is a hot issue in the field of robotics research. Structure of the humanoid robot is designed based on Pro/E. Gait simulation analysis of the humanoid robot is carried out based on ADAMS. In the ADAMS environment ,the reasonable gait planning of humanoid robot is obtained ,and the quantitative analysis on the mass centre position of arm is carried out in the steady and rapid walking process of humanoid robot. Based on results of the simulation analysis, humanoid robot gait is optimized.%仿人机器人是机器人研究领域的热点问题。文中在利用Pro/E三维建模软件对仿人机器人进行了结构设计之后,又用ADAMS仿真分析软件对仿人机器人进行了步态仿真分析。在ADAMS环境下对针对仿人机器人进行了合理的步态规划,并且在仿人机器人平稳快速行走过程中对上肢的质心位置移动做了定量分析。最后针对仿真分析结果对仿人机器人步态进行了优化设计。

  10. Nozzle Mounting Method Optimization Based on Robot Kinematic Analysis

    Science.gov (United States)

    Chen, Chaoyue; Liao, Hanlin; Montavon, Ghislain; Deng, Sihao

    2016-08-01

    Nowadays, the application of industrial robots in thermal spray is gaining more and more importance. A desired coating quality depends on factors such as a balanced robot performance, a uniform scanning trajectory and stable parameters (e.g. nozzle speed, scanning step, spray angle, standoff distance). These factors also affect the mass and heat transfer as well as the coating formation. Thus, the kinematic optimization of all these aspects plays a key role in order to obtain an optimal coating quality. In this study, the robot performance was optimized from the aspect of nozzle mounting on the robot. An optimized nozzle mounting for a type F4 nozzle was designed, based on the conventional mounting method from the point of view of robot kinematics validated on a virtual robot. Robot kinematic parameters were obtained from the simulation by offline programming software and analyzed by statistical methods. The energy consumptions of different nozzle mounting methods were also compared. The results showed that it was possible to reasonably assign the amount of robot motion to each axis during the process, so achieving a constant nozzle speed. Thus, it is possible optimize robot performance and to economize robot energy.

  11. 机器人捕捉抛物的临场感仿真%Telepresence Simulation of Robots to Capture Parabolic

    Institute of Scientific and Technical Information of China (English)

    张克敏; 梁锡昌

    2012-01-01

    为开发基于虚拟现实的机器人,临场感仿真实验平台,对捕捉抛物的仿真成为必要。本文中提出了机器人捕捉抛物的仿真方法,以虚拟三自由度机器人捕捉虚拟小球为例进行了应用计算,包括求解正向运动学方程、逆向运动学方程,抛出虚拟小球的运动跟踪计算,捕捉点坐标的计算,最后结合初始位置以及规划的轨迹,得到了实现VS编程仿真的实时插补关节角度,并开发出了三自由度机器人临场感仿真平台中的相应程序。仿真结果表明了该方法的有效性。%In order to develop an experimental platform simulation robots on-site perception based on virtual reality, simulation of robots to capture parabolic is necessary, then a new method of simulation of robots to capture parabolic is p example to in this paper, and a virtual 3-DOF ( degree of freedom) robots capturing virtual globule is taken as an apply the present method in detail, including forward kinematics equation, inverse kinematics equation, calculation of motion tracking to throw out virtual globule, computation the coordinate of capturing point. Finally, together with the initial position and trajectory planning, the real-time interpolation joint angle for compiling VS (visual studio) program is derived, and experimental test were carried out on the 3-DOF robots platform, the re- suits demonstrate the validity of the algorithm.

  12. 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.

  13. The Effect of Ability, Achievement, and Number of Plays on Learning from a Simulation Game. Report Number 115.

    Science.gov (United States)

    Edwards, Keith J.

    This study examines the effect on learning of repeated plays of the simulation game "Trade and Develop" (T/D). It also examines the effects of students' ability, using a general measure (determined by school tracking procedures) and a specific measure (achievement test in the specific class). The results of the study indicate that, after playing…

  14. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  15. Research on the Integration of Bionic Geometry Modeling and Simulation of Robot Foot Based on Characteristic Curve

    Science.gov (United States)

    He, G.; Zhu, H.; Xu, J.; Gao, K.; Zhu, D.

    2017-09-01

    The bionic research of shape is an important aspect of the research on bionic robot, and its implementation cannot be separated from the shape modeling and numerical simulation of the bionic object, which is tedious and time-consuming. In order to improve the efficiency of shape bionic design, the feet of animals living in soft soil and swamp environment are taken as bionic objects, and characteristic skeleton curve, section curve, joint rotation variable, position and other parameters are used to describe the shape and position information of bionic object’s sole, toes and flipper. The geometry modeling of the bionic object is established by using the parameterization of characteristic curves and variables. Based on this, the integration framework of parametric modeling and finite element modeling, dynamic analysis and post-processing of sinking process in soil is proposed in this paper. The examples of bionic ostrich foot and bionic duck foot are also given. The parametric modeling and integration technique can achieve rapid improved design based on bionic object, and it can also greatly improve the efficiency and quality of robot foot bionic design, and has important practical significance to improve the level of bionic design of robot foot’s shape and structure.

  16. 采用虚拟样机技术的四足机器人仿真研究%Simulation of a quadruped robot based on virtual prototyping technique

    Institute of Scientific and Technical Information of China (English)

    张锦荣; 李锋; 张建华

    2013-01-01

    针对机器人抬腿和落腿时刻足端与地面冲击力过大的特点,建立了四足机器人的虚拟样机并进行仿真分析,对机器人的结构进行优化.通过对四足哺乳动物的结构分析,确定了四足机器人的结构框架;利用ADAMS软件建立四足机器人的仿真模型,并在仿真模型的基础上,分析机器人的运动特性,针对薄弱环节进行改进和验证,最终获得最优的结构设计方案.%As the impact between robot' s legs and the ground is too large while it lifting and downing,a quadruped mammal-like robot' s virtual prototype has been established and simulation analysis has been done to optimize the structure of the robot. Design the structure of a quadruped mammal-like robot by simplifying the structure of a quadruped mammal. Establish simulation model of a quadruped mammal-like robot using ADAMS, and analyze the robot kinematics based on the simulation model, improve and validate weaknesses,ultimately,obtain optimal structure of the final design. This method improved the robot design,and the movement characteristics of the robot can be known before the physical prototype is produced.

  17. Application of robot kinematics methods to the simulation and control of neutron beam line positioning systems

    Energy Technology Data Exchange (ETDEWEB)

    James, Jonathan A. [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)]. E-mail: j.a.j.james@open.ac.uk; Edwards, Lyndon [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)

    2007-02-11

    Neutron stress measurements require specimens of complex geometry to be speedily and accurately positioned and oriented with respect to the neutron beam. Recognition that a majority of the specimen positioning systems in use at strain scanning facilities are effectively serial robot manipulators, suggests that the methods of serial robot kinematic modelling may be applied to advantage. The adoption of robotics methods provides a simple and reliable framework for controlling positioning systems of arbitrary geometry and complexity. In addition the numerical solution of the inverse kinematic problem is facilitated, allowing specimens to be automatically positioned and orientated so that pre-determined strain components are measured. It is also shown that, given sufficient degrees of freedom, a secondary characteristic of the measurement position such as the measurement count time may be simultaneously optimised.

  18. 基于MATLAB的移栽机械臂运动学分析与仿真%Kinematics Analysis and Simulation of Transplanting Robot Arm Based on MATLAB

    Institute of Scientific and Technical Information of China (English)

    胡飞; 尹文庆; 陈彩蓉

    2012-01-01

    为了实现对四自由度移栽机械臂的精确控制,采用D-H法建立机械臂的连杆坐标系和运动学方程,实现了机械臂运动学正解.根据移栽机械臂的特点及参数,用解析法求得移栽机械臂的运动学逆解.运用MATLAB中的Robotics Toolbox工具箱对移栽机械臂进行运动学仿真,验证了所求得的正解和逆解.%In order to control the four - dimension transplanting robot arm accurately, the kinematics equation and the joint coordinate system of robot arm were established by using Denavit - Hartenberg method, and the forward solution of the kinematic equation was solved. According to the characteristics and parameters of transplanting robot arm, the inverse solution of the kinematics equation was solved by using the analytic method. The forward and inverse kinematics solutions of transplanting robot arm were proved by the kinematics simulation with Robotics Toolbox of MATLAB, which provided a theoretical foundation for trajectory planning and precise controlling of transplanting robot arm.

  19. STATICS ANALYSIS AND OPENGL BASED 3D SIMULATION OF COLLABORATIVE RECONFIGURABLE PLANETARY ROBOTS

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    In the last few years,based on the wide rangeof application domains,multirobot coordination be-came one of the focuses of robotics.M.B.Dias andA.Stentz[1]described a market-based architecturefor coordinating a group of robots to achieve a givenobjective.Terry Huntsberger,Paolo Pirjanian,Pir-janian,Ashitey Trebi-Ollennu,etc,have developedan enabling distributed control architecture calledcontrol architecture for multirobot planetary out-posts(CAMPOUT)[2].CAMPOUT includes thenecessary group behaviors and comm...

  20. European Robotics Challenges

    OpenAIRE

    Halt, Lorenz; Bubeck, Alexander

    2014-01-01

    The European Robotics Challenges (EuRoC) aims at strengthening collaboration and cross-fertilization between the industrial and the research community by launching three industrially-relevant challenges in European robotics with applicability to the factory of the future. To qualify for admission, potential challengers are asked to solve a simulated task. The aim of this talk is to describe the development of a simulated human-robot collaboration task using ROS/gazebo. Furthermore several bac...

  1. Practice Makes Poorer: Practice Gambling Modes and Their Effects on Real-Play in Simulated Roulette

    Science.gov (United States)

    Bednarz, Jana; Delfabbro, Paul; King, Daniel

    2013-01-01

    The aim of this study was to examine the role of free-play modes on gambling behaviour in computer-based roulette. Eighty participants were randomly allocated to one of four pre-exposure conditions: no exposure (control group), a loss condition, a break-even and a profit condition in which the return to player was greater than 100%. Behavioural…

  2. Evaluating the impact of role-playing simulations on global competency in an online transnational engineering course

    Science.gov (United States)

    Wold, Kari

    Successfully interacting with those from different cultures is essential to excel in any field, particularly when global, transnational collaborations in the workplace are increasingly common. However, many higher education students in engineering are not explicitly taught how to display the global competency skills desired by future employers. To display global competency skills means students must be able to visibly respect and recognize differences among those from different cultures. Global competency also means students must be able to show they can adjust their behaviors and integrate others' ideas when working with those with cultural backgrounds other than their own. While these skills are now deemed essential for future engineers, many institutions are struggling with determining which strategies and activities are universally effective to allow students to practice the global competency skills now crucial for success. Immersing engineering students in interactive role-playing simulations in transnational environments is one way institutions are encouraging students to illustrate and develop global competency skills. Role-playing simulations in transnational education provide environments where students adopt roles, interact with other students, and together explore and address realistic global problems. However, no studies have addressed whether or how role-playing simulations can help develop global competency in transnational engineering courses, students' perceptions regarding whether they change their abilities to display global competency in those environments, and their perspectives the effectiveness of using role-playing simulations for this purpose. To address this gap, this study assesses the impact of two subsequent role-playing simulations involving nuclear energy policy in a transnational course involving engineering students from the University of Virginia in Charlottesville, Virginia, and from Technische Universitat Dortmund in Dortmund

  3. Stability Control and Simulation of Biped Humanoid Robot Walking on Rough Terrains

    Institute of Scientific and Technical Information of China (English)

    Jiang Kai

    2015-01-01

    In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model(PIPM) and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.

  4. Robotic Design Choice Overview using Co-simulation and Design Space Exploration

    DEFF Research Database (Denmark)

    Christiansen, Martin Peter; Larsen, Peter Gorm; Nyholm Jørgensen, Rasmus

    2015-01-01

    Rapid robotic system development has created a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present a collaborative modelling technique that combines discrete-event models of controller software with continuous-time models of physic...

  5. A new flexible plug and play scheme for modeling, simulating, and predicting gastric emptying

    NARCIS (Netherlands)

    Krishnan, S.; Avesaat, M. van; Troost, F.J.; Hendriks, H.F.J.; Graaf, A.A. de

    2014-01-01

    In-silico models that attempt to capture and describe the physiological behavior of biological organisms, including humans, are intrinsically complex and time consuming to build and simulate in a computing environment. The level of detail of description incorporated in the model depends on the

  6. A new flexible plug and play scheme for modeling, simulating, and predicting gastric emptying

    NARCIS (Netherlands)

    Krishnan, S.; Avesaat, M. van; Troost, F.J.; Hendriks, H.F.J.; Graaf, A.A. de

    2014-01-01

    In-silico models that attempt to capture and describe the physiological behavior of biological organisms, including humans, are intrinsically complex and time consuming to build and simulate in a computing environment. The level of detail of description incorporated in the model depends on the knowl

  7. [Application of role-play simulation in pre-clinical practice of the fourth grade students in department of endodontics].

    Science.gov (United States)

    Zhu, Lin-lin; Qiu, Li-hong; Qu, Liu; Xue, Ming; Yan, Lu

    2014-10-01

    To apply role- play simulation in pre-clinical practice of the fourth grade students in department of endodontics. Thirty-two students were randomly divided into 2 groups, there were 16 students in each group. Students in one group were taught with role-play simulation while the other group with lecture-based learning method. The teaching effect was measured with examination and questionnaire survey. The data was analyzed by using SPSS 17.0 software package. There were no significant differences in basic knowledge, case analysis and oral examination between 2 groups (P>0.05), but there was significant difference in history taking and medical records writing, practical examination and total scores between 2 groups (Pendodontics.

  8. Rehearsal for the Robot Revolution

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Goldberg, Ken

    theatre do not allow for editing or special effects. Unlike film, robots onstage must be highly calibrated and run the risk of appearing like over-rehearsed actors. How do artists create engaging performances while ensuring reliable and robust performances? What can robot designers and researchers learn......This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues...... from robot peformances? This paper considers the design and staging of robots in live theatre. Citing examples of machinic performances absent of human actors, interactive robotic art works, human-robot opera, puppetry and traditional spoken-word plays, we demonstrate how creative approaches to robot...

  9. Quadruped robot design and simulation analysis%四足机器人结构设计与仿真分析

    Institute of Scientific and Technical Information of China (English)

    马宗利; 李华; 王建明; 赵彦

    2012-01-01

    In this paper, a simplified model of quadruped robot was designed by using Pro/E, four kinds of common joint models were simulated and compared by using ADAMS, the model with el-bow joint in front legs and knee joint in back legs was the most stable model in trot moving. Kinematics simulation was done for the model of quadruped robot with elbow joint in front legs and knee joint in back legs, it is convenient for detailed structure design and control.%利用Pro/E设计了四足机器人简化模型,应用ADAMS对4种常见关节形式的模型进行了仿真对比,找出内膝肘式是四足机器人trot行走最稳定的一种模型.并对内膝肘式四足机器人模型进行了运动学仿真,为详细的结构设计和控制提供了方便.

  10. Biologically Inspired Behaviour Design for Autonomous Robotic Fish

    Institute of Scientific and Technical Information of China (English)

    Jin-Dong Liu; Huosheng Hu

    2006-01-01

    Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.

  11. Evolving mobile robots able to display collective behaviors.

    Science.gov (United States)

    Baldassarre, Gianluca; Nolfi, Stefano; Parisi, Domenico

    2003-01-01

    We present a set of experiments in which simulated robots are evolved for the ability to aggregate and move together toward a light target. By developing and using quantitative indexes that capture the structural properties of the emerged formations, we show that evolved individuals display interesting behavioral patterns in which groups of robots act as a single unit. Moreover, evolved groups of robots with identical controllers display primitive forms of situated specialization and play different behavioral functions within the group according to the circumstances. Overall, the results presented in the article demonstrate that evolutionary techniques, by exploiting the self-organizing behavioral properties that emerge from the interactions between the robots and between the robots and the environment, are a powerful method for synthesizing collective behavior.

  12. [Haptic tracking control for minimally invasive robotic surgery].

    Science.gov (United States)

    Xu, Zhaohong; Song, Chengli; Wu, Wenwu

    2012-06-01

    Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

  13. Basic Operational Robotics Instructional System

    Science.gov (United States)

    Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

    2013-01-01

    The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

  14. Simulation Research of Force Control for Special Robots Based on Matlab%基于Matlab的特种机器人力控制仿真研究

    Institute of Scientific and Technical Information of China (English)

    张强; 李康举; 赵元

    2015-01-01

    For the application of 5-DOF special robots in the target acquisition process, to improve the position precision of the robot end actuator, the article adopt the method of impedance control for special robot force control. The simulation model of impedance control was established based on Matlab/Simulink, and then the simulation carried on. Simulation results show that impedance control method which the article adopted can compensate the robot arm's position error, accordingly ensuring the accuracy of the robot arm to capture the target.%针对五自由度特种机器人在目标捕获过程中的应用,为提高机器人末端执行器的位置精度,本文采用阻抗控制研究方法对特种机器人进行力控制研究.基于MATLAB/Simulink建立阻抗控制仿真模型,进行仿真验证.仿真结果表明,采用阻抗控制方法可以补偿机器人手臂位置控制的误差,从而保证机器人手臂对目标的捕获精度.

  15. Simulating Social and Political Influences on Hazard Analysis through a Classroom Role Playing Exercise

    Science.gov (United States)

    Hales, T. C.; Cashman, K. V.

    2006-12-01

    Geological hazard mitigation is a complicated process that involves both detailed scientific research and negotiations between community members with competing interests in the solution. Geological hazards classes based around traditional lecture methods have difficulty conveying the decision-making processes that go into these negotiations. To address this deficiency, we have spent five years developing and testing a role- playing exercise based on mitigation of a dam outburst hazard on Ruapehu volcano, New Zealand. In our exercise, students are asked to undertake one of five different roles and decide the best way to mitigate the hazard. Over the course of their discussion students are challenged to reach a consensus decision despite the presence of strongly opposed positions. Key to the success of the exercise are (1) the presence of a facilitator and recorder for each meeting, (2) the provision of unique information for each interested party, and (3) the division of the class into multiple meeting groups, such that everyone is required to participate and individual groups can evolve to different conclusions. The exercise can be completed in a single hour and twenty minute classroom session that is divided into four parts: an introduction, a meeting between members of the same interested party to discuss strategy, a meeting between different interested parties, and a debriefing session. This framework can be readily translated to any classroom hazard problem. In our experience, students have responded positively to the use of role-playing to supplement lectures.

  16. Evaluating Autonomous Ground-Robots

    Science.gov (United States)

    2012-06-14

    range from robot soccer (football) to measuring the performance of a robot in computer simulations. However, many resultant designs are narrowly focused...from robot soccer (football) to measuring the performance of a robot in computer simulations. However, many resultant designs are narrowly focused or...Predicting Operator Capacity for Supervisory Control of Multiple UAVs, Innovations in Intelligent Machines, Springer , 2009 [5] Davidson, E.J., Evaluation

  17. Robot Arm Control Exploiting Natural Dynamics

    Science.gov (United States)

    1999-06-01

    and the approach taken in this thesis is the role of the robot dynamics . In traditional control, the robot is viewed as a general purpose manipulator...robot, and the robot control enforces that command. The robot dynamics are generally ignored or canceled, and certainly do not play a part in how the...task is planned. The approach taken in this thesis is the opposite: the robot dynamics are crucial for the performance of the task as they determine

  18. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

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

  19. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire; Duca, Edward

    2014-01-01

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

  20. Modeling and simulation of robot dynamics using transputer-based architectures

    Energy Technology Data Exchange (ETDEWEB)

    Zomaya, A.Y.; Morris, A.S. (Robotics Research Group, Dept. of Control Engineering, Univ. of Sheffield, Mappin Street, Sheffield S1 3JD (GB))

    1990-05-01

    Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computationally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly-coupled multiple instruction multiple-data steram (MIMD) computer architecture.

  1. Performance in a simulated cricket batting innings (BATEX): reliability and discrimination between playing standards.

    Science.gov (United States)

    Houghton, Laurence; Dawson, Brian; Rubenson, Jonas

    2011-07-01

    The reliability (test-retest) of running-between-the-wickets times and skill performance was assessed during a batting exercise (BATEX) simulation of 2 h 20 min duration that requires intermittent shuttle running. In addition, performance and physiological responses (heart rate, sweat rate, rating of perceived exertion, blood lactate concentration) were compared between high- and low-grade district club batsmen (n = 22, mean ± s: age 20 ± 2 years, mass 73.4 ± 8.5 kg). Running-between-the-wickets performance was assessed with an infra-red timing system (Swift, Australia) by sampling a 5-m time for the middle section of the straight-line sprints (singles) and the time to complete 5 m in and out of the turn (5-0-5-m turn time). Skill performance was rated as a percentage for good bat-ball contacts. Coefficients of variation for running-between-the-wickets performance and percentage of good bat-ball contacts were both <5%. Percentage of good bat-ball contacts was greater in the high- than low-grade batsmen (70 ± 8 vs. 58 ± 9%, P = 0.01). All other variables were similar between grades. Running-between-the-wickets and skill-performance measures during the BATEX simulation were reliable, thus it can be used in future research.

  2. 基于ADAMS的四足机器人上下坡运动仿真%Simulation of Sloping up and down for Quadruped Robot Based on ADAMS

    Institute of Scientific and Technical Information of China (English)

    马宗利; 王建明; 李华; 赵彦; 刘延俊

    2013-01-01

    A simplified model of quadruped robot was designed by using Pro/E. By using ADAMS, kinematics simulation of sloping up and down with trot moving was done for the model of quadruped robot with elbow joint in front legs and knee joint in back legs. The simulation results indicate quadruped robot with elbow joint in front legs and knee joint in back legs can slope up and down with trot moving, the moving is stable. This structure design plan is practicable.%利用Pro/E设计了四足机器人简化模型,应用ADAMS对内膝肘式四足机器人上下坡trot行走进行运动学仿真.仿真结果表明:内膝肘式四足机器人能够上下坡trot行走,运动基本稳定,说明该结构设计方案基本可行.

  3. A Study of the Simulation for Robot Motion Based on VRML-JAVA%基于VRML-JAVA的机器人运动仿真

    Institute of Scientific and Technical Information of China (English)

    马壮

    2012-01-01

    利用VRML-JAVA技术完成了对虚拟机器手臂控制系统的建立,以及模型与程序间的参数传递工作.进行了虚拟机器手臂的仿真研究,对虚拟机器人控制技术的应用和推广具有一定的研究价值.%This paper studied the control systems,modulation and procedures of the parameter translation for a virtual robot' s arm by using Virtual Reality technology through VRML-JAVA.The control of motion simulation for the robot' s arm has been preliminarily performed in present paper.The simulation results showed that the present research is a significant reference for the real application of robots virtual technology.

  4. 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...

  5. 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...

  6. PlayMolecule ProteinPrepare: A Web Application for Protein Preparation for Molecular Dynamics Simulations.

    Science.gov (United States)

    Martínez-Rosell, Gerard; Giorgino, Toni; De Fabritiis, Gianni

    2017-07-24

    Protein preparation is a critical step in molecular simulations that consists of refining a Protein Data Bank (PDB) structure by assigning titration states and optimizing the hydrogen-bonding network. In this application note, we describe ProteinPrepare, a web application designed to interactively support the preparation of protein structures. Users can upload a PDB file, choose the solvent pH value, and inspect the resulting protonated residues and hydrogen-bonding network within a 3D web interface. Protonation states are suggested automatically but can be manually changed using the visual aid of the hydrogen-bonding network. Tables and diagrams provide estimated pKa values and charge states, with visual indication for cases where review is required. We expect the graphical interface to be a useful instrument to assess the validity of the preparation, but nevertheless, a script to execute the preparation offline with the High-Throughput Molecular Dynamics (HTMD) environment is also provided for noninteractive operations.

  7. Doctor Grube's Playing Cards or The Grube Method Simulation Game for Create-A-Deck of Standard 56-Printer Playing Cards!

    Science.gov (United States)

    Grube, Karl W.

    This paper describes how to create a deck of 56 playing cards using historical or educational facts in place of the numbers on the playing cards. Card data also deal with various games and activities to address interest and learning styles. (EH)

  8. Fostering integrated learning and clinical professionalism using contextualized simulation in a small-group role-play.

    Science.gov (United States)

    Baillie, Sarah; Pierce, Stephanie E; May, Stephen A

    2010-01-01

    Teaching and learning in a clinical setting is important in veterinary and medical training but presents many challenges, including providing enough hands-on experience while not putting patients (animal or human) at risk. Some of the issues have been addressed with the introduction of clinical skills laboratories and communication skills training using role play. However, in both instances skills are learned in isolation, whereas the real task requires the integration of many skills including technical competencies, effective communication, decision making, and professionalism. In our study, we trialed "contextualized simulation" by combining role play with a simulator, the haptic cow, in a small-group tutorial, the Simulated Fertility Visit. Students took turns as the veterinarian; they had to establish the cow's history from the farmer (a role player), palpate the simulation, make a diagnosis, and decide on treatment, if appropriate. We included scenarios varying from common cases to challenging situations. The tutorial was introduced in the farm-animal clinical rotation, and feedback was gathered from students by means of a questionnaire. The tutorial was attended by 178 students (98% of that year's students), and 151 questionnaires were returned (85% response rate). Students reported that the tutorial was a positive learning experience and recognized that it presented an opportunity to integrate the skills needed for clinical work. Student feedback suggests that contextualized simulation provides a valuable complement to clinical cases, and we recommend extending this teaching method to other clinical scenarios and species, particularly because it provides a safe environment in which to experience, and learn from, mistakes.

  9. Grasping in Robotics

    CERN Document Server

    2013-01-01

    Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

  10. Exposure to Free-Play Modes in Simulated Online Gaming Increases Risk-Taking in Monetary Gambling.

    Science.gov (United States)

    Frahn, Tahnee; Delfabbro, Paul; King, Daniel L

    2015-12-01

    This study examined the behavioral effects of practice modes in simulated slot machine gambling. A sample of 128 participants predominantly aged 18-24 years were randomly allocated to 1 of 4 pre-exposure conditions: control (no practice), standard 90% return to player, inflated return to player and inflated return with pop-up messages. Participants in all conditions engaged in monetary gambling using a realistic online simulation of a slot machine. As predicted, the results showed that those players exposed to inflated or 'profit' demonstration modes placed significantly higher bets in the real-play mode as compared to the other groups. However, the groups did not differ in relation to how long they persisted in the real-play mode. Pop-up messages had no significant effect on monetary gambling behavior. The results of this study confirm that exposure to inflated practice or "demo" modes lead to short-term increases in risk-taking. These findings highlight the need for careful regulation and monitoring of internet gambling sites, as well as further research on the potential risks of simulated gambling activities for vulnerable segments of the gambling population.

  11. Simulation Analysis on Robotic Hand-Eye Calibration%机器人手眼标定的仿真分析

    Institute of Scientific and Technical Information of China (English)

    刘宏建; 石繁槐; 刘允才; 罗毅

    2004-01-01

    研究了一种新的机器人手眼标定的方法.在实际中,手-双目系统有着广泛的应用.传统方法主要集中在手-单目系统中.直接将传统方法应用到手-双目系统中将会很容易受到噪声的干扰.与传统方法相比,文章充分利用了双目摄像机之间以及摄像机与机器人手爪之间的约束关系进行机器人手眼标定,大大提高了抗干扰的能力.最后仿真结果证明了新方法的精确性与有效性.%A new method for calibration of robotic hand-eye relationship is proposed. In practice, binocular hand-eye system is widely used. In classical methods, researches mainly concentrate on the hand and mono-eye system. If the methods are applied to the binocular system directly, the result may be easily corrupted by noise. Compared with classical methods, the constraint relationship between cameras and robot hand is well considered to lessen noise sensitivity. Simulation results have verified that the proposed method is accurate and effective.

  12. Phasic dopamine as a prediction error of intrinsic and extrinsic reinforcements driving both action acquisition and reward maximization: a simulated robotic study.

    Science.gov (United States)

    Mirolli, Marco; Santucci, Vieri G; Baldassarre, Gianluca

    2013-03-01

    An important issue of recent neuroscientific research is to understand the functional role of the phasic release of dopamine in the striatum, and in particular its relation to reinforcement learning. The literature is split between two alternative hypotheses: one considers phasic dopamine as a reward prediction error similar to the computational TD-error, whose function is to guide an animal to maximize future rewards; the other holds that phasic dopamine is a sensory prediction error signal that lets the animal discover and acquire novel actions. In this paper we propose an original hypothesis that integrates these two contrasting positions: according to our view phasic dopamine represents a TD-like reinforcement prediction error learning signal determined by both unexpected changes in the environment (temporary, intrinsic reinforcements) and biological rewards (permanent, extrinsic reinforcements). Accordingly, dopamine plays the functional role of driving both the discovery and acquisition of novel actions and the maximization of future rewards. To validate our hypothesis we perform a series of experiments with a simulated robotic system that has to learn different skills in order to get rewards. We compare different versions of the system in which we vary the composition of the learning signal. The results show that only the system reinforced by both extrinsic and intrinsic reinforcements is able to reach high performance in sufficiently complex conditions.

  13. Two Mechatronic Projects - an Agricultural Robot and a Flight Simulator Platform

    DEFF Research Database (Denmark)

    Sørensen, Torben; Fan, Zhun; Conrad, Finn

    2005-01-01

    The student’s ability to determine and evaluate the solution space for suitable mechatronic solutions with respect to choice of technologies, as well as the weighting between mechanic, electronic and software have an immense impact on the functionality, flexibility and performance of the final pr...... with an initial problem statement that should be solved by developing suitable mechatronic devices....... product. In this paper two different, challenging mechatronic projects are presented demonstrating the engineering skills of some of the Masters of Science students at The Technical University of Denmark. The projects are: • A four wheel driven and steered autonomous agricultural robot has been designed...

  14. Robotic-assisted laparoscopic excision of gossypiboma simulating bladder wall mass after 35 years of appendectomy

    Directory of Open Access Journals (Sweden)

    Emad Sabri Rajih

    2014-01-01

    Full Text Available Gossypiboma or textiloma are terms commonly used to describe a retained sponge in the body that is composed of sponge invested within a layer of foreign body reaction in the form of an abscess or an aseptic fibrotic reaction. These cases are rarely reported despite an incidence of 1:1,000-1,500 of abdominal or pelvic surgery. We report a patient who presented with an incidental supravesical mass discovered upon work up for frequency and suprapubic pain. He had appendectomy 35 years ago. The mass was excised by robotic-assisted laparoscopic technique. The pathologic evaluation came as gossypiboma.

  15. Two Mechatronic Projects - an Agricultural Robot and a Flight Simulator Platform

    DEFF Research Database (Denmark)

    Sørensen, Torben; Fan, Zhun; Conrad, Finn

    2005-01-01

    The student’s ability to determine and evaluate the solution space for suitable mechatronic solutions with respect to choice of technologies, as well as the weighting between mechanic, electronic and software have an immense impact on the functionality, flexibility and performance of the final...... product. In this paper two different, challenging mechatronic projects are presented demonstrating the engineering skills of some of the Masters of Science students at The Technical University of Denmark. The projects are: • A four wheel driven and steered autonomous agricultural robot has been designed...

  16. Robotics in reproductive medicine.

    Science.gov (United States)

    Sroga, Julie; Patel, Sejal Dharia; Falcone, Tommaso

    2008-01-01

    In the past decade, robotic technology has been increasingly incorporated into various industries, including surgery and medicine. This chapter will review the history, development, current applications, and future of robotic technology in reproductive medicine. A literature search was performed for all publications regarding robotic technology in medicine, surgery, reproductive endocrinology, and its role in both surgical education and telepresence surgery. As robotic assisted surgery has emerged, this technology provides a feasible option for minimally invasive surgery, impacts surgical education, and plays a role in telepresence surgery.

  17. Robotic Art for Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2010-01-01

    on “simple” plug-and-play circuits, ranging from pure sensors-actuators schemes to artefacts with a smaller level of elaboration complexity. Indeed, modular robotic wearable focuses on enhancing the body perception and proprioperception by trying to substitute all of the traditional exoskeletons perceptive......We present the robot art and how it may inspire to create a new type of wearable termed modular robotic wearable. Differently from the related works, modular robotic wearable aims at making no use of mechatronic devices (as, for example, in Cyberpunk and related research branches) and mostly relies...

  18. A neural network controller for the path tracking control of a hopping robot involving time delays.

    Science.gov (United States)

    Chaitanya, V Sree Krishna; Reddy, M Srinivas

    2006-02-01

    In this paper a hopping robot motion with offset mass is discussed. A mathematical model has been considered and an efficient single layered neural network has been developed to suit to the dynamics of the hopping robot, which ensures guaranteed tracking performance leading to the stability of the otherwise unstable system. The neural network takes advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot parameters. Time delays in the control mechanism play a vital role in the motion of hopping robots. The present work also enables us to estimate the maximum time delay admissible with out losing the guaranteed tracking performance. Further this neural network does not require offline training procedures. The salient features are highlighted by appropriate simulations.

  19. Keep focussing: striatal dopamine multiple functions resolved in a single mechanism tested in a simulated humanoid robot.

    Science.gov (United States)

    Fiore, Vincenzo G; Sperati, Valerio; Mannella, Francesco; Mirolli, Marco; Gurney, Kevin; Friston, Karl; Dolan, Raymond J; Baldassarre, Gianluca

    2014-01-01

    The effects of striatal dopamine (DA) on behavior have been widely investigated over the past decades, with "phasic" burst firings considered as the key expression of a reward prediction error responsible for reinforcement learning. Less well studied is "tonic" DA, where putative functions include the idea that it is a regulator of vigor, incentive salience, disposition to exert an effort and a modulator of approach strategies. We present a model combining tonic and phasic DA to show how different outflows triggered by either intrinsically or extrinsically motivating stimuli dynamically affect the basal ganglia by impacting on a selection process this system performs on its cortical input. The model, which has been tested on the simulated humanoid robot iCub interacting with a mechatronic board, shows the putative functions ascribed to DA emerging from the combination of a standard computational mechanism coupled to a differential sensitivity to the presence of DA across the striatum.

  20. A system for simulating shared memory in heterogeneous distributed-memory networks with specialization for robotics applications

    Energy Technology Data Exchange (ETDEWEB)

    Jones, J.P.; Bangs, A.L.; Butler, P.L.

    1991-01-01

    Hetero Helix is a programming environment which simulates shared memory on a heterogeneous network of distributed-memory computers. The machines in the network may vary with respect to their native operating systems and internal representation of numbers. Hetero Helix presents a simple programming model to developers, and also considers the needs of designers, system integrators, and maintainers. The key software technology underlying Hetero Helix is the use of a compiler'' which analyzes the data structures in shared memory and automatically generates code which translates data representations from the format native to each machine into a common format, and vice versa. The design of Hetero Helix was motivated in particular by the requirements of robotics applications. Hetero Helix has been used successfully in an integration effort involving 27 CPUs in a heterogeneous network and a body of software totaling roughly 100,00 lines of code. 25 refs., 6 figs.

  1. Teen Sized Humanoid Robot: Archie

    Science.gov (United States)

    Baltes, Jacky; Byagowi, Ahmad; Anderson, John; Kopacek, Peter

    This paper describes our first teen sized humanoid robot Archie. This robot has been developed in conjunction with Prof. Kopacek’s lab from the Technical University of Vienna. Archie uses brushless motors and harmonic gears with a novel approach to position encoding. Based on our previous experience with small humanoid robots, we developed software to create, store, and play back motions as well as control methods which automatically balance the robot using feedback from an internal measurement unit (IMU).

  2. Robotic simulation with 2.0 tools to develop key competencies in Secondary Education. A case study

    Directory of Open Access Journals (Sweden)

    Esteban Vázquez Cano

    2012-07-01

    Full Text Available Normal.dotm 0 0 1 171 975 Universidad de Salamanca 8 1 1197 12.0 0 false 18 pt 18 pt 0 0 false false false /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:12.0pt; font-family:"Times New Roman"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin;} The paper presents a contextualized research in a secondary school in the province of Toledo in which he examines the design of a robotic simulation activity for the development of key competencies from an interdisciplinary and transversely way between the subjects of Technology, Spanish Language, English and Plastic and Visual Education. The design of the activity consisted on the development of an interdisciplinary project for the construction of a worm robot with an electronic device for measuring lengths. 2.0 free tools were used for designing it and  supported the development of four key competencies: Google Sketchup, Prezi, Glosgter and Windows Movie Maker. We analyzed the findings of teachers and students on the feasibility of robotic simulation through the project work as a teaching strategy and especially the improvement of indicators of the following basic skills: language, learning to learn, information processing and digital competence knowledge and interaction with the physical world. The results show a high appreciation of students and teachers about the project and its functionality in the cross and interdisciplinary development of key competencies.

  3. Simulation and database society in Japanese role-playing game fandoms: Reading boys' love dōjinshi online

    Directory of Open Access Journals (Sweden)

    Lucy Hannah Glasspool

    2013-03-01

    Full Text Available Japanese video games have been characterized as typifying contemporary postmodernity in the form of simulacra, both as a media form and in terms of their extensive localization for international markets, which creates user fantasies of Japaneseness that are not linked to an authentic or original Japan. These simulations are reappropriated by fans to create new content, in this case boys' love dōjinshi, which are in turn disseminated and consumed in an English-speaking online context. Fantasy role-playing video games, which often privilege heteronormativity and binary gender norms in their goals, narratives, and aesthetics, are among the most popular texts reimagined in this way. This study considers the concepts of simulation and database societies through an examination of the ways in which artificial contours of Japaneseness are constructed in the role-playing game series Final Fantasy VII's boys' love dōjinshi fandoms, how far these fan texts develop possibilities for the deconstruction of heteronormativity, and how transnational digitized consumption methods facilitate the intersection of these phenomena.

  4. Robotics for Learning

    CERN Document Server

    Toh, Dennis; Lim, Matthew; Wee, Loo Kang; Ong, Matthew

    2015-01-01

    Teaching Robotics is about empowering students to create and configure robotics devices and program computers to nurture in students the skill sets necessary to play an active role in society. The robot in Figure 1 focuses on the design of scaffolds and physical assembly methods, coupled with a computer logic program to make that makes it move or behave in a very precise (remote controlled or autonomous) manner. This enables students to investigate, explore and refine the program to affect the robots. The Robotics approach takes into account the increasing popularity of Computer Science and the learning by doing (Schank, Berman, & Macpherson, 1999) approach to solve complex problems and use computers meaningfully in learning (Barron & Darling-Hammond, 2008; Jonassen, Howland, Marra, & Crismond, 2008). In Singapore, teachers and students in Woodlands Ring Secondary and Rulang Primary have incorporated robotics to varying extents into formal and informal curricula. In addition, other less expensive ...

  5. Humans and Robots. Educational Brief.

    Science.gov (United States)

    National Aeronautics and Space Administration, Washington, DC.

    This brief discusses human movement and robotic human movement simulators. The activity for students in grades 5-12 provides a history of robotic movement and includes making an End Effector for the robotic arms used on the Space Shuttle and the International Space Station (ISS). (MVL)

  6. Real-Time Human in the Loop MBS Simulation in the Fraunhofer Robot-Based Driving Simulator

    Directory of Open Access Journals (Sweden)

    Kleer Michael

    2014-08-01

    Full Text Available The paper encompasses the overview of hardware architecture and the systems characteristics of the Fraunhofer driving simulator. First, the requirements of the real-time model and the real-time calculation hardware are defined and discussed in detail. Aspects like transport delay and the parallel computation of complex real-time models are presented. In addition, the interfacing of the models with the simulator system is shown. Two simulator driving tests, including a fully interactive rough terrain driving with a wheeled excavator and a test drive with a passenger car, are set to demonstrate system characteristics. Furthermore, the simulator characteristics of practical significance, such as simulator response time delay, simulator acceleration signal bandwidth obtained from artificial excitation and from the simulator driving test, will be presented and discussed.

  7. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

    1984-01-01

    A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.

  8. Dynamic Modeling and Simulation of an Assistant Robot on UG and ADAMS%UG与ADAMS的助行机器人动力学建模与仿真

    Institute of Scientific and Technical Information of China (English)

    王仲民; 周鹏; 刘玉山

    2012-01-01

    A new type of assistant robot system is designed based on analysis to human walking movement, and this robot' s dynamic modeling is set up by Lagrange method. Through software UG and ADAMS, simulation experiments are carried out and characters of the robot's dynamics are analyzed also.%基于对人体行走运动的分析,设计了一种新型助行机器人,采用拉格朗日方法建立了其动力学模型.在此基础上,采用UG和ADAMS软件时机器人的行走过程进行了仿真研究,并对其动力学特性进行了分析.

  9. SIMULATION SYSTEM FOR AGENT ORIFNTED AUTONOMOUS ROBOTS UNDER LINUX ENVIRONMENT%Linux环境下基于Agent的自主机器人仿真系统

    Institute of Scientific and Technical Information of China (English)

    刘庆龙; 陈宗海

    2001-01-01

    The Autonomous Robots Simulation System (AR-SIM) is developed forthe purpose of studying various issues concerning autonomous robots under complex indeterminate environment. The design principle, system structure, system feature as well as system implementation under Linux environment are described in this paper. And the paper puts forward the architecture of agent oriented autonomous robots.%针对复杂、不可预测环境下自主机器人系统的特点,研究开发了自主机器人仿真系统(AR-SIM)。本文介绍了AR-SIM的设计目的、系统特点、系统结构,以及在Linux环境下的系统实现,并提出了一种基于Agent的自主机器人控制结构。

  10. Colias: An Autonomous Micro Robot for Swarm Robotic Applications

    Directory of Open Access Journals (Sweden)

    Farshad Arvin

    2014-07-01

    Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

  11. Simulation of Information Collection Robot in Agricultural Fields Based on ADAMS%基于ADAMS的农田信息采集机器人仿真分析

    Institute of Scientific and Technical Information of China (English)

    胡娜; 陈勇; 王红星; 居荣华

    2011-01-01

    An information collection robot was proposed to solve the problem of the real-time data lack in precision agriculture.ADAMS was employed to improve the robot physical properties and develop the parametric virtual prototype.Based on virtual sensor and script simulation technology,obstacle-crossing simulation was done.The results show that the robot has good terrain adapting ability.A set of performance evaluation indexes and a parametric analysis scheme were discussed,with which the DOE of the multivariable robot was done to get an optimized robot.This method is efficient and reliable for the design and optimization of new type robots.%针对精确农业中实时数据缺乏的问题,提出了一种新型的农田信息采集机器人。为改进机器人的物理样机,运用动力学仿真软件ADAMS,建立了机器人的参数化虚拟样机。采用虚拟传感器和脚本仿真技术,对机器人的越障过程进行了仿真,表明机器人有较高的地形适应能力。提出性能评价指标和参数化分析方案,对机器人进行了多变量的试验设计,最终得到了各参数优化后的机器人模型。仿真分析是新型机器人设计和优化的一种高效、可靠的方法。

  12. Role-playing simulation as an educational tool for health care personnel: developing an embedded assessment framework.

    Science.gov (United States)

    Libin, Alexander; Lauderdale, Manon; Millo, Yuri; Shamloo, Christine; Spencer, Rachel; Green, Brad; Donnellan, Joyce; Wellesley, Christine; Groah, Suzanne

    2010-04-01

    Simulation- and video game-based role-playing techniques have been proven effective in changing behavior and enhancing positive decision making in a variety of professional settings, including education, the military, and health care. Although the need for developing assessment frameworks for learning outcomes has been clearly defined, there is a significant gap between the variety of existing multimedia-based instruction and technology-mediated learning systems and the number of reliable assessment algorithms. This study, based on a mixed methodology research design, aims to develop an embedded assessment algorithm, a Knowledge Assessment Module (NOTE), to capture both user interaction with the educational tool and knowledge gained from the training. The study is regarded as the first step in developing an assessment framework for a multimedia educational tool for health care professionals, Anatomy of Care (AOC), that utilizes Virtual Experience Immersive Learning Simulation (VEILS) technology. Ninety health care personnel of various backgrounds took part in online AOC training, choosing from five possible scenarios presenting difficult situations of everyday care. The results suggest that although the simulation-based training tool demonstrated partial effectiveness in improving learners' decision-making capacity, a differential learner-oriented approach might be more effective and capable of synchronizing educational efforts with identifiable relevant individual factors such as sociobehavioral profile and professional background.

  13. Robot and robot system

    Science.gov (United States)

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

    2011-01-01

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

  14. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  15. Open Humanoid Robot Simulator Based on ODE%基于ODE引擎的开放式仿人机器人仿真

    Institute of Scientific and Technical Information of China (English)

    薛方正; 刘成军; 李楠; 李祖枢

    2011-01-01

    为了获得灵活、开放、简洁的仿真功能,提出了一种基于ODE(open dynamics engine)的仿人机器人仿真平台集成方案.将基于ODE的仿人机器人仿真系统开发过程定义为两类运算:变换叠加和关节叠加,并设计了这两类叠加的ODE算法.将仿人机器人结构描述为一个设计者和计算机都可以理解的结构表,将该结构表翻译为ODE基本元素实现仿真.设计并实现,一个基于所提出方案的仿人机器人仿真平台,根据基于倒立摆的步态规划思想,设计并在仿真平台上实现了双足步行的仿真实验.实验证明了文中方法的有效性.%To get open, flexible, and compact properties of simulators, an ODE (open dynamics engine) based integration solution of humanoid robot simulator is presented.The development procedure of the ODE based humanoid robot simulator is defined as two kinds of operations, i.e.transform summation and joint summation, and the ODE algorithms of the two operations are given.The structure of a humanoid robot is described by a robot structure table that can be understood by simulator designers and the computer.The robot structure table is translated into ODE elements to realize simulation.A humanoid robot simulation platform based on the proposed method is designed and realized.The biped walking experiment using an inverted pendulum based gait planning method is realized on the simulator.The experiment results prove the effectiveness of the presented methods.

  16. Adaptation of Gabor filters for simulation of human preattentive mechanism for a mobile robot

    Science.gov (United States)

    Kulkarni, Naren; Naghdy, Golshah A.

    1993-08-01

    Vision guided mobile robot navigation is complex and requires analysis of tremendous amounts of information in real time. In order to simplify the task and reduce the amount of information, human preattentive mechanism can be adapted [Nag90]. During the preattentive search the scene is analyzed rapidly but in sufficient detail for the attention to be focused on the `area of interest.' The `area of interest' can further be scrutinized in more detail for recognition purposes. This `area of interest' can be a text message to facilitate navigation. Gabor filters and an automated turning mechanism are used to isolate the `area of interest.' These regions are subsequently processed with optimal spatial resolution for perception tasks. This method has clear advantages over the global operators in that, after an initial search, it scans each region of interest with optimum resolution. This reduces the volume of information for recognition stages and ensures that no region is over or under estimated.

  17. Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

    DEFF Research Database (Denmark)

    Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

    2017-01-01

    In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots.......-O-bot, a large service robot, in a medical measurement scenario, we compare the timing of the robot's behaviors in three between-subject conditions. The results show that the relative timing of robot behaviors has significant effects on the number of problems participants encounter, and that the robot's verbal...

  18. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

    1984-01-01

    A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.

  19. Using interactive online role-playing simulations to develop global competency and to prepare engineering students for a globalised world

    Science.gov (United States)

    May, Dominik; Wold, Kari; Moore, Stephanie

    2015-09-01

    The world is changing significantly, and it is becoming increasingly globalised. This means that countries, businesses, and professionals must think and act globally to be successful. Many individuals, however, are not prepared with the global competency skills needed to communicate and perform effectively in a globalised system. To address this need, higher education institutions are looking for ways to instil these skills in their students. This paper explains one promising approach using current learning principles: transnational interactive online environments in engineering education. In 2011, the TU Dortmund and the University of Virginia initiated a collaboration in which engineering students from both universities took part in one online synchronous course and worked together on global topics. This paper describes how the course was designed and discusses specific research results regarding how interactive online role-playing simulations support students in gaining the global competency skills required to actively participate in today's international workforce.

  20. Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy.

    Science.gov (United States)

    Burgner, Jessica; Kahrs, Lüder Alexander; Raczkowsky, Jörg; Wörn, Heinz

    2009-01-01

    Material processing using laser became a widely used method especially in the scope of industrial automation. The systems are mostly based on a precise model of the laser process and the according parameterization. Beside the industrial use the laser as an instrument to treat human tissue has become an integral part in medicine as well. Human tissue as an inhomogeneous material to process, poses the question of how to determine a model, which reflects the interaction processes with a specific laser.Recently it could be shown that the pulsed CO2 laser is suitable to ablate bony and cartilage tissue. Until now this thermo-mechanical bone ablation is not characterized as a discrete process. In order to plan and simulate the ablation process in the correct level of detail, the parameterization is indispensable. We developed a planning and simulation environment, determined parameters by confocal measurements of bony specimen and use these results to transfer planned cutting trajectories into a pulse sequence and corresponding robot locations.

  1. Robotics in medicine

    Science.gov (United States)

    Kuznetsov, D. N.; Syryamkin, V. I.

    2015-11-01

    Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

  2. Innovations in dismantling robotics

    Energy Technology Data Exchange (ETDEWEB)

    Detriche, J.M. [CEA, Fontenay aus Roses (France). Dept. des Procedes et Systemes Arances

    1998-06-01

    Since the beginning of the 1970s, CEA has developed innovative systems for remote operation in nuclear fields. This paper presents the main developments achieved for dismantling applications of robotic systems (manipulators, carriers, controllers, simulation). (orig.)

  3. Experiential Learning of Robotics Fundamentals Based on a Case Study of Robot-Assisted Stereotactic Neurosurgery

    Science.gov (United States)

    Faria, Carlos; Vale, Carolina; Machado, Toni; Erlhagen, Wolfram; Rito, Manuel; Monteiro, Sérgio; Bicho, Estela

    2016-01-01

    Robotics has been playing an important role in modern surgery, especially in procedures that require extreme precision, such as neurosurgery. This paper addresses the challenge of teaching robotics to undergraduate engineering students, through an experiential learning project of robotics fundamentals based on a case study of robot-assisted…

  4. Waist design and motion simulation for pneumatic type humanoid robot%气压式仿人机器人的腰部设计与运动仿真

    Institute of Scientific and Technical Information of China (English)

    邱家浩; 蒋刚

    2012-01-01

    提出了一种新型的气压式仿人机器人腰部机构,它具有结构简单和运动稳定的特点.气压式仿人机器人腰部的运动受到手部、头部和腿部等关节力矩的影响.在对机器人进行简化之后,依据高效-欧拉算法,对该仿人机器人进行整体建模,导出腰部俯仰和侧转关节的动力学模型.从动力学上分析,机器人腰部手部和腿部的运动以及外力(矩)等的影响.在Pro/e3.0上建立仿人机器人腰部结构模型,然后导入ADAMS中进行动力学仿真研究,验证了该模型的正确性.%It presents a new type of waist institutions of a pneumatic humanoid robot with simple structure and stable movementThe motion of pneumatic humanoid robot waist is affected by the torque of hand,head and legs joints.After Simplifying the robot,the modeling for overall humanoid robot is made based on efficient-Euler algorithm.Then,the dynamic model of pitching and tilt waist joint is derived. The impacts of the robot waist,hands and legs,as well as external forces (moments)on the kinetics is analyzed. After that, the waist structural of humanoid robot is modeled in Pro/e3.0,and then imported into the ADAMS for dynamic simulation,which results verify the correctness of the model.

  5. Evaluation of joint moment patterns of a wearable walking assistant robot: Experimental and simulation analyses.

    Science.gov (United States)

    Kang, Ho Chul; Lee, Ju Hwan; Kim, Sung Min

    2015-01-01

    This study analyzes the moment of human main joints (knee and hip) for developing a wearable walking assistant robot. Experiments were performed on two steps to analyze motions. Three healthy males with no neural and musculoskeletal disorders volunteered to participate in this study. In the step up test, the maximum moment was 0.98±0.05 Nm/kg for the knee and 0.52±0.04 Nm/kg for the hip. In the sit-to-stand test, the maximum moment was 0.88±0.06 Nm/kg for the knee and 0.44±0.04 Nm/kg for the hip. The moment of the hip was significantly higher than the knee. In addition, the motion analysis results were compared with proven validity and inverse dynamics analysis results. Experimental results showed that there was no significant difference in the absolute value or pattern. For the step up motion, after wearing Powered Gait Orthosis (PGO), the hip joint torque value (1.22 Nm/kg) was about 1.3 times greater than the knee joint torque value (0.96 Nm/kg). It indicates that the step up motion requires more power from the hip joint than the knee joint. Moreover, there was a significant torque value difference for before and after wearing the device.

  6. Programming Play

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Muphey, Todd

    2014-01-01

    This chapter discusses the Pygmalion Project, a collaboration between Northwestern University, the Georgia Institute for Technology, the University of Colorado, and Disney Research to develop a robotic platform for controlling marionettes. Efforts to combine robots and puppets have typically...... focused on using mechanical limbs to reproduce human and animal motions exactly. These automated "puppets" often appear rigid and perfunctory and fail to stimulate the imagination in the same way that puppets operated directly by live puppeteers can. In the Pygmalion Project the robots are not the puppets......, where puppets create the illusion of life through the art of indication rather than precise mechanical reproduction, we anticipate that our robotic marionette platform will allow for a wider, more artistic range of automated motions for robots used in education and entertainment....

  7. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  8. 基于Matlab的六足机器人优化设计仿真%Matlab-based Simulation of the Hexapod Robot Design

    Institute of Scientific and Technical Information of China (English)

    王伟伟; 陈锋

    2014-01-01

    The hexapod robots are highly integrated electromechanical bionic systems, whose dynamic performance is determined by the structure system and the control system. In order to improve the overall dynamic performance of the hexapod robots, the integration of optimized design of the hexapod robot is needed. Design variables, constraints and objective functions involved in the optimization process are discussed based on the geometric characteristics; the integrated optimization model of hexapod robot systems is built. With examples, comparative analysis of simulation results is done. Simulation results illustrate that integrated design can get better dynamic performance for the hexapod robot system.%六足机器人是机电高度集成的仿生系统,它的动态性能由其结构系统与控制系统一起决定。为了提高六足机器人整体的动态性能,对六足机器人进行集成优化设计。描述六足机器人系统的结构;根据六足机器人机构的几何特征,讨论在优化过程中涉及到的设计变量、约束方程以及目标函数;对六足机器人系统进行集成优化建模。结合实例,分析比较六足机器人系统的数值仿真结果,结果表明,集成设计方法能够使系统获得更好的动态性能。

  9. Posterior Tibial Slope Angle Correlates With Peak Sagittal and Frontal Plane Knee Joint Loading During Robotic Simulations of Athletic Tasks.

    Science.gov (United States)

    Bates, Nathaniel A; Nesbitt, Rebecca J; Shearn, Jason T; Myer, Gregory D; Hewett, Timothy E

    2016-07-01

    Tibial slope angle is a nonmodifiable risk factor for anterior cruciate ligament (ACL) injury. However, the mechanical role of varying tibial slopes during athletic tasks has yet to be clinically quantified. To examine the influence of posterior tibial slope on knee joint loading during controlled, in vitro simulation of the knee joint articulations during athletic tasks. Descriptive laboratory study. A 6 degree of freedom robotic manipulator positionally maneuvered cadaveric knee joints from 12 unique specimens with varying tibial slopes (range, -7.7° to 7.7°) through drop vertical jump and sidestep cutting tasks that were derived from 3-dimensional in vivo motion recordings. Internal knee joint torques and forces were recorded throughout simulation and were linearly correlated with tibial slope. The mean (±SD) posterior tibial slope angle was 2.2° ± 4.3° in the lateral compartment and 2.3° ± 3.3° in the medial compartment. For simulated drop vertical jumps, lateral compartment tibial slope angle expressed moderate, direct correlations with peak internally generated knee adduction (r = 0.60-0.65), flexion (r = 0.64-0.66), lateral (r = 0.57-0.69), and external rotation torques (r = 0.47-0.72) as well as inverse correlations with peak abduction (r = -0.42 to -0.61) and internal rotation torques (r = -0.39 to -0.79). Only frontal plane torques were correlated during sidestep cutting simulations. For simulated drop vertical jumps, medial compartment tibial slope angle expressed moderate, direct correlations with peak internally generated knee flexion torque (r = 0.64-0.69) and lateral knee force (r = 0.55-0.74) as well as inverse correlations with peak external torque (r = -0.34 to -0.67) and medial knee force (r = -0.58 to -0.59). These moderate correlations were also present during simulated sidestep cutting. The investigation supported the theory that increased posterior tibial slope would lead to greater magnitude knee joint moments, specifically

  10. Modelling and simulation tooling controlled by the PLC in the robot cell in NX

    Science.gov (United States)

    Banas, W.; Gwiazda, A.; Monica, Z.; Sekala, A.; Foit, K.

    2016-08-01

    Many CAD programs allows the simulation of machines. Often, before creating the real machine can simulate the operation and see how it works. In these cases, set values of the forces acting on an element or displacement of the element. It is very easy for simple machines. Programming in this way PLC controlled system is very complicated because have to save the the entire PLC logic in the simulation program. It would be good simply connect the PLC or PLC simulation program to a CAD program enabling the simulation. There are many possibilities for sending information between the PLC and CAD. PLC to control most of the actuators using the digital outputs 0 or 1. Actuators often have two states but the transition from one to the other takes some time. By setting additional parameters may be the behaviour of the simulation as in real life. Setting these parameters is usually held in the testing phase before running it means that the system is assembled and can be damaged. Often this is the only opportunity to verify the PLC program. It is worth noting that such testing and running takes place on the production line and needs to be stopped.

  11. 基于SimMechanics的仿人机器人运动学仿真%Kinematics Simulation of Humanoid Robot Based on SimMechanics

    Institute of Scientific and Technical Information of China (English)

    江乐果; 朱华炳

    2014-01-01

    The SimMechanics of Matlab toolbox is used to build the simulation model of humanoid robot mechanism. According to the model diagram,the humanoid robot dynamic walking process was observed intuitively,and the angular acceleration of robot body center of gravity and torque variation map of hip joint were solved. A planner five-bar mechanism motion model simulating to the instan-taneous state of humanoid robot was established,based on Kane method to solve the dynamic equation of the mechanism. The SimMe-chanics simulation tools are applied in the mechanism analysis,which provides a convenient and simple method for the mechanical sys-tem simulation.%利用Matlab/SimMechanics机构仿真工具建立了仿人机器人机构的仿真模型,并由模型图直观地观察仿人机器人的动态步行过程,求出了机器人躯体重心的角加速度和髋关节的扭矩变化图。建立了仿人机器人的瞬时状态的平面五杆机构运动模型,根据Kane法求解出了机构的动力学方程。在机构分析中应用SimMechanics仿真工具,为机械系统的仿真提供一种十分简便的方法。

  12. 步态训练机器人人机系统动力学仿真%Man-machine system dynamics simulation of a robot for gait training

    Institute of Scientific and Technical Information of China (English)

    张立勋; 王令军; 王凤良; 王克宽; 高峻

    2009-01-01

    Based on MATLAB the man-machine system dynamics simulation of a six-degree-of-freedom robot for gait training was completed by applying the Newton-Euler method. The kinematics constraint equations and dynamics equations of the robot were given, and the constrained matrix equation (CME) of it was constituted. Gait characteristics of people walking on the flat ground were analyzed. Combined with the pressure model of people walking on the flat ground, with the MAT-LAB toolbox, the dynamics simulation model of the man-machine system was established, and the simulation analysis of the robot' s tracking of the gait of people walking on the flat ground was carried out. The simulation results verified that the robot has good adaptability to the biped load of people, and the dynamics parameters of the robot can be conveniently acquired,so the study provides theoretical bases for achieving the robot control and performance improvement.%基于MATLAB对6自由度步态训练机器人的人机系统进行了动力学仿真研究.应用Newton-Euler法,推导了机器人的运动约束方程和动力学方程,构成了机器人的约束矩阵方程(constrained matrix equation,CME);分析了正常人在平地行走时的步态特征,并给出了人在行走时双足对地面的压力模型,利用MATLAB工具箱建立了人机系统动力学仿真模型,并对机器人跟踪人在平地行走的步态轨迹进行了仿真分析.仿真结果表明,步态训练机器人对人的双足负载具有良好的适应能力,可以方便获取机器人的动力学参数.该研究为实现机器人的控制及性能改进提供了理论依据.

  13. Amsterdam Oxford Joint Rescue Forces: Team description paper: Virtual Robot competition: Rescue Simulation League: RoboCup 2009

    NARCIS (Netherlands)

    A. Visser; G.E. Maillette de Buij Wenniger; H. Nijhuis; F. Alnajar; B. Huijten; M. van der Velden; W. Josemans; B. Terwijn; C. Walraven; Q. Nguyen; R. Sobolewski; H. Flynn; M. Jankowska; J. de Hoog

    2009-01-01

    With the progress made in active exploration, the robots of the Joint Rescue Forces are capable of making deliberative decisions about the distributing exploration locations over the team. To navigate autonomously towards those locations, the robots gradually aggregate their experience in a traversa

  14. Simulation of a tethered microgravity robot pair and validation on a planar air bearing

    Science.gov (United States)

    Mantellato, R.; Lorenzini, E. C.; Sternberg, D.; Roascio, D.; Saenz-Otero, A.; Zachrau, H. J.

    2017-09-01

    A software model has been developed to simulate the on-orbit dynamics of a dual-mass tethered system where one or both of the tethered spacecraft are able to produce propulsive thrust. The software simulates translations and rotations of both spacecraft, with the visco-elastic tether being simulated as a lumped-mass model. Thanks to this last feature, tether longitudinal and lateral modes of vibration and tether tension can be accurately assessed. Also, the way the spacecraft motion responds to sudden tether tension spikes can be studied in detail. The code enables the simulation of different scenarios, including space tug missions for deorbit maneuvers in a debris mitigation context and general-purpose tethered formation flight missions. This study aims to validate the software through a representative test campaign performed with the MIT Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) planar air bearing system. Results obtained with the numerical simulator are compared with data from direct measurements in different testing setups. The studied cases take into account different initial conditions of the spacecraft velocities and relative attitudes, and thrust forces. Data analysis is presented comparing the results of the simulations with direct measurements of acceleration and Azimuth rate of the two bodies in the planar air bearing test facility using a Nylon tether. Plans for conducting a microgravity test campaign using the SPHERES satellites aboard the International Space Station are also being scheduled in the near future in order to further validate the simulation using data from the relevant operational environment of extended microgravity with full six degree of freedom (per body) motion.

  15. Center-configuration selection technique for the reconfigurable modular robot

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the reconfigurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system's actual applications. In this paper, a novel center-configuration selection technique has been proposed for reconfigurable modular robots. Based on the similarities between configurations' transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest center-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center- configuration selection example is provided with consideration of the adjacent configurations. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots.

  16. 复眼立体的机器人视觉仿真%Compound Eye of Three - Dimensional Simulation of Robot Vision

    Institute of Scientific and Technical Information of China (English)

    张德忠; 贾正松

    2011-01-01

    Ordinary stereo for robot stereo vision camera simulation, this paper proposes a kind of compound eye stereo camera system. Through its principle analysis to identify the target depth of (he subject, location and the geometric relationship between cameras, the introduction of formula, given its visual simulation of the robot program. The system improves the accuracy of the robot visual simulation, applications feasible.%针对普通双目立体摄像机在机器人立体视觉仿真中的不足,提出一种复眼立体摄像系统.通过对其原理分析,找出被摄目标的深度、方位与摄像机之间的几何关系,推出计算公式,给出其在机器人视觉仿真中的应用方案.该系统提高了机器人视觉仿真精度,应用方案简单可行.

  17. 套装式助力机器人动力学建模与仿真%Dynamic modeling and simulation on the power assisted suit robot

    Institute of Scientific and Technical Information of China (English)

    王岚; 陆露

    2011-01-01

    针对老年人或者下肢功能较弱患者自主行走存在一定困难的问题,研究了一种能够辅助其行走的套装式助力机器人.机器人工作时绑缚在人体上,为行走提供动力.机器人左右对称,单侧机构包括髋关节和膝关节两部分,分别由直流电机驱动丝杠螺母机构的电动缸实现.基于Matlab/Simulink和SimMechanics建立了套装式助力机器人的动力学模型和控制模型,机器人采用PD控制器进行位置控制.最后,进行了机器人单关节阶跃响应仿真、空载轨迹仿真和带负载轨迹仿真研究.仿真结果表明设计的机器人满足性能指标要求.%Aiming at the difficulty of the elderly and the infirm walking independently, a kind of power assisted suit robot was researched to help people walking independently.The robot is worn on the lower-limb of human body, and it follows the movement of the lower limbs to provide some supports in the process of human walking.The robot's left side and right side were designed symmetrically.Each side of robot contains pelvis and knee joint, and they were driven by the DC motor-driven screw-nut body.Based on Matlab/Simulink and SimMechanics,the robot's dynamics model and control model were constructed.The PD controller was adopted.The robot single joint step respond, trajectory control without load and with load were simulated.The simulation results indicate that the robot can achieve the gait law and has strong load capacity.

  18. Delta机器人运动控制及图形轨迹的动态仿真%Dynamic simulation of motion control and graphical traj ectory for Delta robot

    Institute of Scientific and Technical Information of China (English)

    闫林林; 徐方; 贾凯; 邹风山

    2015-01-01

    Aiming at the problems of graphics traj ectory in graphic programming and simulation verification for Delta robot,the Delta ro-bot graphics algorithm and simulation verification method were presented.According to the complexity of robot trajectory,the basic graphics algorithm and complex graphics trajectory algorithm for Delta robot were designed on the basis of analysis of Delta robot kinematics control algorithm.To verify the algorithms for robots,the 3D dynamic simulation system for Delta robot was deve-loped using the mixed programming of MFC and OpenGL.The practical simulations verify the reliability of the robot kinematics control algorithms and graphics traj ectory algorithm,and the value of the simulation system in the research for algorithm of Delta robot.%针对Delta机器人图形化编程中的图形轨迹以及仿真验证问题,提出一种Delta机器人图形轨迹算法及仿真验证方法。在分析Delta机器人运动学控制算法的基础上,根据机器人轨迹的复杂性特点,设计Delta机器人的基本图形轨迹算法和复合图形轨迹算法。在机器人算法的验证问题上,利用 MFC结合 OpenGL混合编程,开发一套Delta机器人的三维动态仿真系统。轨迹仿真实例验证了机器人运动学控制算法及图形轨迹算法的可靠性,动态仿真系统在 Delta 机器人算法研究方面具有价值。

  19. Socially intelligent robots: dimensions of human-robot interaction.

    Science.gov (United States)

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  20. A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments

    Directory of Open Access Journals (Sweden)

    Rafael J. Martínez

    2011-04-01

    Full Text Available The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE and High Level Architecture (HLA, the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.

  1. A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environments.

    Science.gov (United States)

    Nebot, Patricio; Torres-Sospedra, Joaquín; Martínez, Rafael J

    2011-01-01

    The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE) and High Level Architecture (HLA), the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.

  2. 自主导航避障移动机器人仿真软件设计%The design of simulation software for autonomous navigation and obstacle avoidance mobile robot

    Institute of Scientific and Technical Information of China (English)

    刘磊; 许晓鸣

    2011-01-01

    设计了一款可实现移动机器人自主导航避障的仿真软件,该软件包括机器人运行环境仿真与机器人运动控制仿真2部分.其中运行环境仿真部分提供了机器人的障碍环境即运行地图,机器人运动控制仿真部分分别模拟了机器人雷达、导航避障算法及机器人运动.首先讨论了软件框架,实现了机器人“传感-思考-执行”的运行机制;然后详细介绍了机器人雷达仿真的软件原理;再利用矢量场直方图算法控制机器人自主导航避障;最后利用龙格库塔四阶方法对机器人线性模型进行运动仿真解算.实验结果证明了该软件方案的有效性与可行性.%A software was designed to implement autonomous navigation and obstacle avoidance mobile robot simulation. The software includes robot environment and robot motion control simulation. The robot environment simulation provides the obstacle environment, I. E. The map. The robot motion control simulation program simulates the robot radar, navigation algorithm, obstacle avoidance algorithm and robot motion. Firstly, the framework of the software was discussed, which can implement robot sense-think-act operation mechanism. Then, it described the software principle of robot radar simulation in detail and used vector field histogram algorithm to control robot for autonomous navigation and obstacle avoidance. Finally, the paper used Runge-Kutta 4th method to solve robot linear model for simulating robot motion. The validity and feasibility of this software method was confirmed by the experiments.

  3. Keep focussing: striatal dopamine multiple functions resolved in a single mechanism tested in a simulated humanoid robot

    Directory of Open Access Journals (Sweden)

    Vincenzo G. Fiore

    2014-02-01

    Full Text Available The effects of striatal dopamine (DA on behavior have been widely investigated over the past decades, with ``phasic'' burst firings considered as the key expression of a reward prediction error responsible for reinforcement learning. Less well studied is tonic DA, where putative functions include the idea that it is a regulator of vigor, incentive salience, disposition to exert an effort and a modulator of approach strategies. We present a preliminary model combining tonic and phasic DA to show how different outflows triggered by either intrinsically or extrinsically motivating stimuli dynamically affect the basal ganglia by impacting on a selection process that this system performs on the inputs provided by the targeted cortex.The model, which has been tested on the simulated humanoid robot iCub in the interaction with a mechatronic board, shows the putative functions ascribed to DA emerging from the combination of a standard computational mechanism coupled to a differential sensitivity to the presence of DA across the striatum.

  4. Motion Control of Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Birol Kocaturk

    2015-01-01

    Full Text Available This article presents strategy for navigation of a wheeled mobile robot in unstructured environments with obstacles. The vehicle has two wheels independently to control the angular velocity. This work deals with mobile robots modelling then control strategies and simulation results. Simulation results recommends fuzzy logic controller for the wheeled mobile robot motion in unstructured environments.

  5. Application of a perturbation method for realistic dynamic simulation of industrial robots

    NARCIS (Netherlands)

    Waiboer, R.R.; Aarts, R.G.K.M.; Jonker, J.B.

    2005-01-01

    This paper presents the application of a perturbation method for the closed-loop dynamic simulation of a rigid-link manipulator with joint friction. In this method the perturbed motion of the manipulator is modelled as a first-order perturbation of the nominal manipulator motion. A non-linear finite

  6. Kinematics simulation of Delta parallel robot based on Pro/E and Simulink%基于Pro/E与Simulink的Delta并联机器人运动仿真

    Institute of Scientific and Technical Information of China (English)

    胡峰; 骆德渊; 段栋栋; 付书阁

    2012-01-01

    针对“三自由度并联机器人的运动空间比传统六自由度并联机器人受到更多约束,以及其运动特性也更加复杂”的问题,将可视化运动仿真分析技术应用到并联机器人的研究上.以三自由度Delta并联机器人为例,在复杂轨迹下其整体位姿难以直观想象;为了便捷、高效地实现Delta并联机器人可视化运动仿真分析,结合SimMechanics Link接口软件,以Pro/E与Simulink/Sim Mechanics为仿真开发平台,提出了采用三维模型转换成SimMechanics模型的建模方法,并建立了SimMechanics模型,进行了仿真.研究结果表明,该方法能够直观地对Delta并联机器人进行可视化运动仿真分析,进而可为并联机器人机构的选型及优化、控制器的设计提供参考依据.%Aiming at the problem that the motion of 3DOF parallel robot bears more constrains,compared to the traditional 6DOF parallel robot, the technology of visual kinematics simulation was investigated on 3D0F parallel robot. Taking 3DOF Delta parallel robot for example,it is hard to image its motion gesture directly,when it traces a complex track. In order to conveniently and rapidly achieve visual kinematics simulation of Delta parallel robot, combining with SimMechanics link, the method of modeling which translates CAD assemblies into SimMechanics model based on Pro/E and Simulink/SimMechanies was presented, the modeling of SimMechanics was established, and simulation of it was done. The experimental results show that it can directly get the kinetic characteristic of the Delta parallel robot and provide the reference parameters of the design.

  7. 关节型机器人通用仿真平台设计%Design of General Joint-Robot Simulator

    Institute of Scientific and Technical Information of China (English)

    苏豪; 薛方正

    2012-01-01

    In order to joint-robot conveni model is mixed by ent, D-H make structure verification, action planning and analysis work space about a hybrid model based design solution of joint-robot is presented. The hybrid model, graph model and ODE(Open Dynamic Engine) model. D-H parame- ters about links are used to be human-computer interfaces, to avoid ambiguity when D-H parameters are used for tree structure and closed-chains robots. D-H model is transformed to graph model to de- scribe the robot by the characteristic of arbitrariness of the connections between vertices, and finally traverse the graph and complete the simulation with ODE. A robot simulation platform based on pro- posed method is designed and realized with VS, and two simulation experiments about different robots are given. The experiment results prove the effectiveness of the presented methods.%为了方便地对关节型机器人进行结构验证、动作规划以及工作空间分析,提出了一种基于机器人混合模型的通用仿真平台设计方案。混合模型结合了机器人的D-H模型、图结构模型和ODE模型,以杆件的D-H参数作为平台人机交互接口。为克服D-H参数在描述树形或含闭链结构机器人上的歧义性问题,D-H模型被转化为图结构模型,利用图结构中顶点之间关系的任意性对机器人进行描述,最后遍历图结构模型并通过ODE引擎来完成仿真。在VS平台下实现了一个基于本方案的仿真平台,对2种不同类型的机器人进行了动作规划实验,验证了所提方案的有效性。

  8. [The robotic surgeon training].

    Science.gov (United States)

    Crestani, Alessandro; Rossanese, Marta; Abbinante, Maria; Calandriello, Mattia; Kungulli, Afrovita; Giannarini, Gianluca; Ficarra, Vincenzo

    2015-10-01

    The widespread robotic surgery in the world highlighted the relevance of the training programs for young urologists and residents. In the last years, urologic societies and some independent robotic surgeons strongly worked to standardize some general and specific training modules. Theoretical and practical sections of robotic training programs have been recently specified. The role of simulators, dry and wet laboratories, bedside assistance, and modular (step-by-step) training at console represent the most relevant elements of robotic surgeon training. Ideally, these didactic tools should be available in modern training centers. The development of structured robotic training programs should be considered as one of the priorities that the urologic community must take into account in the near future.

  9. The Structure Design and Motion Simulation of Grain Flatting Robot%平粮机器人结构设计及运动仿真

    Institute of Scientific and Technical Information of China (English)

    蒋林; 金祖飞; 刘晓磊; 晏晚君; 叶维林; 蔡军; 张新友

    2015-01-01

    At present the grain surface flatting operation of each grain storage essentially manually , not only labor inten-sive , low efficiency , but more dust in the grain storage , grain easy mobility resulting a serious security risk to staff . Therefore develop a grain flatting robot instead of manually work to operate the grain surface flatting has a broad market prospects and practical value .The dissertation designed a grain surface flatting robot for large size horizontal warehouse , establishing a three-dimensional model of the robot , and developed the robot physical prototype .When it works , grain particle will enter into the meshing area of track and track wheel deforming the track , it impacts the walking of robot . Therefore , track seal was added to the track to avoid grain particle enter into the track .Then use of simulation software Recurdyn on grain flatting robot dynamics simulation , take the analysis focused on the robot ’ s ability of pivot turning and climbing , and determine the maximum angle of climbing , the experiments verified the reasonableness and validity of the robot structure .Finally , we establish experimental environment to experiment the grain surface flatting properties of ro-bot .The experimental results show the robot can completed grain surface flatting work in a certain extent .%目前,粮食储备库基本上采用人工进行粮面平整作业,不仅劳动强度大、效率低,而且由于粮库内粉尘多、粮食易流动性大给工作人员造成严重的安全隐患,研发一种平粮机器人代替人工进行粮面平整工作具有广阔市场前景和实用价值。为此,设计一种适用于高大平房仓的平粮机器人,建立其三维模型,并研制机器人实物样机。同时,因其工作时粮粒会进入履带和履带轮啮合区挤压履带变形,影响机器人行走,在履带上增加了履带密封避免粮粒进入履带。运用仿真软件Recurdyn 对平粮机器人进行动

  10. Swarming Robot Design, Construction and Software Implementation

    Science.gov (United States)

    Stolleis, Karl A.

    2014-01-01

    In this paper is presented an overview of the hardware design, construction overview, software design and software implementation for a small, low-cost robot to be used for swarming robot development. In addition to the work done on the robot, a full simulation of the robotic system was developed using Robot Operating System (ROS) and its associated simulation. The eventual use of the robots will be exploration of evolving behaviors via genetic algorithms and builds on the work done at the University of New Mexico Biological Computation Lab.

  11. 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....

  12. 机器人和软件人协同智能仿真平台研究%Intelligent Cooperative Simulation of SoftMan and Robot

    Institute of Scientific and Technical Information of China (English)

    左敏; 曾广平; 涂序彦; 魏伟

    2011-01-01

    研究将软件人所具备的更全面的拟人智能、行为、功能应用到机器人的控制系统中以提升机器人的环境感知、动态决策与规划能力.设计了机器人和软件人平行进化、智能协调、协同仿真系统的总体方案,建立了两级大系统的多层状态空间模型,进行了协同仿真平台的体系结构设计,构建了机器人和软件人的两级平行系统:协调管理级(上级),监控软件人与机器人平行系统;局部控制级(下级)控制软件人与机器人平行系统.%In this paper we study how to apply the more comprehensive humanized intelligence, behavior, function of Soft-Man in robot's control system to enhance its perception of environment, dynamic decision-making and planning ability.The general research scheme of parallel evolution, intelligent coordination and cooperative simulation of robot and SoftMan is proposted.State space model of large scale system with two levels and architecture of the large scale system are established.Two level parallel systems of robot and SoftMan are built, which are coordinate management level ( upper level): parallel system of monitoring SoftMan and robot, and local control level ( lower level ):parallel system of controlling SoftMan and robot.

  13. Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

    Science.gov (United States)

    Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelley, J. H.; Depkovich, T. M.; Wolfe, W. J.; Nguyen, T.

    1986-01-01

    The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios.

  14. Quantum robot: structure, algorithms and applications

    CERN Document Server

    Dong, Daoyi; Zhang, Chenbin; Chen, Zonghai

    2008-01-01

    A brand-new paradigm of robots--quantum robots--is proposed through the fusion of quantum theory with robot technology. A quantum robot is essentially a complex quantum system which generally consists of three fundamental components: multi-quantum computing units (MQCU), quantum controller/actuator, and information acquisition units. Corresponding to the system structure, several learning control algorithms, including quantum searching algorithms and quantum reinforcement learning algorithms, are presented for quantum robots. The theoretical results show that quantum robots using quantum searching algorithms can reduce the complexity of the search problem from O(N^2) in classical robots to O(N^3/2). Simulation results demonstrate that quantum robots are also superior to classical robots in efficient learning under novel quantum reinforcement learning algorithms. Considering the advantages of quantum robots, some important potential applications are also analyzed and prospected.

  15. Line and Circle Formation of Distributed Autonomous Mobile Robots with Limited Sensor Range.

    Science.gov (United States)

    1996-06-01

    In the literature, formation problems for idealized distributed autonomous mobile robots were studied. Idealized robots are represented by a...problems of distributed mobile robots that are subjected to physical constraints are addressed. It is assumed that mobile robots have physical...consideration of physical robots and realistic sensors, and are validated through extensive simulations. Formation problems for mobile robots with limited

  16. Test-Retest Reliability of Physiological and Performance Responses to 120 Minutes of Simulated Soccer Match Play.

    Science.gov (United States)

    Harper, Liam D; Hunter, Robert; Parker, Paul; Goodall, Stuart; Thomas, Kevin; Howatson, Glyn; West, Daniel J; Stevenson, Emma; Russell, Mark

    2016-11-01

    Harper, LD, Hunter, R, Parker, P, Goodall, S, Thomas, K, Howatson, G, West, DJ, Stevenson, E, and Russell, M. Test-retest reliability of physiological and performance responses to 120 minutes of simulated soccer match play. J Strength Cond Res 30(11): 3178-3186, 2016-This study investigated the test-retest reliability of physiological and performance responses to 120 minutes (90 minutes plus 30 minutes extra-time [ET]) of the soccer match simulation (SMS). Ten university-standard soccer players completed the SMS on 2 occasions under standardized conditions. Capillary and venous blood was taken pre-exercise, at half-time, and at 90 and 120 minutes, with further capillary samples taken every 15 minutes throughout the exercise. Core temperature (Tcore), physical (20- and 15-m sprint speeds and countermovement jump height), and technical (soccer dribbling) performance was also assessed during each trial. All variables except blood lactate demonstrated no systematic bias between trials (p > 0.05). During the last 15 minutes of ET, test-rest reliability (coefficient of variation %, Pearson's r, respectively) was moderate to strong for 20-m sprint speed (3.5%, 0.71), countermovement jump height (4.9%, 0.90), dribble speed (2.8%, 0.90), and blood glucose (7.1%, 0.93), and very strong for Tcore (1.2%, 0.99). Moderate reliability was demonstrated for 15-m sprint speed (4.6%, 0.36), dribble precision (11.5%, 0.30), plasma insulin (10.3%, 0.96), creatine kinase ([CK] 28.1%, 0.38), interleukin-6 (24%, 0.99), nonesterified fatty acids ([NEFA] 13.2%, 0.73), glycerol (12.5%, 0.86), and blood lactate (18.6%, 0.79). In the last 15 minutes of ET, concentrations of blood glucose and lactate and sprint and jump performances were reduced, whereas Tcore, NEFA, glycerol, and CK concentrations were elevated (p ≤ 0.05). The SMS is a reliable protocol for measuring responses across the full 120 minutes of soccer-specific exercise. Deleterious effects on performance and physiological

  17. Modeling and Simulation of the Complete System of Parallel Robots Based on Modelica%基于Modelica的并联机器人整机建模与仿真

    Institute of Scientific and Technical Information of China (English)

    李博; 罗振军; 田永利; 黄磊

    2015-01-01

    并联机器人是一类典型的复杂机电系统,往往包含刚柔耦合、机电耦合、电液耦合等因素.采用动力学分析软件实现其多领域耦合仿真通常需借助额外的程序间接口,且用户难以进行功能和模块的扩展,而Modelica多领域统一建模语言便于统一考虑上述耦合因素,容易获得并联机器人的整机真实性能.对于包含特殊多闭链机构的并联机器人,在Modelica建模过程中往往需注意若干细节的特殊处理.文中以Delta机器人为例,基于Modelica语言建立机器人多刚体动力学模型、刚柔耦合动力学模型和机械控制耦合模型,并通过与Recurdyn软件仿真结果进行对比,验证了该建模方法的有效性.本方法亦可用于该类并联机器人的性能分析,为并联机器人的进一步设计优化奠定基础.%Parallel robots are typical complex mechatronic systems which normally involve factors like rigidflexible coupling,mechanical-electronic coupling and electronic-hydraulic coupling.For a multi-domain coupled simulation of such robots,most commercial software requires additional interfaces among programs,and it is hard to extend existing functionalities and modules.In contrast,The Modelica language counts coupling factors systematically,and makes it easier to predict the performance of a whole robot system.Nevertheless,for parallel robots with special mechanical multi-loops,attention should be paid during Modelica modelling procedures.This paper adopts the Delta robot as an example and demonstrates Modelica procedures for constructing models for rigid-body dynamics,rigidflexible coupled dynamics,and mechanical-control dynamics.The obtained simulation results are compared with those obtained by Recurdyn.It is confirmed that the proposed modelling approaches are effective and can be applied to other parallel robots,and may promote further design optimization.

  18. Rock music : a living legend of simulation modelling solves a reservoir problem by playing a different tune

    Energy Technology Data Exchange (ETDEWEB)

    Cope, G.

    2008-07-15

    Tight sand gas plays are low permeability reservoirs that have contributed an output of 5.7 trillion cubic feet of natural gas per year in the United States alone. Anadarko Petroleum Corporation has significant production from thousands of wells in Texas, Colorado, Wyoming and Utah. Hydraulic fracturing is the key to successful tight sand production. Production engineers use modelling software to calculate a well stimulation program in which large volumes of water are forced under high pressure in the reservoir, fracturing the rock and creating high permeability conduits for the natural gas to escape. Reservoir engineering researchers at the University of Calgary, led by world expert Tony Settari, have improved traditional software modelling of petroleum reservoirs by combining fracture analysis with geomechanical processes. This expertise has been a valuable asset to Anadarko, as the dynamic aspect can have a significant effect on the reservoir as it is being drilled. The challenges facing reservoir simulation is the high computing time needed for analyzing fluid production based on permeability, porosity, gas and fluid properties along with geomechanical analysis. Another challenge has been acquiring high quality field data. Using Anadarko's field data, the University of Calgary researchers found that water fracturing creates vertical primary fractures, and in some cases secondary fractures which enhance permeability. However, secondary fracturing is not permanent in all wells. The newly coupled geomechanical model makes it possible to model fracture growth more accurately. The Society of Petroleum Engineers recently awarded Settari with an award for distinguished achievement in improving the technique and practice of finding and producing petroleum. 1 fig.

  19. Anterior cruciate ligament biomechanics during robotic and mechanical simulations of physiologic and clinical motion tasks: a systematic review and meta-analysis.

    Science.gov (United States)

    Bates, Nathaniel A; Myer, Gregory D; Shearn, Jason T; Hewett, Timothy E

    2015-01-01

    Investigators use in vitro joint simulations to invasively study the biomechanical behaviors of the anterior cruciate ligament. The aims of these simulations are to replicate physiologic conditions, but multiple mechanisms can be used to drive in vitro motions, which may influence biomechanical outcomes. The objective of this review was to examine, summarize, and compare biomechanical evidence related to anterior cruciate ligament function from in vitro simulations of knee motion. A systematic review was conducted (2004 to 2013) in Scopus, PubMed/Medline, and SPORTDiscus to identify peer-reviewed studies that reported kinematic and kinetic outcomes from in vitro simulations of physiologic or clinical tasks at the knee. Inclusion criteria for relevant studies were articles published in English that reported on whole-ligament anterior cruciate ligament mechanics during the in vitro simulation of physiologic or clinical motions on cadaveric knees that were unaltered outside of the anterior-cruciate-ligament-intact, -deficient, and -reconstructed conditions. A meta-analysis was performed to synthesize biomechanical differences between the anterior-cruciate-ligament-intact and reconstructed conditions. 77 studies met our inclusion/exclusion criteria and were reviewed. Combined joint rotations have the greatest impact on anterior cruciate ligament loads, but the magnitude by which individual kinematic degrees of freedom contribute to ligament loading during in vitro simulations is technique-dependent. Biomechanical data collected in prospective, longitudinal studies corresponds better with robotic-manipulator simulations than mechanical-impact simulations. Robotic simulation indicated that the ability to restore intact anterior cruciate ligament mechanics with anterior cruciate ligament reconstructions was dependent on loading condition and degree of freedom examined.

  20. The software of the 3D simulation system of a robot based on the virtual reality modeling language%基于虚拟现实语言的机器人三维仿真系统软件

    Institute of Scientific and Technical Information of China (English)

    孙怀安; 杨广平

    2001-01-01

    The application of virtual reality technology (VR) in robotics is in its infant period. Adapted to the characteristics of the virtual reality modeling language (VRML), a 3D simulation model of a robot is analyzed and modeled. Based on the virtual reality modeling language and Java language a 3D robot simulation system is realized which is focused on the simulation of robot kinematics and the continuous track of robot move. Finally, the system is tested to accept data from other terminals on the Internet. A reasonable result of remote control robot simulation is achieved.%结合虚拟现实技术的软件平台VRML语言,对机器人三维仿真模型进行了分析和建模;用VRML语言和JAVA语言编写了一个三维机器人仿真系统,对机器人运动学正问题、运动学逆问题、轨迹规划以及环境状况进行了三维仿真;对遥操作机器人的仿真进行了网络传输模拟,并对遥操作机器人与虚拟现实技术结合的前景进行了展望.

  1. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  2. Mechanical Implementation and Simulation of MoboLab, A Mobile Robot for Inspection of Power Transmission Lines

    OpenAIRE

    Mahmud Saadat Foumani; Mostafa Nayyerloo; Seyyed Mohammad Mehdi Yeganehparast; Alireza Barati

    2008-01-01

    This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based on-off controller. MoboLab (Mobile Laboratory) navigates a power transmission line between two strain towers. It can maneu...

  3. 四自由度机器人的建模和仿真%Modelling and Kinematics Simulation of 4-DOF Robot

    Institute of Scientific and Technical Information of China (English)

    石磊; 金忠全

    2012-01-01

    Kinematic simulation for robot is on of the important research. In this paper, 3D model of SCARA robot is build in Pro/E. And then a method of transferring Scara models in Pro/E to MATLAB is carried out. In addition, Typical D-H method is applied to set up the kinematics model of SCARA robot in this paper. Forward and inverse kinematic is computed for satisfied the need of position and posture of the SCARA robot. The results of the kinematic simulation shows the validity and facilities of the programs.%以SCARA四自由度机器人为研究对象,利用Pro/E软件建立了四自由度SCARA机器人的各连杆模型,并将各连杆装配为三维模型导入到MATLAB软件中.采用D-H方法建立了四自由度机器人的运动学模型,对四自由度机器人展开了运动学分析,描述了四自由度机器人末端位姿,对四自由度机器人操作界面进行了设计,并构建了四自由度机器人仿真平台.目前阶段得出的仿真结果表明了四自由度机器人仿真平台的可操作性,仿真方法是有效的.

  4. Robotic surgery: colon and rectum.

    Science.gov (United States)

    Baek, Seong Kyu; Carmichael, Joseph C; Pigazzi, Alessio

    2013-01-01

    Although robotic technology aims to obviate some of the limitations of conventional laparoscopic surgery, the role of robotics in colorectal surgery is still largely undefined and different with respect to its application in abdominal versus pelvic surgery. This review aims to elucidate current developments in colorectal robotic surgery.In colon surgery, robotic techniques are associated with longer operative times and higher costs compared with laparoscopic surgery. However, robotics provides a stable camera platform and articulated instruments that are not subject to human tremors. Because of these advantages, robotic systems can play a role in complex procedures such as the dissection of lymph nodes around major vessels. In addition robot-assisted hand-sewn intracorporeal anastomoses can be easily performed by the surgeon, without a substantial need for a competent assistant. At present, although the short-term outcomes and oncological adequacy of robotic colon resection have been observed to be acceptable, the long-term outcomes of robotic colon resection remain unknown.In rectal surgery, robotic-assisted surgery for rectal cancer can be carried out safely and in accordance with current oncological principles. However, to date, the impact of robotic rectal surgery on the long-term oncological outcomes of minimally invasive total mesorectal excision remains undetermined. Robotic total mesorectal excision may allow for better preservation of urinary and sexual functions, and robotic surgery may attenuate the learning curve for laparoscopic rectal resection. However, a major drawback to robotic rectal surgery is the high cost involved.Large-scale prospective randomized clinical trials such as the international randomized trial ROLARR are required to establish the benefits of robotic rectal surgery.

  5. Rehearsal for the Robot Revolution

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Goldberg, Ken

    This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues that are cent...... dramaturgy and puppetry-inspired control techniques create compelling and interactive performances. Theatre performances function as authentic sites of human-robot interaction staged in fictional landscapes that both exaggerate and occlude the capabilities of robots.......This paper considers the use of tele-operated and autonomous robots in live performance. Theatre is a conducive to studying what makes robots compelling and engaging. Because theatre is a narrowly defined domain in which robots can excel, it is a useful test bed for exploring issues...... that are central to social robotics. However automated performances that merely substitute robotic actors for human ones do not always capture our imagination or prove entertaining. While some plays explore ambivalence to robots or “misbehaving machines” thematically (such as R.U.R.), the exigencies of live...

  6. Concept and simulation study of a novel localization method for robotic endoscopic capsules using multiple positron emission markers

    Energy Technology Data Exchange (ETDEWEB)

    Than, Trung Duc, E-mail: dtt581@uowmail.edu.au; Alici, Gursel, E-mail: gursel@uow.edu.au; Zhou, Hao, E-mail: hz467@uowmail.edu.au; Li, Weihua, E-mail: weihuali@uow.edu.au [School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong, New South Wales 2522 (Australia); Harvey, Steven, E-mail: steven.harvey@sesiahs.health.nsw.gov.au [Department of Nuclear Medicine, Wollongong Hospital, New South Wales 2500 (Australia)

    2014-07-15

    Purpose: Over the last decade, wireless capsule endoscope has been the tool of choice for noninvasive inspection of the gastrointestinal tract, especially in the small intestine. However, the latest clinical products have not been equipped with a sufficiently accurate localization system which makes it difficult to determine the location of intestinal abnormalities, and to apply follow-up interventions such as biopsy or drug delivery. In this paper, the authors present a novel localization method based on tracking three positron emission markers embedded inside an endoscopic capsule. Methods: Three spherical {sup 22}Na markers with diameters of less than 1 mm are embedded in the cover of the capsule. Gamma ray detectors are arranged around a patient body to detect coincidence gamma rays emitted from the three markers. The position of each marker can then be estimated using the collected data by the authors’ tracking algorithm which consists of four consecutive steps: a method to remove corrupted data, an initialization method, a clustering method based on the Fuzzy C-means clustering algorithm, and a failure prediction method. Results: The tracking algorithm has been implemented inMATLAB utilizing simulation data generated from the Geant4 Application for Emission Tomography toolkit. The results show that this localization method can achieve real-time tracking with an average position error of less than 0.4 mm and an average orientation error of less than 2°. Conclusions: The authors conclude that this study has proven the feasibility and potential of the proposed technique in effectively determining the position and orientation of a robotic endoscopic capsule.

  7. The Modeling and Simulation of Small Climbing Robot Based on UG%基于UG的小型爬壁机器人的建模与仿真

    Institute of Scientific and Technical Information of China (English)

    刘曰; 王林平

    2016-01-01

    This robot is designed to the simulate gecko climb principle, on the basis of large gecko the physiological structure of the theoretical model of robot is designed. To meet the requirements of climbing robot for adsorption force, in accordance with biomimetic gecko organisms sole design of robot paw, The material is made of polyurethane silicone rubber material.On the basis of large gecko's movement of the entity model, planning the gait, the two kinds of robot movement in the gait of a ground plane motion (diagonal gait) and on the ceiling movement gait gait (triangle). To test and verify the feasibility of design scheme, using UG software to all kinds of sports gait motion simulation, the simulation results show that the design scheme to accomplish the action and has the characteristics of strong adsorption force.%本爬壁机器人是仿照壁虎攀爬原理设计的,依据大壁虎的生理结构设计了爬壁机器人的理论模型。为满足机器人攀爬时对吸附力的要求,按照仿生的壁虎生物体脚掌设计爬壁机器人的脚掌,材料是用聚氨酯硅的橡胶材料。依据大壁虎运动的实体模型,规划了爬壁机器人的两类运动步态,即在地平面运动的步态(对角步态)和在天花板上运动的步态(三角步态)。为验证设计方案的可行性,利用UG软件对各种运动步态进行了运动仿真,仿真结果表明,设计方案能够完成预定的动作并且具有吸附力强的特点。

  8. Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters; Uso de un manipulador robotico en la simulacion de la automatizacion de un proceso de calibracion de dosimetros

    Energy Technology Data Exchange (ETDEWEB)

    Benitez R, J.S.; Najera H, M.C. [Instituto Nacional de Investigaciones Nucleares, A.P. 18-1027, 11801 Mexico D.F. (Mexico)

    2002-07-01

    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)

  9. CHILD VIDEO DATASET TOOL TO DEVELOP OBJECT TRACKING SIMULATES BABYSITTER VISION ROBOT

    Directory of Open Access Journals (Sweden)

    Hanan Aljuaid

    2014-01-01

    Full Text Available This study presents a Child Video Dataset (CVDS that has numerous videos of different ages and situation of children. To simulate a babysitter’s vision, our application was developed to track objects in a scene with the main goal of creating a reliable and operative moving child-object detection system. The aim of this study is to explore novel algorithms to track a child-object in an indoor and outdoor background video. It focuses on tracking a whole child-object while simultaneously tracking the body parts of that object to produce a positive system. This effort suggests an approach for labeling three body sections, i.e., the head, upper and lower sections and then for detecting a specific area within the three sections and tracking this section using a Gaussian Mixture Model (GMM algorithm according to the labeling technique. The system is applied in three situations: Child-object walking, crawling and seated moving. During system experimentation, walking object tracking provided the best performance, achieving 91.932% for body-part tracking and 96.235% for whole-object tracking. Crawling object tracking achieved 90.832% for body-part tracking and 96.231% for whole object tracking. Finally, seated-moving-object tracking achieved 89.7% for body-part tracking and 93.4% for whole-object tracking.

  10. Play Matters

    DEFF Research Database (Denmark)

    Sicart (Vila), Miguel Angel

    , but not necessarily fun. Play can be dangerous, addictive, and destructive. Along the way, Sicart considers playfulness, the capacity to use play outside the context of play; toys, the materialization of play--instruments but also play pals; playgrounds, play spaces that enable all kinds of play; beauty......, the aesthetics of play through action; political play -- from Maradona's goal against England in the 1986 World Cup to the hactivist activities of Anonymous; the political, aesthetic, and moral activity of game design; and why play and computers get along so well....

  11. Open Issues in Evolutionary Robotics.

    Science.gov (United States)

    Silva, Fernando; Duarte, Miguel; Correia, Luís; Oliveira, Sancho Moura; Christensen, Anders Lyhne

    2016-01-01

    One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.

  12. 六自由度喷涂机器人动力学分析及仿真%Dynamics analysis and simulation for 6-DOF spraying robots

    Institute of Scientific and Technical Information of China (English)

    翟敬梅; 康博; 张铁

    2012-01-01

    动力学分析对机器人的控制以及动态分析有着重要作用,针对六自由度喷涂机器人动 力学分析运算量大,影响后续控制实时性的问题,提出一个优化的化简动力学方程的方案,运用拉格朗日方法建立机器人的动力学方程并针对计算结果进行有理由的化简.为了验证简化结果的可靠性,应用MATLAB软件对化简前后的模型进行仿真.结果证明,经过化简的动力学方程仿真所得力矩曲线与化简前所得曲线重合度高,这表明化简模型具有极高的可靠性.%Dynamics analysis plays an important role in control of the robot and dynamic analysis of 6 DOF spraying robotsSpecific to the great computation in dynamics analysis of the robot and the impact on subsequent control of real-time,an optimal scheme for simplified dynamics equation is presented in it,I.e.using La-grange method to establish the robot dynamics equation,which calculation results shall be simplified well-found-ed.In order to verify the reliability of the results ,simulationfor the model before and after simplification is carried out by application of software MATLAB,which results show that the torque curve got from simplified dynamics e-quations is coincident almost with the curve got before simplifying.The high reliability of simplified model.

  13. Modeling, Control and Simulation of Three-Dimensional Robotic Systems with Applications to Biped Locomotion.

    Science.gov (United States)

    Zheng, Yuan-Fang

    A three-dimensional, five link biped system is established. Newton-Euler state space formulation is employed to derive the equations of the system. The constraint forces involved in the equations can be eliminated by projection onto a smaller state space system for deriving advanced control laws. A model-referenced adaptive control scheme is developed to control the system. Digital computer simulations of point to point movement are carried out to show that the model-referenced adaptive control increases the dynamic range and speeds up the response of the system in comparison with linear and nonlinear feedback control. Further, the implementation of the controller is simpler. Impact effects of biped contact with the environment are modeled and studied. The instant velocity change at the moment of impact is derived as a function of the biped state and contact speed. The effects of impact on the state, as well as constraints are studied in biped landing on heels and toes simultaneously or on toes first. Rate and nonlinear position feedback are employed for stability of the biped after the impact. The complex structure of the foot is properly modeled. A spring and dashpot pair is suggested to represent the action of plantar fascia during the impact. This action prevents the arch of the foot from collapsing. A mathematical model of the skeletal muscle is discussed. A direct relationship between the stimulus rate and the active state is established. A piecewise linear relation between the length of the contractile element and the isometric force is considered. Hill's characteristic equation is maintained for determining the actual output force during different shortening velocities. A physical threshold model is proposed for recruitment which encompasses the size principle, its manifestations and exceptions to the size principle. Finally the role of spindle feedback in stability of the model is demonstrated by study of a pair of muscles.

  14. Dynamic simulation platform of mobile robot based on ultrasonic obstacle avoidance%基于超声波避障的移动机器人动态仿真平台的建立

    Institute of Scientific and Technical Information of China (English)

    郭紫光; 师五喜

    2013-01-01

      本文利用MATLAB软件中的simulink工具箱设计了利用超声波测距原理进行避障的移动机器人的动态仿真演示平台,实现了对移动机器人避障的实时动态的仿真,仿真实验结果良好。%By using the software MATLAB Simulink toolbox,this paper designs a dynamic simulation platform for mobile robot,which realizes real-time dynamic simulation of the mobile robot obstacle avoidance and has the great simulation results.

  15. Simulation of Cloud Medical Robotic System Based on Wireless Network%基于无线网络的云医疗机器人系统仿真

    Institute of Scientific and Technical Information of China (English)

    王晓琳; 樊建聪

    2014-01-01

    医疗机器人是一门集医学、仿生学、机械力学、材料学、计算机科学、运筹学、机器人学等学科于一体的新兴交叉学科。随着传感器技术、通信设备,尤其是云计算的发展,云医疗机器人应运而生。一个云医疗机器人只需要少量的硬件和软件配置,它所需的大部分资源和计算过程由连接的云端提供。云医疗机器人从计算或者资源配置密集型转化为效率和功能密集型,从而可以更高效地完成复杂任务。本文设计一种云医疗机器人系统平台,该平台由医疗云平台层和远程云机器人层组成。以系统平台为基础,利用无线网络技术设计2个云医疗机器人系统案例,并进行仿真。仿真结果表明,云医疗机器人系统具有效率高、成本低和应用性强等特点。%Medical robot is an emerging interdisciplinary which contains medicine , bionics, mechanics, materials science, com-puter science, operations research, robotics and other disciplines.It is mainly used in the patient’s surgery, rescue, transporta-tion and rehabilitation .The study and design of cloud robotics become essential trends with the technological developments of sen -sors, actuators, communication devices, and especially cloud computing.A cloud robot only has light-weight hardware and soft-ware configurations , which can offload computation-intensive tasks to be executed in remote cloud .The cloud medical robot trans-forms the intensive allocation of calculation or resources into intensive efficiency and functions , which can complete complex tasks more efficiently.In this paper, a cloud medical robotic system is constructed .The system consists of medical cloud platform layer and remote cloud robot layer .On the basis of system platform , we design two cloud medical robot systems using the wireless net-work technology .The simulation results show that the cloud medical robot system is of the characteristics of

  16. 机器人手臂笛卡尔空间轨迹计算机仿真规划%Cartesian Space Trajectory of Robot Arm Computer Simulation Program

    Institute of Scientific and Technical Information of China (English)

    周源

    2016-01-01

    This paper mainly studies based on Cartesian robot arm joint space trajectory planning problems.By com-puter under the environment of MATLAB software for computer simulation test of the algorithm,continuously and smoothly making the planning of the trajectory path so as to ensure the stability of the robot movement,verify that the algorithm feasi-bi-lity in the process of the machine arm trajectory planning.The major disscussion was based on the Cartesian robot arm empty movement trajectory planning and path generation method.%研究了基于机器人手臂关节笛卡尔空间的轨迹规划问题。通过在MATLAB软件环境下对该算法的计算机仿真测试试验,使规划的轨迹路径连续而平滑,从而保证机器人运动的平稳性,验证该算法在机器手臂轨迹规划过程中的可行性。重点讨论基于机器人手臂笛卡儿空间运动的轨迹规划和轨迹生成方法。

  17. FIRST Robotics Kickoff

    Science.gov (United States)

    2007-01-01

    NASA engineers Scott Olive (left) and Bo Clarke answer questions during the 2007 FIRST (For Inspiration and Recognition of Science and Technology) Robotics Competition regional kickoff event held Saturday, Jan. 6, 2007, at StenniSphere, the visitor center at NASA Stennis Space Center near Bay St. Louis, Miss. The SSC employees and FIRST Robotics volunteer mentors are standing near a mock-up of the playing field for the FIRST Robotics' 2007 `Rack n' Roll' challenge. Roughly 300 students and adult volunteers - representing 29 high schools from four states - attended the kickoff to hear the rules of `Rack n' Roll.' The teams will spend the next six weeks building and programming robots from parts kits they received Saturday, then battle their creations at regional spring competitions in New Orleans, Houston, Atlanta and other cities around the nation. FIRST aims to inspire students in the pursuit of engineering and technology studies and careers.

  18. Robotic Art for Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2010-01-01

    We present the robot art and how it may inspire to create a new type of wearable termed modular robotic wearable. Differently from the related works, modular robotic wearable aims at making no use of mechatronic devices (as, for example, in Cyberpunk and related research branches) and mostly relies...... on “simple” plug-and-play circuits, ranging from pure sensors-actuators schemes to artefacts with a smaller level of elaboration complexity. Indeed, modular robotic wearable focuses on enhancing the body perception and proprioperception by trying to substitute all of the traditional exoskeletons perceptive...... functions - in most of the cases strongly rigid, cabled and centralized - through the use of local sensing circuits. It is exemplified here with the early prototype art work called Fatherboard, and the concept is believed to be applicable to different application fields, such as sport, health...

  19. Designing Modular Robotic Playware

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Marti, Patrizia

    2009-01-01

    In this paper, we explore the design of modular robotic objects that may enhance playful experiences. The approach builds upon the development of modular robotics to create a kind of playware, which is flexible in both set-up and activity building for the end-user to allow easy creation of games....... Key features of this design approach are modularity, flexibility, and construction, immediate feedback to stimulate engagement, activity design by end-users, and creative exploration of play activities. These features permit the use of such modular playware by a vast array of users, including disabled...

  20. Robotics: Breakthrough Technologies, Innovation, Intellectual Property

    OpenAIRE

    Andrew Keisner; Julio Raffo; Sacha Wunsch-Vincent

    2016-01-01

    Robotics technology and the increasing sophistication of artifi cial intelligence are breakthrough innovations with signifi cant growth prospects. Th ey have the potential to disrupt existing socio-economic facets of everyday life. Yet few studies have analysed the development of robotics innovation. Th is paper closes this gap by analysing current developments in innovation in robotics; how it is diff used, and what role is played by intellectual property (IP). Th e paper argues that robotic...

  1. Exploring Young People's Civic Identities through Gamification: A Case Study of Finnish, Swedish and Norwegian Adolescents Playing a Social Simulation Game

    Science.gov (United States)

    Eränpalo, Tommi

    2014-01-01

    This article is based on a case study where groups of Finnish, Swedish and Norwegian young people played a simulation game that stimulated collective deliberation on social issues. The game has been designed to provoke students to deliberate and to reflect on social problems relating to issues of citizenship and democracy. The analysis of the…

  2. Exploring Young People's Civic Identities through Gamification: A Case Study of Finnish, Swedish and Norwegian Adolescents Playing a Social Simulation Game

    Science.gov (United States)

    Eränpalo, Tommi

    2014-01-01

    This article is based on a case study where groups of Finnish, Swedish and Norwegian young people played a simulation game that stimulated collective deliberation on social issues. The game has been designed to provoke students to deliberate and to reflect on social problems relating to issues of citizenship and democracy. The analysis of the…

  3. Toward cognitive robotics

    Science.gov (United States)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  4. Robotics for surgery.

    Science.gov (United States)

    Howe, R D; Matsuoka, Y

    1999-01-01

    Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In image-guided procedures, robots use magnetic resonance and computed tomography image data to guide instruments to the treatment site. This requires new algorithms and user interfaces for planning procedures; it also requires sensors for registering the patient's anatomy with the preoperative image data. Minimally invasive procedures use remotely controlled robots that allow the surgeon to work inside the patient's body without making large incisions. Specialized mechanical designs and sensing technologies are needed to maximize dexterity under these access constraints. Robots have applications in many surgical specialties. In neurosurgery, image-guided robots can biopsy brain lesions with minimal damage to adjacent tissue. In orthopedic surgery, robots are routinely used to shape the femur to precisely fit prosthetic hip joint replacements. Robotic systems are also under development for closed-chest heart bypass, for microsurgical procedures in ophthalmology, and for surgical training and simulation. Although results from initial clinical experience is positive, issues of clinician acceptance, high capital costs, performance validation, and safety remain to be addressed.

  5. Robotic comfort zones

    Science.gov (United States)

    Likhachev, Maxim; Arkin, Ronald C.

    2000-10-01

    The paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is place on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical framework suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.

  6. 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.

  7. Radiation beamline testbeds for the simulation of planetary and spacecraft environments for human and robotic mission risk assessment

    Science.gov (United States)

    Wilkins, Richard

    experimental areas associated with the above facilities. CRESSE has broad expertise in space radiation in the areas of space radiation environment modeling, Monte-Carlo radiation transport modeling, space radiation instrumentation and dosimetry, radiation effects on electronics, and multi-functional composite shielding materi-als. The BERT and ERNIE testbeds will be utilized in individual and collaborative research incorporating this expertise. The research goal is to maximize the technical readiness level (TRL) of radiation instrumentation for human and robotic missions, optimizing the return value of CRESSE for NASA exploration and international co-operative missions. Outcomes and knowledge from research utilizing BERT and ERNIE will be applied to a variety of scien-tific and engineering disciplines vital for safe and reliable execution of future space exploration missions, which can be negatively impacted by the space radiation environment. The testbeds will be central to a variety of university educational activities and educational goals of NASA. Specifically, BERT and ERNIE will enhance educational opportunities in science, technol-ogy, engineering and mathematics (STEM) disciplines for engineering and science students at PVAMU, a historically black college/university. Preliminary data on prototype testbed configurations, including simulated lunar regolith (JSC-1A stimulant based on Apollo 11 samples), regolith/polyethylene composites, and dry ice, will be presented to demonstrate the usefulness of BERT and ERNIE in radiation beam line experiments.

  8. Radiation Beamline Testbeds for the Simulation of Planetary and Spacecraft Environments for Human and Robotic Mission Risk Assessment

    Science.gov (United States)

    Wilkins, Richard

    2010-01-01

    experimental areas associated with the above facilities. CRESSE has broad expertise in space radiation in the areas of space radiation environment modeling, Monte-Carlo radiation transport modeling, space radiation instrumentation and dosimetry, radiation effects on electronics, and multi-functional composite shielding materials. The BERT and ERNIE testbeds will be utilized in individual and collaborative research incorporating this expertise. The research goal is to maximize the technical readiness level (TRL) of radiation instrumentation for human and robotic missions, optimizing the return value of CRESSE for NASA exploration and international co-operative missions. Outcomes and knowledge from research utilizing BERT and ERNIE will be applied to a variety of scientific and engineering disciplines vital for safe and reliable execution of future space exploration missions, which can be negatively impacted by the space radiation environment. The testbeds will be central to a variety of university educational activities and educational goals of NASA. Specifically, BERT and ERNIE will enhance educational opportunities in science, technology, engineering and mathematics (STEM) disciplines for engineering and science students at PVAMU, a historically black college/university. Preliminary data on prototype testbed configurations, including simulated lunar regolith (JSC-1A stimulant based on Apollo 11 samples), regolith/polyethylene composites, and dry ice, will be presented to demonstrate the usefulness of BERT and ERNIE in radiation beam line experiments.

  9. Adaptive Color Mapping for NAO Robot Using Neural Network

    Directory of Open Access Journals (Sweden)

    Vahid Rahmani

    Full Text Available While playing soccer, the main task of the robot vision system is identifying and tracking objects such as ball, goals, teammate robots and opponent robots. The basis of many object identification methods, particularly those in soccer robots and RoboCup e ...

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

    Science.gov (United States)

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

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Davide Marocco

    2010-05-01

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

  12. 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....

  13. [Equipment and technology in robotics].

    Science.gov (United States)

    Murphy, Declan; Challacombe, Ben; Nedas, Tim; Elhage, Oussama; Althoefer, Kaspar; Seneviratne, Lakmal; Dasgupta, Prokar

    2007-05-01

    We review the evolution and current status of robotic equipment and technology in urology. We also describe future developments in the key areas of virtual reality simulation, mechatronics and nanorobotics. The history of robotic technology is reviewed and put into the context of current systems. Experts in the associated fields of nanorobotics, mechatronics and virtual reality simulation simulation review the important future developments in these areas.

  14. Advancing Virtual Patient Simulations through Design Research and InterPLAY: Part I--Design and Development

    Science.gov (United States)

    Hirumi, Atsusi; Kleinsmith, Andrea; Johnsen, Kyle; Kubovec, Stacey; Eakins, Michael; Bogert, Kenneth; Rivera-Gutierrez, Diego J.; Reyes, Ramsamooj Javier; Lok, Benjamin; Cendan, Juan

    2016-01-01

    Systematic reviews and meta-analyses of randomized controlled studies conclude that virtual patient simulations are consistently associated with higher learning outcomes compared to other educational methods. However, we cannot assume that students will learn from simply exposing students to the simulations. The instructional features that are…

  15. Advancing Virtual Patient Simulations through Design Research and InterPLAY: Part I--Design and Development

    Science.gov (United States)

    Hirumi, Atsusi; Kleinsmith, Andrea; Johnsen, Kyle; Kubovec, Stacey; Eakins, Michael; Bogert, Kenneth; Rivera-Gutierrez, Diego J.; Reyes, Ramsamooj Javier; Lok, Benjamin; Cendan, Juan

    2016-01-01

    Systematic reviews and meta-analyses of randomized controlled studies conclude that virtual patient simulations are consistently associated with higher learning outcomes compared to other educational methods. However, we cannot assume that students will learn from simply exposing students to the simulations. The instructional features that are…

  16. Application of Matrix Pencil Algorithm to Mobile Robot Localization Using Hybrid DOA/TOA Estimation

    Directory of Open Access Journals (Sweden)

    Lan Anh Trinh

    2012-12-01

    Full Text Available Localization plays an important role in robotics for the tasks of monitoring, tracking and controlling a robot. Much effort has been made to address robot localization problems in recent years. However, despite many proposed solutions and thorough consideration, in terms of developing a low‐cost and fast processing method for multiple‐source signals, the robot localization problem is still a challenge. In this paper, we propose a solution for robot localization with regards to these concerns. In order to locate the position of a robot, both the coordinate and the orientation of a robot are necessary. We develop a localization method using the Matrix Pencil (MP algorithm for hybrid detection of direction of arrival (DOA and time of arrival (TOA. TOA of the signal is estimated for computing the distance between the mobile robot and a base station (BS. Based on the distance and the estimated DOA, we can estimate the mobile robot’s position. The characteristics of the algorithm are examined through analysing simulated experiments and the results demonstrate the advantages of our method over previous works in dealing with the above challenges. The method is constructed based on the low‐cost infrastructure of radio frequency devices; the DOA/TOA estimation is performed with just single value decomposition for fast processing. Finally, the MP algorithm combined with tracking using a Kalman filter allows our proposed method to locate the positions of multiple source signals.

  17. Dynamic Behavior of a SCARA Robot by using N-E Method for a Straight Line and Simulation of Motion by using Solidworks and Verification by Matlab/Simulink

    Directory of Open Access Journals (Sweden)

    Fernini Brahim

    2014-05-01

    Full Text Available SCARA (Selective Compliant Assembly Robot Arm robot of serial architecture is widely used in assembly operations and operations "pick-place", it has been shown that use of robots improves the accuracy of assembly, and saves assembly time and cost as well. The most important condition for the choice of this kind of robot is the dynamic behavior for a given path, no closed solution for the dynamics of this important robot has been reported. This paper presents the study of the kinematics (forward and inverse by using D-H notation and the dynamics of SCARA robot by using N-E methods. A computer code is developed for trajectory generation by using inverse kinematics, and calculates the variations of the torques of the links for a straight line (path rest to rest between two positions for operation "pick-place". SCARA robot is constructed to achieve “pick-place» operation using SolidWorks software. And verification by Matlab/Simulink. The results of simulations were discussed. An agreement between the two softwares is certainly obtained herein

  18. Spatial abstraction for autonomous robot navigation.

    Science.gov (United States)

    Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

    2015-09-01

    Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

  19. Army Robotics

    Science.gov (United States)

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  20. TARDEC Robotics

    Science.gov (United States)

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  1. Robot Futures

    DEFF Research Database (Denmark)

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

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance i...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  2. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

    This book presents papers given at a conference on mobile robots. Topics the conference included are the following: mobility systems for robotic vehicles; detection and control of mobile robot motion by real-time computer vision, obstacle avoidance algorithms for an autonomous land vehicle; hierarchical processor and matched filters for range image processing; asynchronous distributed control system for a mobile robot, and, planning in a hierarchical nested autonomous control system.

  3. 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.

  4. Introduction to humanoid robotics

    CERN Document Server

    Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

    2014-01-01

    This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader´s understanding.

  5. Playful Gaming.

    Science.gov (United States)

    Makedon, Alexander

    A philosophical analysis of play and games is undertaken in this paper. Playful gaming, which is shown to be a synthesis of play and games, is utilized as a category for undertaking the examination of play and games. The significance of playful gaming to education is demonstrated through analyses of Plato's, Dewey's, Sartre's, and Marcuse's…

  6. Transferability of Virtual Reality, Simulation-Based, Robotic Suturing Skills to a Live Porcine Model in Novice Surgeons: A Single-Blind Randomized Controlled Trial.

    Science.gov (United States)

    Vargas, Maria V; Moawad, Gaby; Denny, Kathryn; Happ, Lindsey; Misa, Nana Yaa; Margulies, Samantha; Opoku-Anane, Jessica; Abi Khalil, Elias; Marfori, Cherie

    To assess whether a robotic simulation curriculum for novice surgeons can improve performance of a suturing task in a live porcine model. Randomized controlled trial (Canadian Task Force classification I). Academic medical center. Thirty-five medical students without robotic surgical experience. Participants were enrolled in an online session of training modules followed by an in-person orientation. Baseline performance testing on the Mimic Technologies da Vinci Surgical Simulator (dVSS) was also performed. Participants were then randomly assigned to the completion of 4 dVSS training tasks (camera clutching 1, suture sponge 1 and 2, and tubes) versus no further training. The intervention group performed each dVSS task until proficiency or up to 10 times. A final suturing task was performed on a live porcine model, which was video recorded and blindly assessed by experienced surgeons. The primary outcomes were Global Evaluative Assessment of Robotic Skills (GEARS) scores and task time. The study had 90% power to detect a mean difference of 3 points on the GEARS scale, assuming a standard deviation (SD) of 2.65, and 80% power to detect a mean difference of 3 minutes, assuming an SD of 3 minutes. There were no differences in demographics and baseline skills between the 2 groups. No significant differences in task time in minutes or GEARS scores were seen for the final suturing task between the intervention and control groups, respectively (9.2 [2.65] vs 9.9 [2.07] minutes, p = .406; and 15.37 [2.51] vs 15.25 [3.38], p = .603). The 95% confidence interval for the difference in mean task times was -2.36 to .96 minutes and for mean GEARS scores -1.91 to 2.15 points. Live suturing task performance was not improved with a proficiency-based virtual reality simulation suturing curriculum compared with standard orientation to the da Vinci robotic console in a group of novice surgeons. Published by Elsevier Inc.

  7. Dynamic modelling, identification and simulation of industrial robots – for off-line programming of robotised laser welding –

    NARCIS (Netherlands)

    Waiboer, Robert Rens

    2007-01-01

    Robotised laser welding is an innovative joining technique which is increasingly finding applications, especially in the automotive industry. In order to reduce the time needed to prepare and programthe laser welding robot, off-line programming systems are used. The off-line programming systems curr

  8. Mechanical Implementation and Simulation of MoboLab, A Mobile Robot for Inspection of Power Transmission Lines

    Directory of Open Access Journals (Sweden)

    Mahmud Saadat Foumani

    2008-11-01

    Full Text Available This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based on-off controller. MoboLab (Mobile Laboratory navigates a power transmission line between two strain towers. It can maneuver over obstructions created by line equipments such as insulators, warning spheres, dampers, and spacer dampers. It can also easily negotiate the towers by its three flexible arms. MoboLab has an internal main screw which enables the robot to move itself or its two front and rear arms independently through changing gripped points. When the front arm gets close to an obstacle, the arm detaches from the line and goes down, the robot moves forward, the arm passes the obstacle and grippes the line again. In a same way another arms pass the obstacle.

  9. 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.

  10. 基于力控制模式的四足仿生机器人的动力学仿真%Dynamics simulation of quadruped bionic robot based on force control

    Institute of Scientific and Technical Information of China (English)

    陈培华; 曹其新; 马宏绪

    2013-01-01

    The realization method of the quadruped bionic robot dynamics simulation based on the force control mode is studied for the quadruped bionic robot.First,virtual reality modeling language (VRML) is used to build the quadruped bionic robot simulation model,and the relevant parameters of the robot are defined.Then the kinematics equations of the quadruped bionic robot are obtained according to the space vector algebra.Recursive Newton-Euler algorithm(RNEA) is used to analyze the inverse dynamics of the robot,in order to achieve the required driving torques of the robot for the dynamics simulation in the foree control mode,and the dynamics simulation system based on robot middleware is realized.Finally,through the dynamics simulation experiment of the quadruped bionic robot in trotting gait,the dynamics simulation system based on force control is verified to be effective and practical.%针对四足仿生机器人,研究了基于力控制模式下的四足仿生机器人的动力学仿真实现方法.首先利用虚拟现实建模语言对四足仿生机器人进行仿真模型的建立和有关参数的定义;然后对四足仿生机器人按照空间向量代数建立运动学方程;接着,采用迭代牛顿-欧拉算法对四足仿生机器人进行逆动力学分析,以求得在力控制模式下的动力学仿真所需的各关节驱动扭矩,并建立了基于机器人中间件的动力学仿真系统.最后,通过四足仿生机器人在对角小跑步态下的动力学仿真实验,验证了该方法的有效性和实用性.

  11. 智能锄草机器人系统设计与仿真%Design and Simulation of Intelligent Weeding Robot System

    Institute of Scientific and Technical Information of China (English)

    张春龙; 黄小龙; 耿长兴; 张俊雄; 李伟

    2011-01-01

    针对锄草机器人田间运动及锄刀避苗锄草等作业问题,阐述了智能锄草机器人系统工作原理,研究了移动机器人平台,平台为四轮驱动、四轮独立转向,可实现运动速度在0~1.5 m/s内连续可调,每组转臂可绕其自身Z轴360°自由旋转.设计了三指手爪锄草机械手,三指公转,其中一指为活动手指可同时自转,锄草机器人工作时两个固定指的割刀连续入土锄草,系统根据机器视觉苗草位置信息,通过控制活动手指的旋转速度与方位角实现瞬时位置调整,进而通过拟合指端旋移曲线即可完成锄草和避苗等作业任务.苗间锄草仿真分析表明,在有效避苗基础上,作物行两侧各布置一组锄草机械手时锄草率可达90%以上.%In order to solve the problems of weeding robot including the flexible movement in field and removing weeds without injuring crop seedlings, the principle of intelligent weeding robot system and the mobile robot platform were studied. The mobile platform was a four-wheel driven and four-wheel steering robot. It could move within the speed of 0 ~ 1. 5 m/s and each leg could rotate freely around Z-axis of itself. A three-finger manipulator was also designed. All the three fingers could rotate around their public-axis and one of them could also around its own Z-axis. When the robot worked, based on the location information of seedlings and weeds gotten by the machine vision, the rotation speed of movable finger could be controlled to avoid injuring the seedlings while the two fixed fingers would remove the weeds between two crop seedlings continuously. The simulation of the trajectories of three-finger manipulator showed that more than 90% weeds could be removed when a manipulator was installed on each side of crop rows.

  12. The Grube Method: The Art of Teaching and Learning Useful Information by Designing and Playing a Simulation Game.

    Science.gov (United States)

    Grube, Karl W.

    The Grube Method of Instruction is a teaching and learning system for the acquisition and reinforcement of essential learned skills necessary for school success. The system consists of an illustrated book of useful information, a deck of standard playing cards, and an educationally designed gameboard. It is appropriate for students aged three…

  13. 一种自主研磨作业机器人动力学仿真%The dynamics simulation of an autonomous grinding robot

    Institute of Scientific and Technical Information of China (English)

    王文忠

    2014-01-01

    研究了一种由直角坐标机构、转动机构和摆动机构构成的自主研磨作业机器人的运动学和动力学分析,以支链构件相对坐标和动平台绝对坐标作为广义坐标,结合Lagrange方法建立了运动学和动力学模型,并利用M atlab软件平台进行了运动学及动力学仿真,仿真结果说明了该模型的正确性与实效性,进而为自主作业机器人的轨迹规划及控制研究提供参考。%T he kinematics and dynamics analysis of an autonomous grinding robot consisted by rectangular coordinates agencies ,rotating mechanism ,and swing mechanism in this paper .The branched-chain member coordinates and moving platform absolute coordinates are used as generalized coordinates .T he kinematics and dynamics models combining with Lagrange method ,and kinematics and dynamics simulations have been made to by using Matlab software platform .The simulation results show the correctness and the effective-ness of the proposed models .Furthermore ,they are the very valuable references for contrail plan and mo-tion control design of the autonomous robot .

  14. 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....

  15. Aesthetic Play

    DEFF Research Database (Denmark)

    Bang, Jytte Susanne

    2012-01-01

    to the children’s complex life-worlds. Further, this leads to an analysis of music-play activities as play with an art-form (music), which includes aesthetic dimensions and gives the music-play activities its character of being aesthetic play. Following Lev Vygotsky’s insight that art is a way of building life...

  16. 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

  17. Evaluation of automated decision making methodologies and development of an integrated robotic system simulation. Volume 2, Part 1. Appendix a: software documentation

    Energy Technology Data Exchange (ETDEWEB)

    Lowrie, J.W.; Fermelia, A.J.; Haley, D.C.; Gremban, K.D.; Vanbaalen, J.

    1982-09-01

    Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

  18. 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.

  19. Robotic application of a dynamic resultant force vector using real-time load-control: simulation of an ideal follower load on Cadaveric L4-L5 segments.

    Science.gov (United States)

    Bennett, Charles R; Kelly, Brian P

    2013-08-09

    Standard in-vitro spine testing methods have focused on application of isolated and/or constant load components while the in-vivo spine is subject to multiple components that can be resolved into resultant dynamic load vectors. To advance towards more in-vivo like simulations the objective of the current study was to develop a methodology to apply robotically-controlled, non-zero, real-time dynamic resultant forces during flexion-extension on human lumbar motion segment units (MSU) with initial application towards simulation of an ideal follower load (FL) force vector. A proportional-integral-derivative (PID) controller with custom algorithms coordinated the motion of a Cartesian serial manipulator comprised of six axes each capable of position- or load-control. Six lumbar MSUs (L4-L5) were tested with continuously increasing sagittal plane bending to 8 Nm while force components were dynamically programmed to deliver a resultant 400 N FL that remained normal to the moving midline of the intervertebral disc. Mean absolute load-control tracking errors between commanded and experimental loads were computed. Global spinal ranges of motion and sagittal plane inter-body translations were compared to previously published values for non-robotic applications. Mean TEs for zero-commanded force and moment axes were 0.7 ± 0.4N and 0.03 ± 0.02 Nm, respectively. For non-zero force axes mean TEs were 0.8 ± 0.8 N, 1.3 ± 1.6 Nm, and 1.3 ± 1.6N for Fx, Fz, and the resolved ideal follower load vector FL(R), respectively. Mean extension and flexion ranges of motion were 2.6° ± 1.2° and 5.0° ± 1.7°, respectively. Relative vertebral body translations and rotations were very comparable to data collected with non-robotic systems in the literature. The robotically coordinated Cartesian load controlled testing system demonstrated robust real-time load-control that permitted application of a real-time dynamic non-zero load vector during flexion-extension. For single MSU

  20. 仿真机器人足球比赛中的射门策略%Shooting strategy of simulation robot soccer

    Institute of Scientific and Technical Information of China (English)

    张彦铎; 王朝亮; 闵锋; 李迅

    2012-01-01

    针对机器人足球传统射门策略存在射门成功率不高的情形,对FIRA机器人足球五对五仿真平台(SimuroSot 5vs5)中实体的运动规律进行了分析,提出了预测法射门策略.首先建立了机器人的变速运动模型和球在碰撞之后的运动模型,然后根据这些运动模型,实时地对机器人和球的速度及位置进行分析预测,寻找对方守门员的死角,确定最佳的射门区域.通过仿真实验,预测法射门策略与多人协作射门策略、死角法射门策略、基于艾米特插值(Her mite)曲线射门策略相比,明显提高射门的成功率和比赛进球数.%To improve the successful rate of soccer robot shooting in a robot soccer match, a predictive shooting strategy was proposed on the basis of analyzing the motion law of the entity in the FIRA SimuroSot 5vs5 simulation platform. First, a variable motion model and a motion model after the ball collision of robot were established. Then according to these motion models, we had a forecast about the speed and position between the robot and the ball in real-time, and looked for the dead angle of the other goalkeeper to determine the best shooting area. The result of simulation indicates the predictive shooting strategy obviously increase the successful rate of shooting and game goals compared with the cooperation shoot strategies, the shot dead angle strategy and the shooting strategy based on the Her mite curve.

  1. ISS Robotic Student Programming

    Science.gov (United States)

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

    2016-01-01

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

  2. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  3. Robotic surgery.

    Science.gov (United States)

    Diana, M; Marescaux, J

    2015-01-01

    Proficiency in minimally invasive surgery requires intensive and continuous training, as it is technically challenging for unnatural visual and haptic perceptions. Robotic and computer sciences are producing innovations to augment the surgeon's skills to achieve accuracy and high precision during complex surgery. This article reviews the current use of robotically assisted surgery, focusing on technology as well as main applications in digestive surgery, and future perspectives. The PubMed database was interrogated to retrieve evidence-based data on surgical applications. Internal and external consulting with key opinion leaders, renowned robotics laboratories and robotic platform manufacturers was used to produce state-of-the art business intelligence around robotically assisted surgery. Selected digestive procedures (oesophagectomy, gastric bypass, pancreatic and liver resections, rectal resection for cancer) might benefit from robotic assistance, although the current level of evidence is insufficient to support widespread adoption. The surgical robotic market is growing, and a variety of projects have recently been launched at both academic and corporate levels to develop lightweight, miniaturized surgical robotic prototypes. The magnified view, and improved ergonomics and dexterity offered by robotic platforms, might facilitate the uptake of minimally invasive procedures. Image guidance to complement robotically assisted procedures, through the concepts of augmented reality, could well represent a major revolution to increase safety and deal with difficulties associated with the new minimally invasive approaches. © 2015 BJS Society Ltd. Published by John Wiley & Sons Ltd.

  4. A Novel Implementation of a Flexible Robotic Fin Actuated by Shape Memory Alloy

    Institute of Scientific and Technical Information of China (English)

    Qin Yan; Lei Wang; Bo Liu; Jie Yang; Shiwu Zhang

    2012-01-01

    In this paper,study of a novel flexible robotic-fin actuated by Shape Memory Alloy (SMA) is presented.The developed robotic fin is capable of implementing various 3-Dimensional (3D) motions,which plays an important role in robot propulsion and maneuverability.Firstly,the morphological and mechanics parameters of a real pectoral fin from a carp are investigated.Secondly,a detailed design of the flexible pectoral fin driven by SMA is presented according to the previous morphological and mechanics analyses.Thirdly,a simplified theoretical model on the SMA fin plate is derived.The thermodynamics of the SMA plate and the relationship between curvature and phase transformation are analyzed.Finally,several simulations and model experiments are conducted according to the previous analyses.The results of the experiments are useful for the control of the robotic fin.The experimental results reveal that the SMA actuated fin ray has a good actuating performance.

  5. Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

    Science.gov (United States)

    2012-01-01

    drivetrain and add rigidity to the chassis. To study the effects of depth pressure on the chassis, finite element analysis was undertaken and stress... Drivetrain 5.2.1. Differential Steering SeaDog uses two drive motors to power its four wheel- legs, each motor controlling a different side of the... Drivetrain Components Axle diameter and motor power were calculated based on a worst-case scenario in which the robot supported its entire weight

  6. 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 supp

  7. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

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

  8. A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2015-03-01

    Full Text Available In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.

  9. Control Algorithms and Simulated Environment Developed and Tested for Multiagent Robotics for Autonomous Inspection of Propulsion Systems

    Science.gov (United States)

    Wong, Edmond

    2005-01-01

    The NASA Glenn Research Center and academic partners are developing advanced multiagent robotic control algorithms that will enable the autonomous inspection and repair of future propulsion systems. In this application, on-wing engine inspections will be performed autonomously by large groups of cooperative miniature robots that will traverse the surfaces of engine components to search for damage. The eventual goal is to replace manual engine inspections that require expensive and time-consuming full engine teardowns and allow the early detection of problems that would otherwise result in catastrophic component failures. As a preliminary step toward the long-term realization of a practical working system, researchers are developing the technology to implement a proof-of-concept testbed demonstration. In a multiagent system, the individual agents are generally programmed with relatively simple controllers that define a limited set of behaviors. However, these behaviors are designed in such a way that, through the localized interaction among individual agents and between the agents and the environment, they result in self-organized, emergent group behavior that can solve a given complex problem, such as cooperative inspection. One advantage to the multiagent approach is that it allows for robustness and fault tolerance through redundancy in task handling. In addition, the relatively simple agent controllers demand minimal computational capability, which in turn allows for greater miniaturization of the robotic agents.

  10. Modelling and simulation of multi spindle drilling redundant SCARA robot using SolidWorks and MATLAB/SimMechanics

    Directory of Open Access Journals (Sweden)

    Saravana Mohan Mariappan

    2016-01-01

    Full Text Available Los robots son sistemas electromecánicos que necesitan enfoque mecatrónico antes de fabricarlos, esto con el fin de reducir el costo de desarrollo. En este trabajo se presenta un nuevo intento de modelado PRRP (prismáticos-revoluto-revoluto-prismático, una configuración redundante SCARA (Brazo robótico articulado de respuesta selectiva, herramienta de perforación milti-eje (MSDT usando el software CAD de SolidWorks y el estudio dinámico con la ayuda de MATLAB/SimMechanics de perforación. Un SCARA con MSDT se utiliza para perforar varios agujeros en las placas de circuito impreso (PCB y la chapa metálica. En este trabajo, el modelo de CAD 3D del robot propuesto se convierte en un diagrama de bloque SimMechanics exportando a MATLAB/SimMechanics segunda generación de tecnología de modelado y simulación. Entonces se realiza una simulación SimMechanics y utilizando su capacidad de detección de movimiento la velocidad de parámetros dinámicos y la torsión del manipulador se observa la estructura del robot variable modificado. Los resultados de la simulación indican un cambio considerable en el rendimiento dinámico para diferentes parámetros de diseño.

  11. Obama Plays Cheerleader for STEM

    Science.gov (United States)

    Robelen, Erik W.

    2010-01-01

    Amid a struggling economy, a raft of foreign-policy headaches, and the tail end of a heated campaign season, President Barack Obama carved out time in his schedule last month to watch students in the State Dining Room demonstrate a solar-powered model car, a water-purification system, and a soccer-playing robot. The science fair was the fifth…

  12. Path Planning for Mobile Robot and Simulation%移动机器人的路径规划与仿真

    Institute of Scientific and Technical Information of China (English)

    高晓巍

    2013-01-01

    During the process of applying particle swarm optimization in mobile robot' s path programming,we found some problems,such as the weakening ability of whole searching,the easily occurring phenomenon of earlymature.Then this paper put forward a better algorithm based on QPSO.The advantages of the QPSO algorithm based on 8potential model are simple model,less control parameters,stronger ability of whole searching.But at the same time,there is the disadvantage of early-maturing convergence.The paper took the perspective of diversity of population to analyze how to introduce diversity function in the iteration process of the algorithm.When the diversity of population is less than dlow,we made adaptive adjustment by diversified manipulating to sustain individual difference.In this way we can avoid the algorithm falling into local optimum and then leading to the premature phenomenon.After making simulation experiment wirh MATLAB,the findings show that this algorithm can effectively solve the programming problem of the whole static path.Compared with the QPSO algorithm,the convergence speed and searching quality have been obviously improved.%在机器人路径优化设计的研究中,由于应用环境存在障碍物,要求寻找最优无碰路径.针对于粒子群优化算法应用于移动机器人路径规划计算中,存在全局搜索能力弱,易出现早熟现象等问题,提出了一种QPSO算法的改进算法.采用8势阱模型的QPSO算法模型简单,控制参数少,全局搜索能力强,但存在早熟收敛的缺陷,从种群的多样性角度分析,在算法的迭代过程中,引入多样性函数,在种群的多样性小于dl.时,由多样性变异操作进行自适应调整,保持了种群中个体的差异性,避免算法陷入局部最优而出现早熟现象.在MATLAB平台上进行仿真,结果表明,改进算法能够有效地解决全局静态无碰路径优化问题,收敛速度、搜索质量与QPSO算法相比明显提高.

  13. Pyrotechnic robot - constructive design and command

    Directory of Open Access Journals (Sweden)

    Ionel A. Staretu

    2013-10-01

    Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.

  14. Robot dynamics in reduced gravity environment

    Science.gov (United States)

    Workman, Gary L.; Grisham, Tollie; Hinman, Elaine; Coker, Cindy

    1990-01-01

    Robot dynamics and control will become an important issue for productive platforms in space. Robotic operations will be necessary for both man tended stations and for the efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to safety concerns and an anticipated increase in acceleration levels due to manipulator motion. The robot used for the initial studies was a UMI RTX robot, which was adapted to operate in a materials processing workcell to simulate sample changing in a microgravity environment. The robotic cell was flown several times on the KC-135 aircraft at Ellington Field. The primary objective of the initial flights was to determine operating characteristics of both the robot and the operator in the variable gravity of the KC-135 during parabolic maneuvers. It was demonstrated that the KC-135 aircraft can be used for observing dynamics of robotic manipulators. The difficulties associated with humans performing teleoperation tasks during varying G levels were also observed and can provide insight into some areas in which the use of artificial techniques would provide improved system performance. Additionally a graphic simulation of the workcell was developed on a Silicon Graphics Workstation using the IGRIP simulation language from Deneb Robotics. The simulation is intended to be used for predictive displays of the robot operating on the aircraft. It is also anticipated that this simulation can be useful for off-line programming of tasks in the future.

  15. Military robots: the fighting force of the future

    Science.gov (United States)

    2016-03-03

    better-known science fiction authors who used military robots in their stories are Isaac ... Asimov , Robert Heinlein, and Ray Bradbury. Military robots have also played a large role in science fiction movies and television shows such as

  16. Research on kinematics simulation for replacing radioactive-source robot of gamma-knife equipment for breast cancer%乳腺癌伽玛刀换源机器人运动学仿真研究

    Institute of Scientific and Technical Information of China (English)

    苗学刚; 邓建春

    2012-01-01

    Gamma-knife for breast cancer is a new developed radioactive treatment equipment, starting with the practice that using of robot to replace radioactive梥ources of the Gamma梜nife equipment for breast cancer,according to the structure characteristics of the robot, then the D-H link-pole coordinate system and robot kinematics equations are established,and robot kinematics and the inverse kinematics problems are analyzed.By using of MATLAB the inverse kinematics is solved,and the working process of using robot to replace radioactive -source is analyzed.Meanwhile the robot motion trajectory is planned as well,and the kinematics process of replacing radioactive-sources with robot is simulated in COSMOSMo-tion, the kinematics curves of robot are analyzed, which provides technical support for studying the truth of replacing radioactive-source.%乳腺癌伽玛刀是一种新研制的治疗乳腺癌的放射性治疗设备,针对利用工业机器人更换乳腺癌伽玛刀放射源的实际要求,根据机器人的结构特点,建立机器人D-H连杆坐标系和机器人运动学方程,并对机器人运动学正问题和逆问题进行分析,利用MATLAB编程求解机器人运动学逆解,分析了机器人更换乳腺癌伽玛刀放射源的工作过程,规划了机器人换源运动轨迹,在COSMOSMotion中仿真机器人换源的运动过程,分析了机器人关节的运动曲线,为研究真实的换源情况提供技术支持.

  17. Motivation, Creativity, Play & Learning

    DEFF Research Database (Denmark)

    Petersson, Eva

    2005-01-01

    implementation of robotic physical movement synchronously manipulated from sourced data movement information of a human. SoundScapes is a concept based on non-verbal communication and stimulation through interactive play with sounds and images, which is being realised in the production of a non-wearable sensor...... groups of children, including children with severe physical/multi disabilities. The sourced capture of the human data is from enhanced virtual interactive space created from sensors. The data is constituted of the situated multimodal communication and forms of expression. The ‘VIS’ is considered...

  18. Motivation, Creativity, Play & Learning

    DEFF Research Database (Denmark)

    Petersson, Eva

    2005-01-01

    implementation of robotic physical movement synchronously manipulated from sourced data movement information of a human. SoundScapes is a concept based on non-verbal communication and stimulation through interactive play with sounds and images, which is being realised in the production of a non-wearable sensor...... groups of children, including children with severe physical/multi disabilities. The sourced capture of the human data is from enhanced virtual interactive space created from sensors. The data is constituted of the situated multimodal communication and forms of expression. The ‘VIS’ is considered...

  19. 基于 MATLAB/Robotics Toolbox的六自由度机械臂仿真%Simulation of 6-Dof manipulator based on MATLAB/Robotics Toolbox

    Institute of Scientific and Technical Information of China (English)

    王彦璋

    2016-01-01

    设计了一种六自由度的机械臂,用 D-H 法建立数学模型,并运用MATLAB 中的simulink 模块对机械臂的运动学和路径规划问题进行了仿真。给出关节变量值,求解机械臂末端姿态;已知空间姿态,求解关节变量;采用改进点到点的路径规划,得到了仿真时间为2s,间隔为0.025s的机械臂末端运行轨迹图,进而得到机械臂末端在坐标空间的姿态和速度、加速度的关联图形。仿真结果作为机械臂控制系统设计的依据。%A 6-dof manipulator is designed;mathematical model is established by D-H method, and the MATLAB simulink is used to simulate kinematics and path planning of manipulator in this paper .The joint variable values are given and the terminal attitude of manipulator is solved; the joint variables are solved according to the spatial attitude;the operation trajectory graph with the manipulator terminal is ob-tained by using improved point-to-point path plan.Its simulation time is 2s, and interval time is 0.025s, the relating-graph with the attitude and speed and acceleration of the manipulator terminal in coordinate space are obtained .Simulation results are used as design basis of manipulator control system .

  20. Development of open simulation system for robot soccer%一种开放式机器人足球比赛仿真系统的研究

    Institute of Scientific and Technical Information of China (English)

    符德晓; 李晓明

    2011-01-01

    Robot soccer is considered as a good platform and test field for academic researches, especially for artificial intelligence and multiagent system. Simulation technology was widely used in the development in order to lower the cost and improve the research efficiency. Aiming at the deficient use of the simulation in the robot soccer, an open simulation system was put forward based on the platform/plug-in structure. The C/S model was adopted to separate the core of the simulation platform with the 3D display module, so that the speed of simulation calculating and scene rendering were both improved greatly. The performance of the simulation system was also improved by optimizing the ODE parameters and the simulation model. The results indicate that the great flexibility and expandability were brought by the platform/plug-in mechanism and C/S based 3D display model.%机器人足球是学术研究的良好平台,尤其是在人工智能和多智能体系统领域.仿真技术是机器人足球研究中广泛采用的一种手段,可以在很大程度上降低研究的成本,提高科研效率.针对"仿真技术在足球机器人中的应用还不够充分"的问题,提出了一种基于平台/插件结构的机器人足球仿真系统,并采用了C/S的系统模型,将仿真系统的核心平台与显示模块分离,大大提高了仿真系统运行的速度和三维场景的显示效果.通过对仿真模型和ODE参数的优化,进一步提高了仿真系统的性能.研究与实际应用结果表明,通过平台/插件的这种体系结构,以及基于C/S的三维显示模型,系统性能得到大幅改进,并为球队策略系统的仿真提供了极大的灵活性和可扩展性.

  1. 基于ADAMS的垂直弹跳机器人动力学仿真%The Dynamics Simulation of Vertical Hopping Robot Based on ADAMS

    Institute of Scientific and Technical Information of China (English)

    闫华; 汪木兰; 冯永伟; 马赛

    2011-01-01

    针对一种垂直弹跳机器人,利用Pro/E软件创建三维实体模型,然后利用Pro/E与ADAMS的数据接口软件Mechanism/Pro将模型及其特征参数导入ADAMS中,并在几何模型上施加适当的约束、接触力、驱动、传感器等,最后进行动力学仿真,主要分析了弹簧刚度对机器人的弹跳高度、弹跳速度和弹跳加速度等的影响.%Based on Pro / E software and data interface software Mech/Pro, it creats a vertical jump robot three-dimensional entity model, transfers the model and its characteristic parameters to ADAMS, and then imposes the appropriate geometric model constraints, contact force, drive, sensors etc to analysis model.Finally it carries out the dynamics simulation, analyzes the influence of the spring stiffness on hopping robot's bounce height, speed and acceleration.

  2. Carbohydrate and caffeine improves high intensity running of elite rugby league interchange players during simulated match play.

    Science.gov (United States)

    Clarke, Jon S; Highton, Jamie; Close, Graeme L; Twist, Craig

    2016-11-19

    The study examined the effects of carbohydrate and caffeine ingestion on simulated rugby league interchange performance. Eight male elite rugby league forwards completed two trials of a rugby league simulation protocol for interchange players seven days apart in a randomized crossover design, ingesting either carbohydrate (CHO; 40 g·h-1) or carbohydrate and caffeine (CHO-C) (40 g·h-1 + 3 mg·kg-1) drink. Movement characteristics, heart rate, ratings of perceived exertion (RPE), and countermovement jump height (CMJ) were measured during the protocol. CHO-C resulted in likely to very likely higher mean running speeds (ES 0.43 to 0.75), distance in high intensity running (ES 0.41 to 0.64) and mean sprint speeds (ES 0.39 to 1.04) compared to CHO. Heart rate was possibly to very likely higher (ES 0.32 to 0.74) and RPE was likely to very likely lower (ES -0.53 to 0.86) with CHO-C. There was a likely trivial to possibly higher CMJ in CHO-C compared to CHO (ES 0.07 to 0.25). The co-ingestion of carbohydrate with caffeine has an ergogenic effect to reduce the sense of effort and increase high intensity running capability that might be employed to enhance interchange running performance in elite rugby league players.

  3. Research and Simulation of Assist Robot Driving Vehicle%辅助实现机器人驾驶车辆的研究与仿真

    Institute of Scientific and Technical Information of China (English)

    杨琼琼; 孔斌; 朱勇军

    2014-01-01

    针对机器人驾驶汽车在未知复杂环境下行驶的问题,提出一种基于图像的辅助实现机器人驾驶车辆的方法。根据机器人驾驶过程中所拍摄的路面图像,在图像中取一点作为车辆行驶的目标位置点;根据此点的位置,计算出车辆行驶时的转弯半径;对方向盘转角与转弯半径之间的关系进行曲线拟合,计算得出方向盘的转角;根据转角信息在图像上画出可供参考的车辆可行驶辅助线。本文算法利用 matlab 进行了仿真研究,实验结果表明,采用这种方法获取辅助线能够较为准确的作为车辆行驶的参考,为辅助机器人驾驶车辆行驶带来了很大的便利。%In this paper we present a kind of auxiliary line access method based on image approach to help humanoid robots driving a car in a complicated unknown environments. According to road image taken during driving robot , a point was picked as the next point of the robot driving. According to the location of this point, calculate turning radius. On the steering wheel angle and the turning radius curve fitting, steering wheel angle calculated; According to the Angle of information and draw the vehicle auxiliary line on the image. This algorithm simulated on matlab environment, experimental results show that this method can obtain more accurate auxiliary lines as a reference when the vehicle driving, and bring great convenience to assist the robot successfully driving the vehicle.

  4. Aesthetic Play

    DEFF Research Database (Denmark)

    Bang, Jytte Susanne

    2012-01-01

    The present article explores the role of music-related artefacts and technologies in children’s lives. More specifically, it analyzes how four 10- to 11-year old girls use CDs and DVD games in their music-play activities and which developmental themes and potentials may accrue from such activities...... to the children’s complex life-worlds. Further, this leads to an analysis of music-play activities as play with an art-form (music), which includes aesthetic dimensions and gives the music-play activities its character of being aesthetic play. Following Lev Vygotsky’s insight that art is a way of building life...

  5. Promoting scientific thinking with robots

    CERN Document Server

    Carbajal, Juan Pablo; Benker, Emanuel

    2011-01-01

    This article describes an exemplary robot exercise which was conducted in a class for mechatronics students. The goal of this exercise was to engage students in scientific thinking and reasoning, activities which do not always play an important role in their curriculum. The robotic platform presented here is simple in its construction and is customizable to the needs of the teacher. Therefore, it can be used for exercises in many different fields of science, not necessarily related to robotics. Here we present a situation where the robot is used like an alien creature from which we want to understand its behavior, resembling an ethological research activity. This robot exercise is suited for a wide range of courses, from general introduction to science, to hardware oriented lectures.

  6. Path Planning Optimization for Teaching and Playback Welding Robot

    Directory of Open Access Journals (Sweden)

    Yuehai Wang

    2013-02-01

    Full Text Available Path planning for the industrial robot plays an important role in the intelligent control of robot. Tradition strategies, including model-based methods and human taught based methods, find it is difficult to control manipulator intelligently and optically. Thus, it is hard to ensure the better performance and lower energy consumption even if the same welding task was executed repeatedly. A path planning optimization method was proposed to add learning ability to teaching and playback welding robot. The optimization was divided into the welding points sequence improvement and trajectory improvement, which was done both on-line and off-line. Points sequence optimization was modeled as TSP and was continuously improved by genetic algorithm based strategy, while the trajectory between two welding points was on-line improved by an try-and-error strategy where the robot try different trajectory from time to time so as to search a better plan. Simulation results verified that this control strategy reduced the time and energy cost as compared with the man-made fix-order sequence. Our method prevents the robot from the computation-intensive model-based control, and offers a convenient way for self-improvement on the basis of human teaching.

  7. Playful Membership

    DEFF Research Database (Denmark)

    Åkerstrøm Andersen, Niels; Pors, Justine Grønbæk

    2014-01-01

    This article studies the implications of current attempts by organizations to adapt to a world of constant change by introducing the notion of playful organizational membership. To this end we conduct a brief semantic history of organizational play and argue that when organizations play, employees...... are expected to engage in playful exploration of alternative selves. Drawing on Niklas Luhmann's theory of time and decision-making and Gregory Bateson's theory of play, the article analyses three empirical examples of how games play with conceptions of time. We explore how games represent an organizational...... desire to reach out - not just to the future - but to futures beyond the future presently imaginable. The article concludes that playful membership is membership through which employees are expected to develop a surplus of potential identities and continuously cross boundaries between real and virtual...

  8. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

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

  9. Morphology Independent Learning in Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Bordignon, Mirko; Schultz, Ulrik Pagh

    2009-01-01

    Hand-coding locomotion controllers for modular robots is dif?cult due to their polymorphic nature. Instead, we propose to use a simple and distributed reinforcement learning strategy. ATRON modules with identical controllers can be assembled in any con?guration. To optimize the robot?s locomotion...... speed its modules independently and in parallel adjust their behavior based on a single global reward signal. In simulation, we study the learning strategy?s performance on different robot con?gurations. On the physical platform, we perform learning experiments with ATRON robots learning to move as fast...

  10. [Informatics, robotics and medicine].

    Science.gov (United States)

    Carpentier, A

    1999-01-01

    Information technology is becoming common use in Medicine. Among the numerous applications are data processing, image analysis, 3D reconstruction, telemedicine, to mention only few of them. The interest of computers in surgical research and development is lesser known. Two examples are given: computer aided conception and simulation of physiologic systems. Robotics has been introduced more recently. There are three types of robotics corresponding to three types of use: targetting used by neural surgeons to localize tumors or anatomical structures, visualization used by general surgeons to hold and mobilize laparoscopes, instrumentation introduced more recently by cardiac surgeons to perform totally endoscopic cardiac operations. All these techniques open new ways for tomorrow "Instrumental Medicine".

  11. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

    Madsen, Henrik; Zhou, Jianjun; Hansen, Lars Henrik

    1997-01-01

    This paper describes a case study of identifying the physical model (or the grey box model) of a hydraulic test robot. The obtained model is intended to provide a basis for model-based control of the robot. The physical model is formulated in continuous time and is derived by application...... of the laws of physics on the system. The unknown (or uncertain) parameters are estimated with Maximum Likelihood (ML) parameter estimation. The identified model has been evaluated by comparing the measurements with simulation of the model. The identified model was much more capable of describing the dynamics...... of the system than the deterministic model....

  12. 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.

  13. 仿生机器鱼三维避障仿真系统的研究与实现%Research and implementation of 3D obstacle avoidance simulation system for bionic robotic fish

    Institute of Scientific and Technical Information of China (English)

    张倩; 薛志斌

    2016-01-01

    为了降低研究实体机器鱼在探查高原湖泊过程中所造成的损害及成本,利用Visual C++开发环境和OpenGL图形库设计和实现了仿生机器鱼的三维避障仿真系统。该系统可以使用户直观感知机器鱼的实时运动状态,用户不仅可以控制机器鱼的起始、目标位置和起始角度而且可以从不同角度监测机器鱼的当前位置和避障路径。仿真结果表明该系统能够逼真地显示机器鱼在场景中的运动情况。%In order to reduce damage and cost caused by researching on the process in which the entity robotic fish ex⁃plores plateau lakes,the 3D obstacle avoidance simulation system of the simulation robotic fish was designed and implemented with the help of Visual C++ development environment and OpenGL graphics library. The system enables users to perceive the real⁃time motion state of the robotic fish intuitively. In this system,the users can not only control the start and target position and initial angle of the robotic fish,but also monitor the current position and obstacle avoidance path of the robotic fish from dif⁃ferent angles. The simulation result shows that this system can display the movement of the robotic fish in the scene exactly.

  14. Major League Baseball pace-of-play rules and their influence on predicted muscle fatigue during simulated baseball games.

    Science.gov (United States)

    Sonne, Michael W L; Keir, Peter J

    2016-11-01

    Major League Baseball (MLB) has proposed rule changes to speed up baseball games. Reducing the time between pitches may impair recovery from fatigue. Fatigue is a known precursor to injury and may jeopardise joint stability. This study examined how fatigue accumulated during baseball games and how different pace of play initiatives may influence fatigue. Pitcher data were retrieved from a public database. A predictive model of muscle fatigue estimated muscle fatigue in 8 arm muscles. A self-selected pace (22.7 s), 12 s pace (Rule 8.04 from the MLB) and a 20 s rest (a pitch clock examined in the 2014 Arizona Fall League (AFL)) were examined. Significantly more muscle fatigue existed in both the AFL and Rule 8.04 conditions, when compared to the self-selected pace condition (5.01 ± 1.73%, 3.95 ± 1.20% and 3.70 ± 1.10% MVC force lost, respectively). Elevated levels of muscle fatigue are predicted in the flexor-pronator mass, which is responsible for providing elbow stability. Reduced effectiveness of the flexor-pronator mass may reduce the active contributions to joint rotational stiffness, increasing strain on the ulnar collateral ligament (UCL) and possibly increasing injury risk.

  15. Biologically inspired intelligent robots

    Science.gov (United States)

    Bar-Cohen, Yoseph; Breazeal, Cynthia

    2003-07-01

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

  16. Playful Literacy

    DEFF Research Database (Denmark)

    Froes, Isabel

    2017-01-01

    these practices, which compose the taxonomy of tablet play. My contribution lies in identifying and proposing a series of theoretical concepts that complement recent theories related to play and digital literacy studies. The data collected through observations informed some noteworthy aspects, including how...... with tablets’ physical and digital affordances shape children’s digital play. This thesis presents how young children’s current practices when playing with tablets inform digital experiences in Denmark and Japan. Through an interdisciplinary lens and a grounded theory approach, I have identified and mapped...... vocabulary in children’s digital play experiences. These early digital experiences set the rules for the playgrounds and assert digital tablets as twenty-first-century toys, shaping young children’s playful literacy....

  17. Method of Robot Self-localization in RoboCup3D Simulation System%RoboCup3D仿真系统中的机器人自定位方法

    Institute of Scientific and Technical Information of China (English)

    姚千燕; 杨宜民

    2011-01-01

    在RoboCup3D仿真比赛中,机器人自定位非常重要,定位不准确会对仿真比赛产生严重的影响.为了模拟真实环境,比赛中加入了视觉噪声,这使机器人定位变得更加困难.本文针对RoboCup3D仿真中的机器人视觉特征,提出一种观测值加权融合的卡尔曼滤波方法来实现机器人自定位,采用此方法能得到更精确的观测值.仿真实验结果表明,此定位方法大大提高了机器人自定位的精度.%In RoboCup3D simulation game, the robot self-location is very important, inaccurate location will have serious affect on simulation game. In order to simulate the real environment, it adds visual noise in the game, which makes it more difficult to lo-cate the robot. In this paper, considering the robot visual features of RoboCup3D simulation, it proposes an observations weighted fusion Kalman filter approach to realize robot self-location, using this method to get more accurate observations. The simulation ex-perience result shows that the method greatly improves the accuracy of robot self-location.

  18. 基于ADAMS的输电线路移动机器人越障仿真%ADAMS-BASED SIMULATION OF OBSTACLE-CROSSING FOR A MOBILE ROBOT ON TRANSMISSION LINES

    Institute of Scientific and Technical Information of China (English)

    赵金龙; 曹雷; 郭锐; 张峰

    2012-01-01

    The mobile obstacle-crossing mechanism is the fundamental of the robot for inspection of transmission lines, and is one of the technical hurdles restricting the development of lines mobile robot at present. Based on 3D modelling software SolidWorks and dynamics simulation analysis software ADAMS, a simulation model of dual-arm mobile robot is established in virtual environment. Through the obstacle-avoidance path planning method, the kinematic simulation data is generated, and in ADAMS virtual environment the stable obstacle-crossing by the dual-arm mobile robot is achieved. Simulation results indicate that the design of dual-arm crisscross sliding structure can meet the walking requirements, and the method of obstacle-avoidance path planning is feasible, the simulation data can be used as reference for further research and development of physical prototype of the dual-arm robot.%移动越障机构是输电线路移动机器人的基础,也是目前制约线路移动机器人发展的技术障碍之一.采用SolidWorks三维建模软件和ADAMS动力学仿真分析软件在虚拟环境中建立双臂移动机器人的仿真模型.通过避障路径规划生成运动仿真数据,在ADAMS虚拟环境中实现双臂移动机器人的稳定越障.仿真结果表明:双臂移动机器人的两臂交错滑移结构设计能够满足行走要求,且避障路径规划方法可行,仿真数据可为下一步双臂移动机器人物理样机的研制提供理论参考.

  19. A power autonomous monopedal robot

    Science.gov (United States)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

    We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all

  20. Pretend play.

    Science.gov (United States)

    Weisberg, Deena Skolnick

    2015-01-01

    Pretend play is a form of playful behavior that involves nonliteral action. Although on the surface this activity appears to be merely for fun, recent research has discovered that children's pretend play has connections to important cognitive and social skills, such as symbolic thinking, theory of mind, and counterfactual reasoning. The current article first defines pretend play and then reviews the arguments and evidence for these three connections. Pretend play has a nonliteral correspondence to reality, hence pretending may provide children with practice with navigating symbolic relationships, which may strengthen their language skills. Pretend play and theory of mind reasoning share a focus on others' mental states in order to correctly interpret their behavior, hence pretending and theory of mind may be mutually supportive in development. Pretend play and counterfactual reasoning both involve representing nonreal states of affairs, hence pretending may facilitate children's counterfactual abilities. These connections make pretend play an important phenomenon in cognitive science: Studying children's pretend play can provide insight into these other abilities and their developmental trajectories, and thereby into human cognitive architecture and its development.