WorldWideScience

Sample records for prototype crawling robotics

  1. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected. (author)

  2. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected

  3. A crawling robot driven by multi-stable origami

    Science.gov (United States)

    Pagano, Alexander; Yan, Tongxi; Chien, Brian; Wissa, A.; Tawfick, S.

    2017-09-01

    Using origami folding to construct and actuate mechanisms and machines offers attractive opportunities from small, scalable, and cheap robots to deployable adaptive structures. This paper presents the design of a bio-inspired origami crawling robot constructed by folding sheets of paper. The origami building block structure is based on the Kresling crease pattern (CP), a chiral tower with a polygonal base, which expands and contracts through coupled longitudinal and rotational motion similar to a screw. We design the origami to have multi-stable structural equilibria which can be tuned by changing the folding CP. Kinematic analysis of these structures based on rigid-plates and hinges at fold lines precludes the shape transformation associated with the bistability of the physical models. To capture the kinematics of the bi-stable origami, the panels’ deformation behavior is modeled utilizing principles of virtual folds. Virtual folds approximate material bending by hinged, rigid panels, which facilitates the development of a kinematic solution via rigid-plate rotation analysis. As such, the kinetics and stability of folded structures are investigated by assigning suitable torsional spring constants to the fold lines. The results presented demonstrate the effect of fold-pattern geometries on the snapping behavior of the bi-stable origami structure based on the Kresling pattern. The crawling robot is presented as a case study for the use of this origami structure to mimic crawling locomotion. The robot is comprised of two origami towers nested inside a paper bellow, and connected by 3D printed end plates. DC motors are used to actuate the expansion and contraction of the internal origami structures to achieve forward locomotion and steering. Beyond locomotion, this simple design can find applications in manipulators, booms, and active structures.

  4. Terrain Perception in a Shape Shifting Rolling-Crawling Robot

    Directory of Open Access Journals (Sweden)

    Fuchida Masataka

    2016-09-01

    Full Text Available Terrain perception greatly enhances the performance of robots, providing them with essential information on the nature of terrain being traversed. Several living beings in nature offer interesting inspirations which adopt different gait patterns according to nature of terrain. In this paper, we present a novel terrain perception system for our bioinspired robot, Scorpio, to classify the terrain based on visual features and autonomously choose appropriate locomotion mode. Our Scorpio robot is capable of crawling and rolling locomotion modes, mimicking Cebrenus Rechenburgi, a member of the huntsman spider family. Our terrain perception system uses Speeded Up Robust Feature (SURF description method along with color information. Feature extraction is followed by Bag of Word method (BoW and Support Vector Machine (SVM for terrain classification. Experiments were conducted with our Scorpio robot to establish the efficacy and validity of the proposed approach. In our experiments, we achieved a recognition accuracy of over 90% across four terrain types namely grass, gravel, wooden deck, and concrete.

  5. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    Energy Technology Data Exchange (ETDEWEB)

    Chen, H J [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Gao, B T [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Zhang, X H [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Deng, Z Q [School of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China)

    2006-10-15

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

  6. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    International Nuclear Information System (INIS)

    Chen, H J; Gao, B T; Zhang, X H; Deng, Z Q

    2006-01-01

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot

  7. 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.

  8. Acquisition of earthworm-like movement patterns of many-segmented peristaltic crawling robots

    Directory of Open Access Journals (Sweden)

    Norihiko Saga

    2016-09-01

    Full Text Available In recent years, attention has been increasingly devoted to the development of rescue robots that can protect humans from the inherent risks of rescue work. Particularly, anticipated is the development of a robot that can move deeply through small spaces. We have devoted our attention to peristalsis, the movement mechanism used by earthworms. A reinforcement learning technique used for the derivation of the robot movement pattern, Q-learning, was used to develop a three-segmented peristaltic crawling robot with a motor drive. Characteristically, peristalsis can provide movement capability if at least three segments work, even if a segmented part does not function. Therefore, we had intended to derive the movement pattern of many-segmented peristaltic crawling robots using Q-learning. However, because of the necessary increase in calculations, in the case of many segments, Q-learning cannot be used because of insufficient memory. Therefore, we devoted our attention to a learning method called Actor–Critic, which can be implemented with low memory. Because Actor-Critic methods are TD methods that have a separate memory structure to explicitly represent the policy independent of the value function. Using it, we examined the movement patterns of six-segmented peristaltic crawling robots.

  9. Tracked Robot with Blade Arms to Enhance Crawling Capability

    OpenAIRE

    Jhu-Wei Ji; Fa-Shian Chang; Lih-Tyng Hwang; Chih-Feng Liu; Jeng-Nan Lee; Shun-Min Wang; Kai-Yi Cho

    2016-01-01

    This paper presents a tracked robot with blade arms powered to assist movement in difficult environments. As a result, the tracked robot is able to pass a ramp or climb stairs. The main feature is a pair of blade arms on both sides of the vehicle body working in collaboration with previously validated transformable track system. When the robot encounters an obstacle in a terrain, it enlists the blade arms with power to overcome the obstacle. In disaster areas, there usually will be terrains t...

  10. Optimal Trajectory Planning For Design of a Crawling Gait in a Robot Using Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    SMRS. Noorani

    2011-03-01

    Full Text Available This paper describes a new locomotion mode to use in a crawling robot, inspired of real inchworm. The crawling device is modelled as a mobile manipulator, and for each step of its motion, the associated dynamics relations are derived using Euler-Lagrange equations. Next, the Genetic Algorithm (GA is utilized to optimize the trajectory of the free joints (active actuators in order to minimize the consumed effort (e.g. integral of square of torques over the step time. In this way, the results show a reduction of 5 to 37 percent in torque consumption in comparison with the gradient based method. Finally, numerical simulation for each step motion is presented to validate the proposed algorithm.

  11. Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.

    Science.gov (United States)

    Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan

    This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.

  12. Shape memory alloy-based small crawling robots inspired by C. elegans

    Energy Technology Data Exchange (ETDEWEB)

    Yuk, Hyunwoo; Kim, Daeyeon; Shin, Jennifer H [Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon (Korea, Republic of); Lee, Honggu; Jo, Sungho, E-mail: shjo@kaist.ac.kr, E-mail: j_shin@kaist.ac.kr [Department of Computer Science, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon (Korea, Republic of)

    2011-12-15

    Inspired by its simple musculature, actuation and motion mechanisms, we have developed a small crawling robot that closely mimics the model organism of our choice: Caenorhabditis elegans. A thermal shape memory alloy (SMA) was selected as an actuator due to the similarities of its properties to C. elegans muscles. Based on the anatomy of C. elegans, a 12-unit robot was designed to generate a sinusoidal undulating motion. Each body unit consisting of a pair of SMA actuators is serially connected by rigid links with an embedded motion control circuit. A simple binary operation-based motion control mechanism was implemented using a microcontroller. The assembled robot can execute C. elegans-like motion with a 0.17 Hz undulation frequency. Its motion is comparable to that of a real worm.

  13. Rapid prototyping of robotic platforms

    CSIR Research Space (South Africa)

    De Ronde, Willis

    2016-11-01

    Full Text Available of thickness up to 200mm can be cut to create prototype chassis/ bodies or even the final product. One of the few limitations is the cutting of certain laminated materials, as this tends to produce delaminated cutting edges or even fractures in the case... mine inspection robot (Shongololo). Shongololo’s frame is made from engineering plastics while the chassis of Dassie was made from aluminium and cut using abrasive waterjet machining. The advantage of using abrasive waterjet machining is the speed...

  14. PEAR: Prototyping Expressive Animated Robots - A framework for social robot prototyping

    OpenAIRE

    Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

    2018-01-01

    International audience; Social robots are transitioning from lab experiments to commercial products, creating new needs for proto-typing and design tools. In this paper, we present a framework to facilitate the prototyping of expressive animated robots. For this, we start by reviewing the design of existing social robots in order to define a set of basic components of social robots. We then show how to extend an existing 3D animation software to enable the animation of these components. By co...

  15. Remote technology review: mobile robots continue to march (and crawl, roll, walk, slither, climb and swim) into action

    International Nuclear Information System (INIS)

    Meieran, H.

    1991-01-01

    Mobile robots are performing an increasing range of tasks in nuclear power plants and other nuclear facilities as well as in a wide spectrum of other hazardous industries and environments. The total number of such systems, many of which can be used in the nuclear industry, that have been, are being or will be built, now exceeds 350 separate units manufactured by more than 168 suppliers in 19 countries. In addition to being used in nuclear power plants themselves, they are being, or can be, employed in a variety of other nuclear applications, including hot cells, fuel reprocessing facilities, research establishments, waste sites, uranium mines, and decommissioning projects. The survey results reported here provide current statistics regarding terrestrial based mobile robots and remote teleoperator controlled vehicles (referred to collectively as mobile robots), underwater crawling and swimming robots (the latter known as remotely operated vehicles (ROVs)) and pipecrawlers. (author)

  16. Rapid prototyping using robot welding : process description

    OpenAIRE

    Ribeiro, António Fernando; Norrish, John

    1997-01-01

    Rapid Prototyping is a relatively recent technique to produce component prototypes for industry in a much shorter period of time, since the time to market a product is essential to its success. A new Rapid Prototyping process which uses metal as the raw material had been under development at Cranfield University in the last few years. The process uses a Gas Metal Arc fusion welding robot which deposits successive layers of metal in such way that it forms a 3D solid component. Firstly, a CAD s...

  17. Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot

    Science.gov (United States)

    Jayaram, Kaushik; Full, Robert J.

    2016-01-01

    Jointed exoskeletons permit rapid appendage-driven locomotion but retain the soft-bodied, shape-changing ability to explore confined environments. We challenged cockroaches with horizontal crevices smaller than a quarter of their standing body height. Cockroaches rapidly traversed crevices in 300–800 ms by compressing their body 40–60%. High-speed videography revealed crevice negotiation to be a complex, discontinuous maneuver. After traversing horizontal crevices to enter a vertically confined space, cockroaches crawled at velocities approaching 60 cm⋅s−1, despite body compression and postural changes. Running velocity, stride length, and stride period only decreased at the smallest crevice height (4 mm), whereas slipping and the probability of zigzag paths increased. To explain confined-space running performance limits, we altered ceiling and ground friction. Increased ceiling friction decreased velocity by decreasing stride length and increasing slipping. Increased ground friction resulted in velocity and stride length attaining a maximum at intermediate friction levels. These data support a model of an unexplored mode of locomotion—“body-friction legged crawling” with body drag, friction-dominated leg thrust, but no media flow as in air, water, or sand. To define the limits of body compression in confined spaces, we conducted dynamic compressive cycle tests on living animals. Exoskeletal strength allowed cockroaches to withstand forces 300 times body weight when traversing the smallest crevices and up to nearly 900 times body weight without injury. Cockroach exoskeletons provided biological inspiration for the manufacture of an origami-style, soft, legged robot that can locomote rapidly in both open and confined spaces. PMID:26858443

  18. Mobile robot prototype detector of gamma radiation

    International Nuclear Information System (INIS)

    Vazquez C, R.M.; Duran V, M. D.; Jardon M, C. I.

    2014-10-01

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  19. ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT

    Directory of Open Access Journals (Sweden)

    Jakub Mrva

    2015-12-01

    Full Text Available Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms.

  20. Prototype Robot Pemadam Api Beroda Menggunakan Teknik Navigasi Wall Follower

    OpenAIRE

    Safrianti, Ery; Amri, Rahyul; Budiman, Septian

    2012-01-01

    Fire Robot serves to detect and extinguish the fire. The robot is controlled by the microcontroller ATMEGA8535 automatically. This robot contains of several sensors, such as 5 sets of ping parallax as a robot navigator, a set UVTron equipped with fire-detecting driver, DC motor driver L298 with two DC servo motors. The robot was developed from a prototype that has been studied previously with the addition on the hardware side of the sound activation and two sets of line detector. The robot wi...

  1. Teleautonomous Control on Rescue Robot Prototype

    Directory of Open Access Journals (Sweden)

    Son Kuswadi

    2012-12-01

    Full Text Available Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.

  2. Microcontroller Based Robot Prototype Manual Control with Atmega8535 Joystick

    OpenAIRE

    Azella Maulidya; Luyung Dinaini, Skom, MMSi

    2008-01-01

    In writing that I make with the title "PROTOTYPE ROBOT WITH MANUAL CONTROLS microcontroller ATMega8535 joystick" is intended to be a control instrument to be developed further into a tool of control that can be more useful again .

  3. Kinematics analysis of a robotic zipper prototype for miniaturisation

    NARCIS (Netherlands)

    Baharom, M.Z.; Delbressine, F.L.M.; Feijs, L.M.G.

    2016-01-01

    This paper presents the mechanism and kinematics analysis of a robotic zipper prototype. This generic version of the robotic zipper is dedicated to automatically open and close the zipper which could be beneficial to elderly, people with physical disability, upper limb reduction deficiencies (ULRD),

  4. 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.

  5. Prototype Robot Pemadam Api Beroda Menggunakan Teknik Navigasi Wall Follower

    Directory of Open Access Journals (Sweden)

    Ery Safrianti

    2012-10-01

    Full Text Available Fire Robot serves to detect and extinguish the fire. The robot is controlled by the microcontroller ATMEGA8535 automatically. This robot contains of several sensors, such as 5 sets of ping parallax as a robot navigator, a set UVTron equipped with fire-detecting driver, DC motor driver L298 with two DC servo motors. The robot was developed from a prototype that has been studied previously with the addition on the hardware side of the sound activation and two sets of line detector. The robot will active if it receives input from the sound activation unit and will start to find the fire with “search the wall” navigation techniques. The line sensor was used as a door and home detector and circle the fire area.To extinguish the fire, this robot uses a fan driven by a BD139 transistor circuit. The overall test results show that the robot can detect the presence of the fire in each room. The robot also can find the fire and extinguish it within 1 minute.

  6. A deformable magnetizable worm in a magnetic field-A prototype of a mobile crawling robot

    Energy Technology Data Exchange (ETDEWEB)

    Zimmermann, Klaus [Faculty of Mechanical Engineering, Technische Universitaet Ilmenau, PF 10 05 65, 98684 (Germany)]. E-mail: klaus.zimmermann@tu-ilmenau.de; Naletova, Vera A. [Department of Mechanics and Mathematics, Lomonosov Moscow State University, Moscow 119992 (Russian Federation); Institute of Mechanics, Lomonosov Moscow State University, 1, Michurinsky Pr., Moscow 119192 (Russian Federation); Zeidis, Igor [Faculty of Mechanical Engineering, Technische Universitaet Ilmenau, PF 10 05 65, 98684 (Germany); Turkov, Vladimir A. [Institute of Mechanics, Lomonosov Moscow State University, 1, Michurinsky Pr., Moscow 119192 (Russian Federation); Kolev, Emil [Faculty of Mechanical Engineering, Technische Universitaet Ilmenau, PF 10 05 65, 98684 (Germany); Lukashevich, Mikhail V. [Institute of Mechanics, Lomonosov Moscow State University, 1, Michurinsky Pr., Moscow 119192 (Russian Federation); Stepanov, Gennadij V. [State Research Institute of Chemistry and Technology of Organoelement Compounds, 38, Shosse Entuziastov, Moscow 111123 (Russian Federation)

    2007-04-15

    The paper deals with the deformation and worm-like motion of a magnetizable elastic body in an alternate magnetic field from an experimental and a theoretically point of view. Theoretically (analytically and numerically) calculated results of the body velocity are compared with the experimental data.

  7. Developing novel extensions to support prototyping for interactive social robots

    NARCIS (Netherlands)

    Bhömer, ten M.; Bartneck, C.; Hu, J.; Ahn, R.M.C.; Tuyls, K.P.; Delbressine, F.L.M.; Feijs, L.M.G.

    2009-01-01

    Lego Mindstorms NXT is a platform highly suitable for prototyping in the field of interactive social robotics. During a technology masterclass at Eindhoven University of Technology students from the department of Industrial Design have developed five novel extensions (sensors and actuators) for the

  8. 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.

  9. Mobile robot prototype detector of gamma radiation; Prototipo de robot movil detector de radiacion gamma

    Energy Technology Data Exchange (ETDEWEB)

    Vazquez C, R.M. [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico); Duran V, M. D.; Jardon M, C. I., E-mail: raulmario.vazquez@inin.gob.mx [Tecnologico de Estudios Superiores de Villa Guerrero, Carretera Federal Toluca-Ixtapan de la Sal Km. 64.5, La Finca Villa Guerrero, Estado de Mexico (Mexico)

    2014-10-15

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  10. Moisture in Crawl Spaces

    Science.gov (United States)

    Anton TenWolde; Samuel V. Glass

    2013-01-01

    Crawl space foundations can be designed and built to avoid moisture problems. In this article we provide a brief overview of crawl spaces with emphasis on the physics of moisture. We review trends that have been observed in the research literature and summarize cur-rent recommendations for moisture control in crawl spaces.

  11. Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots.

    Science.gov (United States)

    Gilbert, Hunter B; Webster, Robert J

    Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic robots is challenging. Obtaining samples that remain superelastic and exhibit desired precurvatures currently requires many iterations, which is time consuming and consumes a substantial amount of Nitinol. To provide a more accurate and reliable method of shape setting, in this paper we propose an electrical technique that uses Joule heating to attain the necessary shape setting temperatures. The resulting high power heating prevents unintended aging of the material and yields consistent and accurate results for the rapid creation of prototypes. We present a complete algorithm and system together with an experimental analysis of temperature regulation. We experimentally validate the approach on Nitinol tubes that are shape set into planar curves. We also demonstrate the feasibility of creating general space curves by shape setting a helical tube. The system demonstrates a mean absolute temperature error of 10°C.

  12. A prototype home robot with an ambient facial interface to improve drug compliance.

    Science.gov (United States)

    Takacs, Barnabas; Hanak, David

    2008-01-01

    We have developed a prototype home robot to improve drug compliance. The robot is a small mobile device, capable of autonomous behaviour, as well as remotely controlled operation via a wireless datalink. The robot is capable of face detection and also has a display screen to provide facial feedback to help motivate patients and thus increase their level of compliance. An RFID reader can identify tags attached to different objects, such as bottles, for fluid intake monitoring. A tablet dispenser allows drug compliance monitoring. Despite some limitations, experience with the prototype suggests that simple and low-cost robots may soon become feasible for care of people living alone or in isolation.

  13. Rapid prototyping framework for robot-assisted training of autistic children

    NARCIS (Netherlands)

    Kim, Mingyu; Barakova, E.I.; Lourens, T.

    2014-01-01

    Research in uptake and actual use of robots in socially assistive tasks is rapidly growing. However, practical applications lack behind due to the enormous effort to create meaningful behaviours. This paper describes a rapid prototyping framework for robot-assisted training of children with Autism

  14. Architecture and prototype of human-machine interface with mobile robotic device

    International Nuclear Information System (INIS)

    Dyumin, A.A.; Sorokoumov, P.S.; Chepin, E.V.; Urvanov, G.A.

    2013-01-01

    The possibility of controlling mobile robotic (MRD) device is analyzed and a prototype control system is described. It is established that, for controlling MRD, it is expedient to use a brain-computer interface. A system of interpretation of information obtained from the operator brain has been developed and used in the proposed prototype control system [ru

  15. Robotic Transnasal Endoscopic Skull Base Surgery: Systematic Review of the Literature and Report of a Novel Prototype for a Hybrid System (Brescia Endoscope Assistant Robotic Holder).

    Science.gov (United States)

    Bolzoni Villaret, Andrea; Doglietto, Francesco; Carobbio, Andrea; Schreiber, Alberto; Panni, Camilla; Piantoni, Enrico; Guida, Giovanni; Fontanella, Marco Maria; Nicolai, Piero; Cassinis, Riccardo

    2017-09-01

    Although robotics has already been applied to several surgical fields, available systems are not designed for endoscopic skull base surgery (ESBS). New conception prototypes have been recently described for ESBS. The aim of this study was to provide a systematic literature review of robotics for ESBS and describe a novel prototype developed at the University of Brescia. PubMed and Scopus databases were searched using a combination of terms, including Robotics OR Robot and Surgery OR Otolaryngology OR Skull Base OR Holder. The retrieved papers were analyzed, recording the following features: interface, tools under robotic control, force feedback, safety systems, setup time, and operative time. A novel hybrid robotic system has been developed and tested in a preclinical setting at the University of Brescia, using an industrial manipulator and readily available off-the-shelf components. A total of 11 robotic prototypes for ESBS were identified. Almost all prototypes present a difficult emergency management as one of the main limits. The Brescia Endoscope Assistant Robotic holder has proven the feasibility of an intuitive robotic movement, using the surgeon's head position: a 6 degree of freedom sensor was used and 2 light sources were added to glasses that were therefore recognized by a commercially available sensor. Robotic system prototypes designed for ESBS and reported in the literature still present significant technical limitations. Hybrid robot assistance has a huge potential and might soon be feasible in ESBS. Copyright © 2017 Elsevier Inc. All rights reserved.

  16. Resultaat van 6 jaar Field Robot Event : studenten, netwerk en een prototype robot

    NARCIS (Netherlands)

    Henten, van E.J.; Bakker, T.; Evert, van F.K.; Hofstee, J.W.

    2009-01-01

    In 2003 beleefde het Field Robot Event (FRE) in Wageningen zijn primeur. De FRE is een internationale wedstrijd, waarin field robots met elkaar de competitie aangaan om zo goed mogelijk autonoom door een perceel te navigeren en een landbouwkundige taak uit te voeren. Dit jaar wordt het Field Robot

  17. From an Idea to a Working Robot Prototype: Distributing Knowledge of Robotics through Science Museum Workshops

    Science.gov (United States)

    Polishuk, Alexander; Verner, Igor; Mir, Ronen

    This paper presents our experience of teaching robotics to primary and middle school students at the Gelfand Center for Model Building, Robotics & Communication which is part of the Israel National Museum of Science, Technology and Space (MadaTech). The educational study examines the value and characteristics of students’ teamwork in the museum robotics workshops.

  18. An Embedded Systems Laboratory to Support Rapid Prototyping of Robotics and the Internet of Things

    Science.gov (United States)

    Hamblen, J. O.; van Bekkum, G. M. E.

    2013-01-01

    This paper describes a new approach for a course and laboratory designed to allow students to develop low-cost prototypes of robotic and other embedded devices that feature Internet connectivity, I/O, networking, a real-time operating system (RTOS), and object-oriented C/C++. The application programming interface (API) libraries provided permit…

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

    Institute of Scientific and Technical Information of China (English)

    CAO Yong; ZHU Sheng; WANG Tao; WANG Wanglong

    2009-01-01

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

  20. The SONG prototype: Efficiency of a robotic telescope

    DEFF Research Database (Denmark)

    Andersen, M. F.; Grundahl, F.; Beck, A. H.

    2016-01-01

    The Stellar Observations Network Group prototype telescope at the Teide Observatory has been operating in scientific mode since March 2014. The first year of observations has entirely been carried out using the high resolution echelle spectrograph. Several asteroseismic targets were selected for ...

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  2. A novel low-cost mobile robot for rapid prototyping of precision farming applications

    DEFF Research Database (Denmark)

    Jensen, Kjeld; Neerup, Mathias Mikkel; Larsen, Leon Bonde

    Experimental research in precision farming is a significant challenge due to the considerable resources required to perform field experiments. Simulating the field environment is a frequently used technique which is useful for functional software tests, but beyond that it is necessary to perform...... experiments. In this work we present a novel FrobitPro robot platform designed for rapid prototyping of FroboMind field robot applications. FrobitPro has a fundamental design similar to many current wheeled and tracked robots such as the Kongskilde Robotti, and the workflow of migrating from simulation...... as outdoor driving in semi-rugged terrain such as grass fields and bare soil. This paper presents the FrobitPro robot and describes two use cases in current research projects, namely the Grassbots project which focuses on harvesting of grass on lowland areas for biofuel production and the SAFE project...

  3. Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

    Directory of Open Access Journals (Sweden)

    Sun Young Noh

    2017-01-01

    Full Text Available This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator. The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point. In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery. A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided. A graphic simulator is implemented and used for dynamic analysis. Based on those results, a prototype manipulator and its control system are under development.

  4. The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

    Science.gov (United States)

    Kurc, Krzysztof; Szybicki, Dariusz; Burghardt, Andrzej; Muszyńska, Magdalena

    2016-04-01

    The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

  5. Ninety-six hours to build a prototype robot showing human emotions

    CERN Multimedia

    Stefania Pandolfi

    2016-01-01

    Thirty-five Master's students in the fields of business, design and engineering participated in an intensive five-day project-based introduction to programming and advanced electronics. The goal of the initiative was to build a fully functional prototype robot able to communicate and show at least four basic human emotions.    A group of students is presenting a prototype robot showing human emotions at IdeaSquare. With no previous experience in electronics or coding, groups of students from Portugal, Italy, Norway and Estonia were introduced to the basics of sensors, integrated circuits and actuators, and after just 96 hours they presented their functioning robots at IdeaSquare on Friday, 15 January. These robots, mostly built around Arduino boards and recycled materials, were able to display different human emotions as a response to external environmental inputs. The five-day workshop, called öBot, was organised by the IdeaSquare te...

  6. Design of the reactor vessel inspection robot for the advanced liquid metal reactor

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and Oak Ridge National Laboratory designed a prototype wall-crawling robot to perform weld inspection in an advanced nuclear reactor. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a mock non-hostile environment and shown to perform as expected, as detailed in this report

  7. Prototype of Remote Controlled Robot Vehicle to Scan Radioactive Contaminated Areas

    International Nuclear Information System (INIS)

    Ratongasoandrazana, J.B.; Raoelina Andriambololona; Rambolamanana, G.; Andrianiaina, H.; Rajaobelison, J.

    2016-01-01

    The ionizing radiations are not directly audible by the organs of sense of the human being. Maintenance and handling of sources of such ionizing radiations present some risks of very serious and often irreversible accident for human organism. The works of experimentation and maintenance in such zone also present the risks requiring some minimum of precaution. Thus, the main objective of this work is to design and develop (hard- and software) a prototype of educational semi-autonomous Radio Frequency controlled robot-vehicle based on 8-bit AVR-RISC Flash microcontroller system (ATmega128L) able to detect, identify and map the radioactive contaminated area. An integrated video camera coupled with a UHF video transmitter module, placed in front of the robot, will be used as visual feedback control to well direct it toward a precise place to reach. The navigation information and the data collected are transmitted from the robot toward the Computer via 02 Radio Frequency Transceivers for peer-to-peer serial data transfer in half-duplex mode. A Joystick module which is connected to the Computer parallel port allows full motion control of the platform. Robot-vehicle user interface program for the PC has been designed to allow full control of all functions of the robot vehicles.

  8. 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.

  9. FCJ-209 Indigenous Knowledge Systems and Pattern Thinking: An Expanded Analysis of the First Indigenous Robotics Prototype Workshop

    Directory of Open Access Journals (Sweden)

    Angie Abdilla

    2016-12-01

    Full Text Available In November 2014, the lead researcher’s interest in the conceptual development of digital technology and her cultural connection to Indigenous Knowledge Systems created an opportunity to explore a culturally relevant use of technology with urban Indigenous youth: the Indigenous Robotics Prototype Workshop. The workshop achieved a sense of cultural pride and confidence in Indigenous traditional knowledge while inspiring the youth to continue with their engagement in coding and programming through building robots. Yet, the outcomes from the prototype workshop further revealed a need to investigate how Indigenous Knowledge Systems, and particularly Pattern Thinking, might hint toward a possible paradigm shift for the ethical and advanced design of new technologies. This article examines the implications of such a hypothetical shift in autonomous systems in robotics and artificial intelligence (AI, using the Indigenous Robotics Prototype Workshop as a case study and springboard.

  10. A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

    Directory of Open Access Journals (Sweden)

    Shaowu Pan

    2015-04-01

    Full Text Available A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT, which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  11. A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

    Science.gov (United States)

    Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

    2015-04-08

    A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  12. Crawling the Control System

    International Nuclear Information System (INIS)

    Larrieu, Theodore

    2009-01-01

    Information about accelerator operations and the control system resides in various formats in a variety of places on the lab network. There are operating procedures, technical notes, engineering drawings, and other formal controlled documents. There are programmer references and API documentation generated by tools such as doxygen and javadoc. There are the thousands of electronic records generated by and stored in databases and applications such as electronic logbooks, training materials, wikis, and bulletin boards and the contents of text-based configuration files and log files that can also be valuable sources of information. The obvious way to aggregate all these sources is to index them with a search engine that users can then query from a web browser. Toward this end, the Google 'mini' search appliance was selected and implemented because of its low cost and its simple web-based configuration and management. In addition to crawling and indexing electronic documents, the appliance provides an API that has been used to supplement search results with live control system data such as current values of EPICS process variables and graphs of recent data from the archiver.

  13. Robotic gaming prototype for upper limb exercise: Effects of age and embodiment on user preferences and movement.

    Science.gov (United States)

    Eizicovits, Danny; Edan, Yael; Tabak, Iris; Levy-Tzedek, Shelly

    2018-01-01

    Effective human-robot interactions in rehabilitation necessitates an understanding of how these should be tailored to the needs of the human. We report on a robotic system developed as a partner on a 3-D everyday task, using a gamified approach. To: (1) design and test a prototype system, to be ultimately used for upper-limb rehabilitation; (2) evaluate how age affects the response to such a robotic system; and (3) identify whether the robot's physical embodiment is an important aspect in motivating users to complete a set of repetitive tasks. 62 healthy participants, young (60 yo), played a 3D tic-tac-toe game against an embodied (a robotic arm) and a non-embodied (a computer-controlled lighting system) partner. To win, participants had to place three cups in sequence on a physical 3D grid. Cup picking-and-placing was chosen as a functional task that is often practiced in post-stroke rehabilitation. Movement of the participants was recorded using a Kinect camera. The timing of the participants' movement was primed by the response time of the system: participants moved slower when playing with the slower embodied system (p = 0.006). The majority of participants preferred the robot over the computer-controlled system. Slower response time of the robot compared to the computer-controlled one only affected the young group's motivation to continue playing. We demonstrated the feasibility of the system to encourage the performance of repetitive 3D functional movements, and track these movements. Young and old participants preferred to interact with the robot, compared with the non-embodied system. We contribute to the growing knowledge concerning personalized human-robot interactions by (1) demonstrating the priming of the human movement by the robotic movement - an important design feature, and (2) identifying response-speed as a design variable, the importance of which depends on the age of the user.

  14. Low-Cost Rescue Robot for Disaster Management in a Developing Country: Development of a Prototype Using Locally Available Technology

    Science.gov (United States)

    Mahmud, Faisal; Hossain, S. G. M.; Bin, Jobair

    2010-01-01

    The use of robots in different fields is common and effective in developed countries. In case of incident management or emergency rescue after a disaster, robots are often used to lessen the human effort where it is either impossible or life-threatening for rescuers. Though developed countries can afford robotic-effort for pro-disaster management, the scenario is totally opposite for developing and under-developed countries to engage such a machine-help due to high cost of the machines and high maintenance cost as well. In this research paper, the authors proposed a low-cost "Rescue-Robot" for pro-disaster management which can overcome the budget-constraints as well as fully capable of rescue purposes for incident management. Here, all the research works were performed in Bangladesh - a developing country in South Asia. A disaster struck structure was chosen and a thorough survey was performed to understand the real-life environment for the prototype. The prototype was developed considering the results of this survey and it was manufactured using all locally available components and facilities.

  15. Social-educational evolution of crawling

    OpenAIRE

    Gomez-Paloma, Filippo; D'anna, Cristiana; Agrillo, Filomena

    2013-01-01

    For an adult who observes, a crawling baby is a tender and fun image, even though it’s not possible to imagine what can be hidden behind this movement. There are lot of thoughts on it, for example the idea that crawling is easier than walking alone and so children prefer it as it is their first physical movement. In spite of this we considerer that crawling is a motor sequence which is neither simple or immediate, especially for a baby whose average crawling age is eight months. The interest ...

  16. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  17. RCrawler: An R package for parallel web crawling and scraping

    Directory of Open Access Journals (Sweden)

    Salim Khalil

    2017-01-01

    Full Text Available RCrawler is a contributed R package for domain-based web crawling and content scraping. As the first implementation of a parallel web crawler in the R environment, RCrawler can crawl, parse, store pages, extract contents, and produce data that can be directly employed for web content mining applications. However, it is also flexible, and could be adapted to other applications. The main features of RCrawler are multi-threaded crawling, content extraction, and duplicate content detection. In addition, it includes functionalities such as URL and content-type filtering, depth level controlling, and a robot.txt parser. Our crawler has a highly optimized system, and can download a large number of pages per second while being robust against certain crashes and spider traps. In this paper, we describe the design and functionality of RCrawler, and report on our experience of implementing it in an R environment, including different optimizations that handle the limitations of R. Finally, we discuss our experimental results.

  18. 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

  19. Zigzag turning preference of freely crawling cells.

    Directory of Open Access Journals (Sweden)

    Taeseok Daniel Yang

    Full Text Available The coordinated motion of a cell is fundamental to many important biological processes such as development, wound healing, and phagocytosis. For eukaryotic cells, such as amoebae or animal cells, the cell motility is based on crawling and involves a complex set of internal biochemical events. A recent study reported very interesting crawling behavior of single cell amoeba: in the absence of an external cue, free amoebae move randomly with a noisy, yet, discernible sequence of 'run-and-turns' analogous to the 'run-and-tumbles' of swimming bacteria. Interestingly, amoeboid trajectories favor zigzag turns. In other words, the cells bias their crawling by making a turn in the opposite direction to a previous turn. This property enhances the long range directional persistence of the moving trajectories. This study proposes that such a zigzag crawling behavior can be a general property of any crawling cells by demonstrating that 1 microglia, which are the immune cells of the brain, and 2 a simple rule-based model cell, which incorporates the actual biochemistry and mechanics behind cell crawling, both exhibit similar type of crawling behavior. Almost all legged animals walk by alternating their feet. Similarly, all crawling cells appear to move forward by alternating the direction of their movement, even though the regularity and degree of zigzag preference vary from one type to the other.

  20. Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models.

    Science.gov (United States)

    Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki

    2005-08-01

    To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master-slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

  1. Radon reduction in crawl-space houses

    International Nuclear Information System (INIS)

    Osborne, M.C.; Moore, D.G.; Southerlan, R.E.; Brennan, T.; Pyle, B.E.

    1989-01-01

    This paper gives results of an EPA study of radon-mitigation alternatives for crawl space houses in several houses in Nashville, TN. Application of one of these alternative mitigation options, suction under a polyethylene membrane, has been successful in significantly reducing radon levels in both the crawl space and the house. The large radon concentrations measured under unvented plastic ground covers and the moisture barriers found in many crawl spaces can act as radon-rich reservoirs capable of contaminating a crawl space and house during periods of depressurization. With the exhaust components of the mitigation system in place, radon levels below the plastic decreased by more than 95% under both passive and active suction conditions. Based on the study, the design of a cost-effective subplastic suction passive radon mitigation system for crawl spaces seems promising

  2. Sketching CuddleBits : Coupled Prototyping of Body and Behaviour for an Affective Robot Pet

    NARCIS (Netherlands)

    Bucci, Paul; Cang, Xi Laura; Valair, Anasazi; Marino, David; Tseng, Lucia; Jung, Merel Madeleine; Rantala, Jussi; Schneider, Oliver S.; MacLean, Karon E.

    2017-01-01

    Social robots that physically display emotion invite natural communication with their human interlocutors, enabling ap- plications like robot-assisted therapy where a complex robot’s breathing influences human emotional and physiological state. Using DIY fabrication and assembly, we explore how sim-

  3. 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.

  4. An Industrial Perspective of CAM/ROB Fuzzy Integrated Postprocessing Implementation for Redundant Robotic Workcells Applicability for Big Volume Prototyping

    Science.gov (United States)

    Andrés, J.; Gracia, L.; Tornero, J.; García, J. A.; González, F.

    2009-11-01

    The implementation of a postprocessor for the NX™ platform (Siemens Corp.) is described in this paper. It is focused on a milling redundant robotic milling workcell consisting of one KUKA KR 15/2 manipulator (6 rotary joints, KRC2 controller) mounted on a linear axis and synchronized with a rotary table (i.e., two additional joints). For carrying out a milling task, a choice among a set of possible configurations is required, taking into account the ability to avoid singular configurations by using both additional joints. Usually, experience and knowledge of the workman allow an efficient control in these cases, but being it a tedious job. Similarly to this expert knowledge, a stand-alone fuzzy controller has been programmed with Matlab's Fuzzy Logic Toolbox (The MathWorks, Inc.). Two C++ programs complement the translation of the toolpath tracking (expressed in the Cartesian space) from the NX™-CAM module into KRL (KUKA Robot Language). In order to avoid singularities or joint limits, the location of the robot and the workpiece during the execution of the task is fit after an inverse kinematics position analysis and a fuzzy inference (i.e., fuzzy criterion in the Joint Space). Additionally, the applicability of robot arms for the manufacture of big volume prototypes with this technique is proven by means of one case studied. It consists of a big orographic model to simulate floodways, return flows and retention storage of a reservoir in the Mijares river (Puebla de Arenoso, Spain). This article deals with the problem for a constant tool orientation milling process and sets the technological basis for future research at five axis milling operations.

  5. In-service inspection robot for PFBR main vessel- concept

    Energy Technology Data Exchange (ETDEWEB)

    Rajendran, S; Ramakumar, M S [Bhabha Atomic Research Centre, Mumbai (India). Div. of Remote Handling and Robotics

    1994-12-31

    In-service inspection (ISI) of critical components in a nuclear reactor is one of the foremost and important tasks which reveals the state of health of the system, thereby ensuring the safety of the plant, personnel and environment. Prototype Fast Breeder Reactor (PFBR) is designed as a pool type reactor. A safety vessel is provided in the design which envelopes the main reactor vessel. The ISI of the main vessel is mandatory and will be carried out by a robot which will operate on this annular gap. The design of the robot is such that it can crawl around the vessel and into the gap at the bottom of the vessel relying on friction grip. The mobile robot will carry a CCTV camera and the inspection technique packages into the interspace, position and orient these to carry out the ISI of the main vessel. The paper discusses about the design features of the robot including the gripping mechanism and the crawling sequence to perform ISI of the reactor vessel. 3 figs.

  6. In-service inspection robot for PFBR main vessel- concept

    International Nuclear Information System (INIS)

    Rajendran, S.; Ramakumar, M.S.

    1994-01-01

    In-service inspection (ISI) of critical components in a nuclear reactor is one of the foremost and important tasks which reveals the state of health of the system, thereby ensuring the safety of the plant, personnel and environment. Prototype Fast Breeder Reactor (PFBR) is designed as a pool type reactor. A safety vessel is provided in the design which envelopes the main reactor vessel. The ISI of the main vessel is mandatory and will be carried out by a robot which will operate on this annular gap. The design of the robot is such that it can crawl around the vessel and into the gap at the bottom of the vessel relying on friction grip. The mobile robot will carry a CCTV camera and the inspection technique packages into the interspace, position and orient these to carry out the ISI of the main vessel. The paper discusses about the design features of the robot including the gripping mechanism and the crawling sequence to perform ISI of the reactor vessel. 3 figs

  7. Quadruped locomotion system of prototype advanced robot for nuclear power plant facilities

    International Nuclear Information System (INIS)

    Sugiyama, Sakae

    1991-01-01

    The development of the robots for the works in nuclear power stations has been promoted. The demonstration machine developed comprises subsystems so that the design, manufacture, operation, maintenance and so on of the robots are simplified and made convenient, that is, the command for all actions, visual information processing subsystem, manipulation subsystem and movement subsystem. In this report, the elementary technology of movement and the movement subsystem are described. Quadruped walking, intelligent type motion control, and the target specification, movement subsystem and test of the demonstration machine are explained. (K.I.)

  8. Research and Development of Target Recognition and Location Crawling Platform based on Binocular Vision

    Science.gov (United States)

    Xu, Weidong; Lei, Zhu; Yuan, Zhang; Gao, Zhenqing

    2018-03-01

    The application of visual recognition technology in industrial robot crawling and placing operation is one of the key tasks in the field of robot research. In order to improve the efficiency and intelligence of the material sorting in the production line, especially to realize the sorting of the scattered items, the robot target recognition and positioning crawling platform based on binocular vision is researched and developed. The images were collected by binocular camera, and the images were pretreated. Harris operator was used to identify the corners of the images. The Canny operator was used to identify the images. Hough-chain code recognition was used to identify the images. The target image in the image, obtain the coordinates of each vertex of the image, calculate the spatial position and posture of the target item, and determine the information needed to capture the movement and transmit it to the robot control crawling operation. Finally, In this paper, we use this method to experiment the wrapping problem in the express sorting process The experimental results show that the platform can effectively solve the problem of sorting of loose parts, so as to achieve the purpose of efficient and intelligent sorting.

  9. Anesthesia for robotic cardiac surgery: An amalgam of technology and skill

    Directory of Open Access Journals (Sweden)

    Chauhan Sandeep

    2010-01-01

    Full Text Available The surgical procedures performed with robtic assitance and the scope for its future assistance is endless. To keep pace with the developing technologies in this field it is imperative for the cardiac anesthesiologists to have aworking knowledge of these systems, recognize potential complications and formulate an anesthetic plan to provide safe patient care. Challenges posed by the use of robotic systems include, long surgical times, problems with one lung anesthesia in presence of coronary artery disease, minimally invasive percutaneous cardiopulmonary bypass management and expertise in Trans-Esophageal Echocardiography. A long list of cardiac surgeries are performed with the use of robotic assistance, and the list is continuously growing as surgical innovation crosses new boundaries. Current research in robotic cardiac surgery like beating heart off pump intracardic repair, prototype epicardial crawling device, robotic fetal techniques etc. are in the stage of animal experimentation, but holds a lot of promise in future

  10. Unikabeton Prototype

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn; Dombernowsky, Per

    2011-01-01

    The Unikabeton prototype structure was developed as the finalization of the cross-disciplinary research project Unikabeton, exploring the architectural potential in linking the computational process of topology optimisation with robot fabrication of concrete casting moulds. The project was elabor......The Unikabeton prototype structure was developed as the finalization of the cross-disciplinary research project Unikabeton, exploring the architectural potential in linking the computational process of topology optimisation with robot fabrication of concrete casting moulds. The project...... of Architecture was to develop a series of optimisation experiments, concluding in the design and optimisation of a full scale prototype concrete structure....

  11. Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery.

    Science.gov (United States)

    Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

    2011-06-01

    This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.

  12. User-Centric Feedback for the Development and Review of a Unique Robotic Glove Prototype to Be Used in Therapy

    Directory of Open Access Journals (Sweden)

    Stuart James Biggar

    2017-01-01

    Full Text Available Disability can be a great impediment to daily living in later life and is often the result of illness or trauma. Modern thoughts on treatment are orientated towards the use of robotics; however, these are often designed without consultation with the user. This paper used a 5-point questionnaire to ask former therapy patients what they felt needed further improvements from potential robotics and what features of such a system were the most important. Significant emphasis was placed on helping them to grasp (M = 4.63 as well as having a functional use. They also desired a system with clearly distinguished (M = 4.22 and easy to operate controls (M = 4.44 whilst allowing them some freedom to move around independently (M = 4.44. This provided the rationale for a prototype dual-layered vacuum glove that was sampled by healthcare staff to provide feedback that forms the basis for future improvements.

  13. Experiments with a First Prototype of a Spatial Model of Cultural Meaning through Natural-Language Human-Robot Interaction

    Directory of Open Access Journals (Sweden)

    Oliver Schürer

    2018-01-01

    Full Text Available When using assistive systems, the consideration of individual and cultural meaning is crucial for the utility and acceptance of technology. Orientation, communication and interaction are rooted in perception and therefore always happen in material space. We understand that a major problem lies in the difference between human and technical perception of space. Cultural policies are based on meanings including their spatial situation and their rich relationships. Therefore, we have developed an approach where the different perception systems share a hybrid spatial model that is generated by artificial intelligence—a joint effort by humans and assistive systems. The aim of our project is to create a spatial model of cultural meaning based on interaction between humans and robots. We define the role of humanoid robots as becoming our companions. This calls for technical systems to include still inconceivable human and cultural agendas for the perception of space. In two experiments, we tested a first prototype of the communication module that allows a humanoid to learn cultural meanings through a machine learning system. Interaction is achieved by non-verbal and natural-language communication between humanoids and test persons. This helps us to better understand how a spatial model of cultural meaning can be developed.

  14. The Design and Implementation of a Prototype Surf-Zone Robot for Waterborne Operations

    Science.gov (United States)

    2015-12-01

    Measurement Unit IR Infrared MC Mission Complexity MONTe Mobility over Non-Trivial Terrain MOSART Mobile Surf-zone Amphibious Robot NIST... rubber coating (Plasti-Dip) and a liquid repellent treatment (Rust-Oleum Never Wet–multisurface). An FDM sparse part T5 was coated as depicted in Figure...Coating Process on FDM Part T5 Figure 15. (a) FDM part with two layers of black rubber coating (first coating), (b) FDM part with liquid repelling

  15. Localization of a Robotic Crawler for CANDU Fuel Channel Inspection

    Science.gov (United States)

    Manning, Mark

    This thesis discusses the design and development of a pipe crawling robot for the purpose of CANDU fuel channel inspection. The pipe crawling robot shall be capable of deploying the existing CIGAR (Channel Inspection and Gauging Apparatus for Reactors) sensor head. The main focus of this thesis is the design of the localization system for this robot and the many tests that were completed to demonstrate its accuracy. The proposed localization system consists of three redundant resolver wheels mounted to the robot's frame and two resolvers that are mounted inside a custom made cable drum. This cable drum shall be referred to in this thesis as the emergency retrieval device. This device serves the dual-purpose of providing absolute position measurements (via the cable that is tethered to the robot) as well as retrieving the robot if it is inoperable. The estimated accuracy of the proposed design is demonstrated with the use of a proof-of-concept prototype and a custom made test bench that uses a vision system to provide a more accurate estimate of the robot's position. The only major difference between the proof-of-concept prototype and the proposed solution is that the more expensive radiation hardened components were not used in the proof-of-concept prototype design. For example, the proposed solution shall use radiation hardened resolver wheels, whereas the proof-of-concept prototype used encoder wheels. These encoder wheels provide the same specified accuracy as the radiation hardened resolvers for the most realistic results possible. The rationale behind the design of the proof-of-concept prototype, the proposed final design, the design of the localization system test bench, and the test plan for developing all of the components of the design related to the robot's localization system are discussed in the thesis. The test plan provides a step by step guide to the configuration and optimization of an Unscented Kalman Filter (UKF). The UKF was selected as the ideal

  16. On a poroviscoelastic model for cell crawling

    KAUST Repository

    Kimpton, L. S.

    2014-02-08

    In this paper a minimal, one-dimensional, two-phase, viscoelastic, reactive, flow model for a crawling cell is presented. Two-phase models are used with a variety of constitutive assumptions in the literature to model cell motility. We use an upper-convected Maxwell model and demonstrate that even the simplest of two-phase, viscoelastic models displays features relevant to cell motility. We also show care must be exercised in choosing parameters for such models as a poor choice can lead to an ill-posed problem. A stability analysis reveals that the initially stationary, spatially uniform strip of cytoplasm starts to crawl in response to a perturbation which breaks the symmetry of the network volume fraction or network stress. We also demonstrate numerically that there is a steady travelling-wave solution in which the crawling velocity has a bell-shaped dependence on adhesion strength, in agreement with biological observation.

  17. A minimal physical model for crawling cells

    Science.gov (United States)

    Tiribocchi, Adriano; Tjhung, Elsen; Marenduzzo, Davide; Cates, Michael E.

    Cell motility in higher organisms (eukaryotes) is fundamental to biological functions such as wound healing or immune response, and is also implicated in diseases such as cancer. For cells crawling on solid surfaces, considerable insights into motility have been gained from experiments replicating such motion in vitro. Such experiments show that crawling uses a combination of actin treadmilling (polymerization), which pushes the front of a cell forward, and myosin-induced stress (contractility), which retracts the rear. We present a simplified physical model of a crawling cell, consisting of a droplet of active polar fluid with contractility throughout, but treadmilling connected to a thin layer near the supporting wall. The model shows a variety of shapes and/or motility regimes, some closely resembling cases seen experimentally. Our work supports the view that cellular motility exploits autonomous physical mechanisms whose operation does not need continuous regulatory effort.

  18. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  19. Robot Beroda Perambat Dinding Berbasis Mikrokontroler ATmega 2560 Dilengkapi Kendali Nirkabel dan Penghindar Rintangan

    Directory of Open Access Journals (Sweden)

    Eko Didik Widianto

    2017-05-01

    Full Text Available This research developed a mobile wall climbing robot prototype using 4 DC motors as its driver and a suction tube. It can avoid obstacles. This robot uses Arduino Mega 2560 as its controller board. The robot's weight is 747 grams. The suction tube produces a suction force of 7.815N capable of holding the robot load in a stall vertical position using 12V of voltage. The robot able to crawl down and horizontal, but still can not climb vertically. The robot is able to receive a command of motion manually from a 2.4GHz wireless joystick. In automatic mode, the robot can avoid obstacles using the HC-SR04 proximity sensor. This research also shows the relationship between suction force and the given voltage of DC brushless motor and its throtle value. Penelitian ini mengembangkan sebuah purwarupa robot perambat dinding beroda dengan 4 buah motor DC sebagai penggerak dan sebuah tabung hisap serta dapat menghindari rintangan. Robot ini menggunakan Arduino Mega 2560 sebagai papan kontrolernya. Bobot robot adalah 747 gram. Gaya hisap dari tabung hisap sebesar 7,815N mampu menahan beban robot dalam posisi diam vertikal di tegangan 12V. Robot mampu merambat turun dan mendatar, namun masih tidak bisa naik vertikal. Robot mampu diberikan perintah gerak secara manual dari tombol joystick playstation nirkabel 2,4 GHz. Di mode otomatis, robot dapat bergerak menghindari rintangan menggunakan sensor jarak HC-SR04. Dalam penelitian ini ditunjukkan hubungan antara gaya hisap dengan nilai tegangan motor DC brushless dan nilai throtle-nya.

  20. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

  1. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

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

  2. Robotics

    Indian Academy of Sciences (India)

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

  3. Parametric optimization in virtual prototyping environment of the control device for a robotic system used in thin layers deposition

    Science.gov (United States)

    Enescu (Balaş, M. L.; Alexandru, C.

    2016-08-01

    The paper deals with the optimal design of the control system for a 6-DOF robot used in thin layers deposition. The optimization is based on parametric technique, by modelling the design objective as a numerical function, and then establishing the optimal values of the design variables so that to minimize the objective function. The robotic system is a mechatronic product, which integrates the mechanical device and the controlled operating device.The mechanical device of the robot was designed in the CAD (Computer Aided Design) software CATIA, the 3D-model being then transferred to the MBS (Multi-Body Systems) environment ADAMS/View. The control system was developed in the concurrent engineering concept, through the integration with the MBS mechanical model, by using the DFC (Design for Control) software solution EASY5. The necessary angular motions in the six joints of the robot, in order to obtain the imposed trajectory of the end-effector, have been established by performing the inverse kinematic analysis. The positioning error in each joint of the robot is used as design objective, the optimization goal being to minimize the root mean square during simulation, which is a measure of the magnitude of the positioning error varying quantity.

  4. Comparing topic coverage in breadth-first and depth-first crawls using anchor texts

    NARCIS (Netherlands)

    Samar, Thaer; Traub, Myriam C.; van Ossenbruggen, Jacco; de Vries, Arjen P.

    2016-01-01

    Web archives preserve the fast changing Web by repeatedly crawling its content. The crawling strategy has an influence on the data that is archived. We use link anchor text of two Web crawls created with different crawling strategies in order to compare their coverage of past popular topics. One of

  5. Gender bias in mothers' expectations about infant crawling.

    Science.gov (United States)

    Mondschein, E R; Adolph, K E; Tamis-LeMonda, C S

    2000-12-01

    Although boys outshine girls in a range of motor skills, there are no reported gender differences in motor performance during infancy. This study examined gender bias in mothers' expectations about their infants' motor development. Mothers of 11-month-old infants estimated their babies' crawling ability, crawling attempts, and motor decisions in a novel locomotor task-crawling down steep and shallow slopes. Mothers of girls underestimated their performance and mothers of boys overestimated their performance. Mothers' gender bias had no basis in fact. When we tested the infants in the same slope task moments after mothers' provided their ratings, girls and boys showed identical levels of motor performance. Copyright 2000 Academic Press.

  6. Fast crawling methods of exploring content distributed over large graphs

    KAUST Repository

    Wang, Pinghui; Zhao, Junzhou; Lui, John C. S.; Towsley, Don; Guan, Xiaohong

    2018-01-01

    Despite recent effort to estimate topology characteristics of large graphs (e.g., online social networks and peer-to-peer networks), little attention has been given to develop a formal crawling methodology to characterize the vast amount of content

  7. Intelligent Sensing for Robotic Re-Manufacturing in Aerospace - An Industry 4.0 Design Based Prototype

    OpenAIRE

    French, R.; Benakis, M.; Marin-Reyes, H.

    2018-01-01

    Emerging through an industry-academia\\ud collaboration between the University of Sheffield and VBC\\ud Instrument Engineering Ltd, a proposed robotic solution for remanufacturing\\ud of jet engine compressor blades is under ongoing\\ud development, producing the first tangible results for evaluation.\\ud Having successfully overcome concept adaptation, funding\\ud mechanisms, design processes, with research and development\\ud trials, the stage of concept optimization and end-user application\\ud ha...

  8. Arm coordination in octopus crawling involves unique motor control strategies.

    Science.gov (United States)

    Levy, Guy; Flash, Tamar; Hochner, Binyamin

    2015-05-04

    To cope with the exceptional computational complexity that is involved in the control of its hyper-redundant arms [1], the octopus has adopted unique motor control strategies in which the central brain activates rather autonomous motor programs in the elaborated peripheral nervous system of the arms [2, 3]. How octopuses coordinate their eight long and flexible arms in locomotion is still unknown. Here, we present the first detailed kinematic analysis of octopus arm coordination in crawling. The results are surprising in several respects: (1) despite its bilaterally symmetrical body, the octopus can crawl in any direction relative to its body orientation; (2) body and crawling orientation are monotonically and independently controlled; and (3) contrasting known animal locomotion, octopus crawling lacks any apparent rhythmical patterns in limb coordination, suggesting a unique non-rhythmical output of the octopus central controller. We show that this uncommon maneuverability is derived from the radial symmetry of the arms around the body and the simple pushing-by-elongation mechanism by which the arms create the crawling thrust. These two together enable a mechanism whereby the central controller chooses in a moment-to-moment fashion which arms to recruit for pushing the body in an instantaneous direction. Our findings suggest that the soft molluscan body has affected in an embodied way [4, 5] the emergence of the adaptive motor behavior of the octopus. Copyright © 2015 Elsevier Ltd. All rights reserved.

  9. Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots

    Science.gov (United States)

    2010-04-01

    you are performing the low crawl 4.25 5.00 Drive the robot while you are negotiating the hill 6.00 5.00 Drive the robot while you are climbing the... stairs 4.67 5.00 Drive the robot while you are walking 5.70 5.27 HMD It was fairly doable. 1 When you’re looking through the lens, it’s not...Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots by Elizabeth S. Redden, Rodger A. Pettitt

  10. Staged Event-Driven Architecture As A Micro-Architecture Of Distributed And Pluginable Crawling Platform

    Directory of Open Access Journals (Sweden)

    Leszek Siwik

    2013-01-01

    Full Text Available There are many crawling systems available on the market but they are rather close systems dedicated for performing particular kind and class of tasks with predefined set of scope, strategy etc. In real life however there are meaningful groups of users (e.g. marketing, criminal or governmental analysts requiring not just a yet another crawling system dedicated for performing predefined tasks. They need rather easy-to-use, user friendly all-in-one studio for not only executing and running internet robots and crawlers, but also for (graphical (redefining and (recomposing crawlers according to dynamically changing requirements and use-cases. To realize the above-mentioned idea, Cassiopeia framework has been designed and developed. One has to remember, however, that enormous size and unimaginable structural complexity of WWW network are the reasons that, from a technical and architectural point of view, developing effective internet robots – and the more so developing a framework supporting graphical robots’ composition – becomes a really challenging task. The crucial aspect in the context of crawling efficiency and scalability is concurrency model applied. There are two the most typical concurrency management models i.e. classical concurrency based on the pool of threads and processes and event-driven concurrency. None of them are ideal approaches. That is why, research on alternative models is still conducted to propose efficient and convenient architecture for concurrent and distributed applications. One of promising models is staged event-driven architecture mixing to some extent both of above mentioned classical approaches and providing some additional benefits such as splitting application into separate stages connected by events queues – what is interesting taking requirements about crawler (recomposition into account. The goal of this paper is to present the idea and the PoC  implementation of Cassiopeia framework, with the special

  11. Crawl-Based Analysis of Web Applications : Prospects and Challenges

    NARCIS (Netherlands)

    Van Deursen, A.; Mesbah, A.; Nederlof, A.

    2014-01-01

    In this paper we review five years of research in the field of automated crawling and testing of web applications. We describe the open source Crawljax tool, and the various extensions that have been proposed in order to address such issues as cross-browser compatibility testing, web application

  12. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

    Full Text Available Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a prototyping robot, which provides facilities for attaching and fitting different kinds of sensors and actuators. This robot provides an easy way to turn a general purpose robot into a special function one.

  13. TECHNIQUE AND METHODOLOGY OF TRAINING IN SWIMMING CRAWL

    Directory of Open Access Journals (Sweden)

    Selim Alili

    2013-07-01

    Full Text Available The paper shows the technique and methodology training crawl swimming. Developed: the position of the head and body, footwork, hand movements, exercises for training footwork training drills and exercises for improving coordination technique on dry land and in water. Stated that accomplishes this swimmer swimming technique allows fast and is the fastest discipline. Therefore we can say that it is a favorite way of swimming and a pleasure to watch on the big stage.

  14. Autocatalytic polymerization generates persistent random walk of crawling cells.

    Science.gov (United States)

    Sambeth, R; Baumgaertner, A

    2001-05-28

    The autocatalytic polymerization kinetics of the cytoskeletal actin network provides the basic mechanism for a persistent random walk of a crawling cell. It is shown that network remodeling by branching processes near the cell membrane is essential for the bimodal spatial stability of the network which induces a spontaneous breaking of isotropic cell motion. Details of the phenomena are analyzed using a simple polymerization model studied by analytical and simulation methods.

  15. Soft Dielectric Elastomer Oscillators Driving Bioinspired Robots.

    Science.gov (United States)

    Henke, E-F Markus; Schlatter, Samuel; Anderson, Iain A

    2017-12-01

    Entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. To produce them, we must integrate control and actuation in the same soft structure. Soft actuators (e.g., pneumatic and hydraulic) exist but electronics are hard and stiff and remotely located. We present novel soft, electronics-free dielectric elastomer oscillators, which are able to drive bioinspired robots. As a demonstrator, we present a robot that mimics the crawling motion of the caterpillar, with an integrated artificial nervous system, soft actuators and without any conventional stiff electronic parts. Supplied with an external DC voltage, the robot autonomously generates all signals that are necessary to drive its dielectric elastomer actuators, and it translates an in-plane electromechanical oscillation into a crawling locomotion movement. Therefore, all functional and supporting parts are made of polymer materials and carbon. Besides the basic design of this first electronic-free, biomimetic robot, we present prospects to control the general behavior of such robots. The absence of conventional stiff electronics and the exclusive use of polymeric materials will provide a large step toward real animal-like robots, compliant human machine interfaces, and a new class of distributed, neuron-like internal control for robotic systems.

  16. Underwater floating robot-fish: a comparative analysis of the results of mathematical modelling and full-scale tests of the prototype

    Directory of Open Access Journals (Sweden)

    Jatsun Sergey

    2017-01-01

    Full Text Available The article presents a comparative analysis of the results of computer mathematical modelling of the motion of the underwater robot-fish implemented by using the MATLAB / Simulink package and fullscale tests of an experimental model developed in the laboratory of mechatronics and robotics of the SouthWest State University.

  17. Radon mitigation experience in houses with basements and adjoining crawl spaces

    International Nuclear Information System (INIS)

    Messing, M.; Henschel, D.B.

    1990-01-01

    Active soil depressurization systems were installed in four basement houses with adjoining crawl spaces in Maryland. In addition, existing soil depressurization systems were modified in two additional basement-plus-crawl-space houses. These six houses were selected to include both good and poor communication beneath the basement slab, and different degrees of importance of the crawl space as a source of the indoor radon. The radon reduction effectiveness was compared for: depressurization only under the basement slab; depressurization only under a polyethylene liner over the unpaved crawl-space floor; and simultaneous depressurization under both the basement slab and the crawl-space liner. The objective of this paper is to identify under what conditions treatment of the basement alone might provide sufficient radon reductions in houses of this substructure, and what incremental benefits might be achieved by also treating the crawl space

  18. Architectural prototyping

    DEFF Research Database (Denmark)

    Bardram, Jakob Eyvind; Christensen, Henrik Bærbak; Hansen, Klaus Marius

    2004-01-01

    A major part of software architecture design is learning how specific architectural designs balance the concerns of stakeholders. We explore the notion of "architectural prototypes", correspondingly architectural prototyping, as a means of using executable prototypes to investigate stakeholders...

  19. Fast crawling methods of exploring content distributed over large graphs

    KAUST Repository

    Wang, Pinghui

    2018-03-15

    Despite recent effort to estimate topology characteristics of large graphs (e.g., online social networks and peer-to-peer networks), little attention has been given to develop a formal crawling methodology to characterize the vast amount of content distributed over these networks. Due to the large-scale nature of these networks and a limited query rate imposed by network service providers, exhaustively crawling and enumerating content maintained by each vertex is computationally prohibitive. In this paper, we show how one can obtain content properties by crawling only a small fraction of vertices and collecting their content. We first show that when sampling is naively applied, this can produce a huge bias in content statistics (i.e., average number of content replicas). To remove this bias, one may use maximum likelihood estimation to estimate content characteristics. However, our experimental results show that this straightforward method requires to sample most vertices to obtain accurate estimates. To address this challenge, we propose two efficient estimators: special copy estimator (SCE) and weighted copy estimator (WCE) to estimate content characteristics using available information in sampled content. SCE uses the special content copy indicator to compute the estimate, while WCE derives the estimate based on meta-information in sampled vertices. We conduct experiments on a variety of real-word and synthetic datasets, and the results show that WCE and SCE are cost effective and also “asymptotically unbiased”. Our methodology provides a new tool for researchers to efficiently query content distributed in large-scale networks.

  20. A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.

    Science.gov (United States)

    Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong

    2018-04-01

    A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

  1. DSLs in robotics

    DEFF Research Database (Denmark)

    Schultz, Ulrik Pagh; Bordignon, Mirko; Stoy, Kasper

    2017-01-01

    Robotic systems blend hardware and software in a holistic way that intrinsically raises many crosscutting concerns such as concurrency, uncertainty, and time constraints. These concerns make programming robotic systems challenging as expertise from multiple domains needs to be integrated...... conceptually and technically. Programming languages play a central role in providing a higher level of abstraction. This briefing presents a case study on the evolution of domain-specific languages based on modular robotics. The case study on the evolution of domain-specific languages is based on a series...... of DSL prototypes developed over five years for the domain of modular, self-reconfigurable robots....

  2. Crawl space assisted heat pump. [using stored ground heat

    Science.gov (United States)

    Ternes, M. P.

    1980-01-01

    A variety of experiments and simulations, currently being designed or underway, to determine the feasibility of conditioning the source air of an air to air heat pump using stored ground heat or cool to produce higher seasonal COP's and net energy savings are discussed. The ground would condition ambient air as it is drawn through the crawl space of a house. Tests designed to evaluate the feasibility of the concept, to determine the amount of heat or cool available from the ground, to study the effect of the system on the heating and cooling loads of the house, to study possible mechanisms which could enhance heat flow through the ground, and to determine if diurnal temperature swings are necessary to achieve successful system performance are described.

  3. Collaborative Prototyping

    DEFF Research Database (Denmark)

    Bogers, Marcel; Horst, Willem

    2014-01-01

    of the prototyping process, the actual prototype was used as a tool for communication or development, thus serving as a platform for the cross-fertilization of knowledge. In this way, collaborative prototyping leads to a better balance between functionality and usability; it translates usability problems into design......This paper presents an inductive study that shows how collaborative prototyping across functional, hierarchical, and organizational boundaries can improve the overall prototyping process. Our combined action research and case study approach provides new insights into how collaborative prototyping...... can provide a platform for prototype-driven problem solving in early new product development (NPD). Our findings have important implications for how to facilitate multistakeholder collaboration in prototyping and problem solving, and more generally for how to organize collaborative and open innovation...

  4. Using an Integrated Naive Bayes Calssifier for Crawling Relevent Data on the Web

    Science.gov (United States)

    Mihsra, A.

    2015-12-01

    In our experiments (at JPL, NASA) for DARPA Memex project, we wanted to crawl a large amount of data for various domains. A big challenge was data relevancy in the crawled data. More than 50% of the data was irrelevant to the domain at hand. One immediate solution was to use good seeds (seeds are the initial urls from where the program starts to crawl) and make sure that the crawl remains into the original host urls. This although a very efficient technique, fails under two conditions. One when you aim to reach deeper into the web; into new hosts (not in the seed list) and two when the website hosts myriad content types eg. a News website.The relevancy calculation used to be a post processing step i.e. once we had finished crawling, we trained a NaiveBayes Classifier and used it to find a rough relevancy of the web pages that we had. Integrating the relevancy into the crawling rather than after it was very important because crawling takes resources and time. To save both we needed to get an idea of relevancy of the whole crawl during run time and be able to steer its course accordingly. We use Apache Nutch as the crawler, which uses a plugin system to incorporate any new implementations and hence we built a plugin for Nutch.The Naive Bayes Parse Plugin works in the following way. It parses every page and decides, using a trained model (which is built in situ only once using the positive and negative examples given by the user in a very simple format), if it is relevant; If true, then it allows all the outlinks from that page to go to the next round of crawling; If not, then it gives the urls a second chance to prove themselves by checking some commonly expected words in the url relevant to that domain. This two tier system is very intuitive and efficient in focusing the crawl. In our initial test experiments over 100 seed urls, the results were astonishingly good with a recall of 98%.The same technique can be applied to geo-informatics. This will help scientists

  5. Soft Ultrathin Electronics Innervated Adaptive Fully Soft Robots.

    Science.gov (United States)

    Wang, Chengjun; Sim, Kyoseung; Chen, Jin; Kim, Hojin; Rao, Zhoulyu; Li, Yuhang; Chen, Weiqiu; Song, Jizhou; Verduzco, Rafael; Yu, Cunjiang

    2018-03-01

    Soft robots outperform the conventional hard robots on significantly enhanced safety, adaptability, and complex motions. The development of fully soft robots, especially fully from smart soft materials to mimic soft animals, is still nascent. In addition, to date, existing soft robots cannot adapt themselves to the surrounding environment, i.e., sensing and adaptive motion or response, like animals. Here, compliant ultrathin sensing and actuating electronics innervated fully soft robots that can sense the environment and perform soft bodied crawling adaptively, mimicking an inchworm, are reported. The soft robots are constructed with actuators of open-mesh shaped ultrathin deformable heaters, sensors of single-crystal Si optoelectronic photodetectors, and thermally responsive artificial muscle of carbon-black-doped liquid-crystal elastomer (LCE-CB) nanocomposite. The results demonstrate that adaptive crawling locomotion can be realized through the conjugation of sensing and actuation, where the sensors sense the environment and actuators respond correspondingly to control the locomotion autonomously through regulating the deformation of LCE-CB bimorphs and the locomotion of the robots. The strategy of innervating soft sensing and actuating electronics with artificial muscles paves the way for the development of smart autonomous soft robots. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  6. Closed Crawl Space Performance: Proof of Concept in the Production Builder Marketplace

    Energy Technology Data Exchange (ETDEWEB)

    Malkin-Weber, Melissa; Dastur, Cyrus; Mauceri, Maria; Hannas, Benjamin

    2008-10-30

    This overview is intended to be a very concise, limited summary of the key project activities discussed in the detailed report that follows. Due to the large scope of this project, the detailed report is broken into three individually titled sections. Each section repeats key background information, with the goal that the sections will eventually stand alone as complete reports on the major activities of the project. The information presented herein comes from ongoing research, so please note that all observations, findings and recommendations presented are preliminary and subject to change in the future. We invite and welcome your comments and suggestions for improving the project. Advanced Energy completed its first jointly-funded crawl space research project with the Department of Energy in 2005. That project, funded under award number DE-FC26-00NT40995 and titled 'A Field Study Comparison of the Energy and Moisture Performance Characteristics of Ventilated Versus Sealed Crawl Spaces in the South' demonstrated the substantial energy efficiency and moisture management benefits that result from using properly closed crawl space foundations for residential construction instead of traditional wall vented crawl space foundations. Two activities of this first project included (1) an assessment of ten existing homes to document commonly observed energy and moisture failures associated with wall-vented crawl space foundations and (2) a detailed literature review that documented both the history of closed crawl space research and the historical lack of scientific justification for building code requirements for crawl space ventilation. The most valuable activity of the 2005 project proved to be the field demonstration of various closed crawl space techniques, which were implemented in a set of twelve small (1040 square feet), simply designed homes in eastern North Carolina. These homes had matched envelope, mechanical and architectural designs, and comparable

  7. The Costs and Benefits of Development: The Transition From Crawling to Walking.

    Science.gov (United States)

    Adolph, Karen E; Tamis-LeMonda, Catherine S

    2014-12-02

    The transition from crawling to walking requires infants to relinquish their status as experienced, highly skilled crawlers in favor of being inexperienced, lowskilled walkers. Yet infants willingly undergo this developmental transition, despite incurring costs of shaky steps, frequent falls, and inability to gauge affordances for action in their new upright posture. Why do infants persist with walking when crawling serves the purpose of independent mobility? In this article, we present an integrative analysis of the costs and benefits associated with crawling and walking that challenges prior assumptions, and reveals deficits of crawling and benefits of upright locomotion that were previously overlooked. Inquiry into multiple domains of development reveals that the benefits of persisting with walking outweigh the costs: Compared to crawlers, walking infants cover more space more quickly, experience richer visual input, access and play more with distant objects, and interact in qualitatively new ways with caregivers.

  8. An octopus-bioinspired solution to movement and manipulation for soft robots.

    Science.gov (United States)

    Calisti, M; Giorelli, M; Levy, G; Mazzolai, B; Hochner, B; Laschi, C; Dario, P

    2011-09-01

    Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

  9. An octopus-bioinspired solution to movement and manipulation for soft robots

    Energy Technology Data Exchange (ETDEWEB)

    Calisti, M; Giorelli, M; Laschi, C; Dario, P [BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa (Italy); Levy, G; Hochner, B [Hebrew University of Jerusalem, Jerusalem (Israel); Mazzolai, B, E-mail: marcello.calisti@sssup.it, E-mail: michele.giorelli@sssup.it, E-mail: guy.levy@mail.huji.ac.il, E-mail: barbara.mazzolai@iit.it, E-mail: Binyamin.Hochner@huji.ac.il, E-mail: cecilia.laschi@sssup.it, E-mail: paolo.dario@sssup.it [Centre for Micro-BioRobotics-SSSA, Istituto Italiano di Tecnologia, Pontedera (Italy)

    2011-09-15

    Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

  10. An octopus-bioinspired solution to movement and manipulation for soft robots

    International Nuclear Information System (INIS)

    Calisti, M; Giorelli, M; Laschi, C; Dario, P; Levy, G; Hochner, B; Mazzolai, B

    2011-01-01

    Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

  11. An Efficient Approach for Web Indexing of Big Data through Hyperlinks in Web Crawling

    Science.gov (United States)

    Devi, R. Suganya; Manjula, D.; Siddharth, R. K.

    2015-01-01

    Web Crawling has acquired tremendous significance in recent times and it is aptly associated with the substantial development of the World Wide Web. Web Search Engines face new challenges due to the availability of vast amounts of web documents, thus making the retrieved results less applicable to the analysers. However, recently, Web Crawling solely focuses on obtaining the links of the corresponding documents. Today, there exist various algorithms and software which are used to crawl links from the web which has to be further processed for future use, thereby increasing the overload of the analyser. This paper concentrates on crawling the links and retrieving all information associated with them to facilitate easy processing for other uses. In this paper, firstly the links are crawled from the specified uniform resource locator (URL) using a modified version of Depth First Search Algorithm which allows for complete hierarchical scanning of corresponding web links. The links are then accessed via the source code and its metadata such as title, keywords, and description are extracted. This content is very essential for any type of analyser work to be carried on the Big Data obtained as a result of Web Crawling. PMID:26137592

  12. 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…

  13. Prototyping Practice

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette; Tamke, Martin

    2015-01-01

    This paper examines the role of the prototyping in digital architecture. During the past decade, a new research field has emerged exploring the digital technology’s impact on the way we think, design and build our environment. In this practice the prototype, the pavilion, installation or demonstr......This paper examines the role of the prototyping in digital architecture. During the past decade, a new research field has emerged exploring the digital technology’s impact on the way we think, design and build our environment. In this practice the prototype, the pavilion, installation...

  14. An Introduction to the Nuclear Document Crawling System

    International Nuclear Information System (INIS)

    Tae, Jae Woong; Yoon, Sung Ho; Shin, Dong Hoon

    2016-01-01

    The NSG(Nuclear Suppliers Group) guidelines state that controls on 'technology' transfer do not apply to information 'in the public domain' or to 'basic scientific research'. According to the guidelines, 'basic scientific research' is an experimental or theoretical work undertaken principally to acquire new knowledge of the fundamental principles of phenomena and observable facts, not primarily directed towards a specific practical aim or objective. 'Technology in the public domain' means 'technology' or 'software' that has been made available without restrictions upon its further dissemination. It is a difficult problem to determine whether a document is in the public domain or it is a basic scientific research because its criteria are ambiguous and unclear. In this paper, we introduce an approach using documents on the web and a system to manage electronic documents on the web. In this paper, we proposed an approach to determine whether a document is open to public or it is a basic scientific research and we developed the document crawling system to collect open documents on the web. We can take open documents into a review process in a new way. It supports to prevent reviewers from classifying an open document into a strategic technology. It is expected to improve reliability of classification results

  15. An Introduction to the Nuclear Document Crawling System

    Energy Technology Data Exchange (ETDEWEB)

    Tae, Jae Woong; Yoon, Sung Ho; Shin, Dong Hoon [Korea Institute of Nuclear Nonproliferation and Control, Daejeon (Korea, Republic of)

    2016-05-15

    The NSG(Nuclear Suppliers Group) guidelines state that controls on 'technology' transfer do not apply to information 'in the public domain' or to 'basic scientific research'. According to the guidelines, 'basic scientific research' is an experimental or theoretical work undertaken principally to acquire new knowledge of the fundamental principles of phenomena and observable facts, not primarily directed towards a specific practical aim or objective. 'Technology in the public domain' means 'technology' or 'software' that has been made available without restrictions upon its further dissemination. It is a difficult problem to determine whether a document is in the public domain or it is a basic scientific research because its criteria are ambiguous and unclear. In this paper, we introduce an approach using documents on the web and a system to manage electronic documents on the web. In this paper, we proposed an approach to determine whether a document is open to public or it is a basic scientific research and we developed the document crawling system to collect open documents on the web. We can take open documents into a review process in a new way. It supports to prevent reviewers from classifying an open document into a strategic technology. It is expected to improve reliability of classification results.

  16. PROCESSING OF CRAWLED URBAN IMAGERY FOR BUILDING USE CLASSIFICATION

    Directory of Open Access Journals (Sweden)

    P. Tutzauer

    2017-05-01

    Full Text Available Recent years have shown a shift from pure geometric 3D city models to data with semantics. This is induced by new applications (e.g. Virtual/Augmented Reality and also a requirement for concepts like Smart Cities. However, essential urban semantic data like building use categories is often not available. We present a first step in bridging this gap by proposing a pipeline to use crawled urban imagery and link it with ground truth cadastral data as an input for automatic building use classification. We aim to extract this city-relevant semantic information automatically from Street View (SV imagery. Convolutional Neural Networks (CNNs proved to be extremely successful for image interpretation, however, require a huge amount of training data. Main contribution of the paper is the automatic provision of such training datasets by linking semantic information as already available from databases provided from national mapping agencies or city administrations to the corresponding façade images extracted from SV. Finally, we present first investigations with a CNN and an alternative classifier as a proof of concept.

  17. Unsteady computational fluid dynamics in front crawl swimming.

    Science.gov (United States)

    Samson, Mathias; Bernard, Anthony; Monnet, Tony; Lacouture, Patrick; David, Laurent

    2017-05-01

    The development of codes and power calculations currently allows the simulation of increasingly complex flows, especially in the turbulent regime. Swimming research should benefit from these technological advances to try to better understand the dynamic mechanisms involved in swimming. An unsteady Computational Fluid Dynamics (CFD) study is conducted in crawl, in order to analyse the propulsive forces generated by the hand and forearm. The k-ω SST turbulence model and an overset grid method have been used. The main objectives are to analyse the evolution of the hand-forearm propulsive forces and to explain this relative to the arm kinematics parameters. In order to validate our simulation model, the calculated forces and pressures were compared with several other experimental and numerical studies. A good agreement is found between our results and those of other studies. The hand is the segment that generates the most propulsive forces during the aquatic stroke. As the pressure component is the main source of force, the orientation of the hand-forearm in the absolute coordinate system is an important kinematic parameter in the swimming performance. The propulsive forces are biggest when the angles of attack are high. CFD appears as a very valuable tool to better analyze the mechanisms of swimming performance and offers some promising developments, especially for optimizing the performance from a parametric study.

  18. Focused Crawling of the Deep Web Using Service Class Descriptions

    Energy Technology Data Exchange (ETDEWEB)

    Rocco, D; Liu, L; Critchlow, T

    2004-06-21

    Dynamic Web data sources--sometimes known collectively as the Deep Web--increase the utility of the Web by providing intuitive access to data repositories anywhere that Web access is available. Deep Web services provide access to real-time information, like entertainment event listings, or present a Web interface to large databases or other data repositories. Recent studies suggest that the size and growth rate of the dynamic Web greatly exceed that of the static Web, yet dynamic content is often ignored by existing search engine indexers owing to the technical challenges that arise when attempting to search the Deep Web. To address these challenges, we present DynaBot, a service-centric crawler for discovering and clustering Deep Web sources offering dynamic content. DynaBot has three unique characteristics. First, DynaBot utilizes a service class model of the Web implemented through the construction of service class descriptions (SCDs). Second, DynaBot employs a modular, self-tuning system architecture for focused crawling of the DeepWeb using service class descriptions. Third, DynaBot incorporates methods and algorithms for efficient probing of the Deep Web and for discovering and clustering Deep Web sources and services through SCD-based service matching analysis. Our experimental results demonstrate the effectiveness of the service class discovery, probing, and matching algorithms and suggest techniques for efficiently managing service discovery in the face of the immense scale of the Deep Web.

  19. Assistive and Rehabilitation Robotic System

    Directory of Open Access Journals (Sweden)

    Adrian Abrudean

    2015-06-01

    Full Text Available A short introduction concerning the content of Assistive Technology and Rehabilitation Engineering is followed by a study of robotic systems which combine two or more assistive functions. Based on biomechanical aspects, a complex robotic system is presented, starting with the study of functionality and ending with the practical aspects of the prototype development.

  20. Controlling Tensegrity Robots Through Evolution

    Science.gov (United States)

    Iscen, Atil; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

    2013-01-01

    Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

  1. 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.

  2. Crawling to collapse: ecologically unsound ornamental invertebrate fisheries.

    Directory of Open Access Journals (Sweden)

    Andrew Rhyne

    Full Text Available BACKGROUND: Fishery management has historically been an inexact and reactionary discipline, often taking action only after a critical stock suffers overfishing or collapse. The invertebrate ornamental fishery in the State of Florida, with increasing catches over a more diverse array of species, is poised for collapse. Current management is static and the lack of an adaptive strategy will not allow for adequate responses associated with managing this multi-species fishery. The last decade has seen aquarium hobbyists shift their display preference from fish-only tanks to miniature reef ecosystems that include many invertebrate species, creating increased demand without proper oversight. The once small ornamental fishery has become an invertebrate-dominated major industry supplying five continents. METHODOLOGY/PRINCIPAL FINDINGS: Here, we analyzed the Florida Marine Life Fishery (FLML landing data from 1994 to 2007 for all invertebrate species. The data were organized to reflect both ecosystem purpose (in the wild and ecosystem services (commodities for each reported species to address the following question: Are ornamental invertebrates being exploited for their fundamental ecosystem services and economic value at the expense of reef resilience? We found that 9 million individuals were collected in 2007, 6 million of which were grazers. CONCLUSIONS/SIGNIFICANCE: The number of grazers now exceeds, by two-fold, the number of specimens collected for curio and ornamental purposes altogether, representing a major categorical shift. In general, landings have increased 10-fold since 1994, though the number of licenses has been dramatically reduced. Thus, despite current management strategies, the FLML Fishery appears to be crawling to collapse.

  3. Student drinking patterns and blood alcohol concentration on commercially organised pub crawls in the UK.

    Science.gov (United States)

    Quigg, Zara; Hughes, Karen; Bellis, Mark A

    2013-12-01

    Commercial student pub crawls are associated with high levels of alcohol consumption, and are of growing concern amongst public health and student bodies. However, little is currently known about drinking behaviours whilst participating in these events. A questionnaire was implemented amongst 227 students attending commercial pub crawls across three UK events. Questions established alcohol consumption patterns up to the point of interview and throughout the remaining night out, and pub crawl experience. Breathalyser tests were used to measure breath alcohol concentration (converted to blood alcohol concentration [BAC]) at interview. Analyses used chi squared, Mann-Whitney U, Kruskal-Wallis and logistic regression. 94.3% of participants had consumed alcohol, 90.9% of whom reported preloading. Drinkers reported consuming a median of 10.0 alcohol units (80g of pure alcohol) up to the point of interview (range one-40.6), with estimated total consumption over the evening exceeding 16units (range three-70.6). Median BAC of drinkers at the time of interview was 0.10%BAC (range 0.00-0.27). High BAC (>0.08%; at interview) was associated with having not eaten food in the four hours prior (AOR 4.8, palcohol consumption before and during commercial pub crawls should aim to alter drinking behaviours such as preloading and rapid and excessive drinking. Organisers, local authorities, universities and students should all be involved in ensuring the effective management of pub crawls, including implementation of harm prevention measures. © 2013.

  4. Solution Prototype

    DEFF Research Database (Denmark)

    Efeoglu, Arkin; Møller, Charles; Serie, Michel

    2013-01-01

    This paper outlines an artifact building and evaluation proposal. Design Science Research (DSR) studies usually consider encapsulated artifact that have relationships with other artifacts. The solution prototype as a composed artifact demands for a more comprehensive consideration in its systematic...... environment. The solution prototype that is composed from blending product and service prototype has particular impacts on the dualism of DSR’s “Build” and “Evaluate”. Since the mix between product and service prototyping can be varied, there is a demand for a more agile and iterative framework. Van de Ven......’s research framework seems to fit this purpose. Van de Ven allows for an iterative research approach to problem solving with flexible starting point. The research activity is the result between the iteration of two dimensions. This framework focuses on the natural evaluation, particularly on ex...

  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. Robotic assisted minimally invasive surgery

    Directory of Open Access Journals (Sweden)

    Palep Jaydeep

    2009-01-01

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

  7. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  8. Software Prototyping

    Science.gov (United States)

    Del Fiol, Guilherme; Hanseler, Haley; Crouch, Barbara Insley; Cummins, Mollie R.

    2016-01-01

    Summary Background Health information exchange (HIE) between Poison Control Centers (PCCs) and Emergency Departments (EDs) could improve care of poisoned patients. However, PCC information systems are not designed to facilitate HIE with EDs; therefore, we are developing specialized software to support HIE within the normal workflow of the PCC using user-centered design and rapid prototyping. Objective To describe the design of an HIE dashboard and the refinement of user requirements through rapid prototyping. Methods Using previously elicited user requirements, we designed low-fidelity sketches of designs on paper with iterative refinement. Next, we designed an interactive high-fidelity prototype and conducted scenario-based usability tests with end users. Users were asked to think aloud while accomplishing tasks related to a case vignette. After testing, the users provided feedback and evaluated the prototype using the System Usability Scale (SUS). Results Survey results from three users provided useful feedback that was then incorporated into the design. After achieving a stable design, we used the prototype itself as the specification for development of the actual software. Benefits of prototyping included having 1) subject-matter experts heavily involved with the design; 2) flexibility to make rapid changes, 3) the ability to minimize software development efforts early in the design stage; 4) rapid finalization of requirements; 5) early visualization of designs; 6) and a powerful vehicle for communication of the design to the programmers. Challenges included 1) time and effort to develop the prototypes and case scenarios; 2) no simulation of system performance; 3) not having all proposed functionality available in the final product; and 4) missing needed data elements in the PCC information system. PMID:27081404

  9. Robotics Algorithms Provide Nutritional Guidelines

    Science.gov (United States)

    2009-01-01

    On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

  10. Robots in the USA nuclear industry: An overview to the end of the 20th century

    International Nuclear Information System (INIS)

    Meleran, H.B.

    1993-01-01

    Stationary robotic arms, mobile robotic vehicles, ROV's and other underwater crawling robots, and pipecrawlers are beginning to play a growing role in nuclear power plants and other nuclear facilities. This paper presents an overview of the current status and availability of robots, and in particular mobile robots, in the nuclear industry in the US. Typical missions for the robots conducted upon terrestrial surfaces, underwater, inside pipelines, and above ground location will also be described. An additional focus will also be directed towards the examination of issues concerning evolving insights and new development projects which are currently underway. Successfully exploited technologies that have been developed for other non-nuclear activities the aerospace, underwater, and industrial environments are being incorporated into the new generation of robots used in the nuclear industry

  11. Identification of advective entry of soil-gas radon into a crawl space covered with sheets of polyethylene foil

    International Nuclear Information System (INIS)

    Andersen, C.; Koopmanns, M.; Meijer, R.J. de

    1996-04-01

    To assess the effectiveness of mitigative measures against radon ( 222 Rn) entry into houses, experiments were conducted in a crawl-space house where the dirt floor of the crawl space was covered with sheets of 0.23 mm polyethylene foil fixed to the walls. The radon concentration was measured below the foil and in the crawl space together with environmental variables such as indoor-outdoor pressure differences. The experimental data was analyzed using various types of models including a simplistic mass-balance model, a regression model, and a two-dimensional numerical model based on Darcy flow or soil gas and combined diffusive and advective transport of radon. The main outcome of the work was that: (i) The soil-gas entry rate per pascal depressurization was at the order of 1 m 3 h -1 , (ii) the stack-related part of the depressurization of the crawl space (approx. 0.1 Pa deg. C -1 ) was controlled by the temperature difference between the living room of the house and the outdoors (not by the difference between the crawl space and the outdoors), (iii) that part of the wind-related depressurization that was measured by the pressure transducers seemed to force radon into the crawl space in the same proportion as the stack-related part of the depressurization, (iv) the ratio of advective and diffusive entry was approx. 0.7, when the crawl space was depressurized 1.5 Pa, (v) the effective diffusivity of the foil was found to be three orders of magnitude larger than that measured in the laboratory (the enhanced diffusivity was most likely caused by leaks in the foil and by mixing fans located in the crawl space), and (vi) there was no measurable mitigative impact of having the sheets of foil on the crawl-space floor even if the crawl space was artificially pressurized or depressurized. (au) 28 tabs., 36 ills., 61 refs

  12. Architectures of soft robotic locomotion enabled by simple mechanical principles.

    Science.gov (United States)

    Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

    2017-06-28

    In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

  13. Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2004-03-01

    Full Text Available Cyberbotics Ltd. develops Webots™, 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. Webots™ 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. Webots™ 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.

  14. 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.

  15. Small-scale soft-bodied robot with multimodal locomotion

    Science.gov (United States)

    Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

    2018-02-01

    Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

  16. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  17. Crawl and crowd to bring machine translation to under-resourced languages

    NARCIS (Netherlands)

    Toral Ruiz, Antonio

    2017-01-01

    We present a widely applicable methodology to bring machine translation (MT) to under-resourced languages in a cost-effective and rapid manner. Our proposal relies on web crawling to automatically acquire parallel data to train statistical MT systems if any such data can be found for the language

  18. Emission of volatiles from spray polyurethane foam (SPF) insulated crawl spaces

    NARCIS (Netherlands)

    Havermans, J.B.G.A.

    2014-01-01

    The emission of (di)isocyantes, polyols and blowing agents from curing Spray Polyurethane Foam (SPF) was studied in a house having its crawl space recently insulated. Before insulation a blank measurement was made and he emission was followed up to 144 hours after the insolation application. The

  19. Kinematic and Gait Similarities between Crawling Human Infants and Other Quadruped Mammals

    Science.gov (United States)

    Righetti, Ludovic; Nylén, Anna; Rosander, Kerstin; Ijspeert, Auke Jan

    2015-01-01

    Crawling on hands and knees is an early pattern of human infant locomotion, which offers an interesting way of studying quadrupedalism in one of its simplest form. We investigate how crawling human infants compare to other quadruped mammals, especially primates. We present quantitative data on both the gait and kinematics of seven 10-month-old crawling infants. Body movements were measured with an optoelectronic system giving precise data on 3-dimensional limb movements. Crawling on hands and knees is very similar to the locomotion of non-human primates in terms of the quite protracted arm at touch-down, the coordination between the spine movements in the lateral plane and the limbs, the relatively extended limbs during locomotion and the strong correlation between stance duration and speed of locomotion. However, there are important differences compared to primates, such as the choice of a lateral-sequence walking gait, which is similar to most non-primate mammals and the relatively stiff elbows during stance as opposed to the quite compliant gaits of primates. These finding raise the question of the role of both the mechanical structure of the body and neural control on the determination of these characteristics. PMID:25709597

  20. Application of irradiation in bait production to the control of crawling insects in urban areas

    Science.gov (United States)

    Migdał, W.; Owczarczyk, H. B.; Świ ȩtosławski, J.; Świ ȩtosławski, J.

    2000-03-01

    The efficiency and palatability of two baits were studied to the control of crawling insects in urban areas: "Cockroach Kill Gel" for control of cockroaches and Faratox B for control of ants. Ionizing energy was used in producing the baits. It was concluded, that after irradiation the palatability of Faratox B improved and palatability of Cockroach Kill Gel did not change.

  1. Application of irradiation in bait production to the control of crawling insects in urban areas

    International Nuclear Information System (INIS)

    Migdal, W.; Owczarczyk, H.B.; Swietoslawski, J.; Swietoslawski, J.

    2000-01-01

    The efficiency and palatability of two baits were studied to the control of crawling insects in urban areas: 'Cockroach Kill Gel' for control of cockroaches and Faratox B for control of ants. Ionizing energy was used in producing the baits. It was concluded, that after irradiation the palatability of Faratox B improved and palatability of Cockroach Kill Gel did not change

  2. Radon mitigation in crawl-space houses in Nashville, Tennessee. Report for October 1987-July 1988

    International Nuclear Information System (INIS)

    Pyle, B.E.; Williamson, A.D.; Fowler, C.S.; Belzer, F.E.; Osborne, M.C.

    1988-05-01

    Approximately 15% of existing U.S. houses are built over dirt crawl spaces, and little or no data exist relative to radon mitigation techniques for this style of house construction. This paper discusses and Environmental Protection Agency radon mitigation demonstration. A variety of techniques were evaluated to determine the most-effective and least-costly method of radon mitigation

  3. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  4. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

  5. Design and Implementation of Fire Extinguisher Robot with Robotic Arm

    Directory of Open Access Journals (Sweden)

    Memon Abdul Waris

    2018-01-01

    Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

  6. Flight Telerobotic Servicer prototype simulator

    Science.gov (United States)

    Schein, Rob; Krauze, Linda; Hartley, Craig; Dickenson, Alan; Lavecchia, Tom; Working, Bob

    A prototype simulator for the Flight Telerobotic Servicer (FTS) system is described for use in the design development of the FTS, emphasizing the hand controller and user interface. The simulator utilizes a graphics workstation based on rapid prototyping tools for systems analyses of the use of the user interface and the hand controller. Kinematic modeling, manipulator-control algorithms, and communications programs are contained in the software for the simulator. The hardwired FTS panels and operator interface for use on the STS Orbiter are represented graphically, and the simulated controls function as the final FTS system configuration does. The robotic arm moves based on the user hand-controller interface, and the joint angles and other data are given on the prototype of the user interface. This graphics simulation tool provides the means for familiarizing crewmembers with the FTS system operation, displays, and controls.

  7. Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

    NARCIS (Netherlands)

    Groenhuis, Vincent; Stramigioli, Stefano

    2018-01-01

    In this paper we show that pneumatic stepper motors for MR safe robots can be constructed using rapid prototyping techniques such as 3-D printing and laser-cutting. The designs are lightweight, completely metal-free and fully customizable. Besides MR safe robotic systems, other potential

  8. Amooty, a stair climbing intelligent maintenance robot

    International Nuclear Information System (INIS)

    Anon.

    1985-01-01

    Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants. (author)

  9. Amooty, a stair climbing intelligent maintenance robot

    Energy Technology Data Exchange (ETDEWEB)

    1985-04-01

    Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants.

  10. 3D Printed Robotic Hand

    Science.gov (United States)

    Pizarro, Yaritzmar Rosario; Schuler, Jason M.; Lippitt, Thomas C.

    2013-01-01

    Dexterous robotic hands are changing the way robots and humans interact and use common tools. Unfortunately, the complexity of the joints and actuations drive up the manufacturing cost. Some cutting edge and commercially available rapid prototyping machines now have the ability to print multiple materials and even combine these materials in the same job. A 3D model of a robotic hand was designed using Creo Parametric 2.0. Combining "hard" and "soft" materials, the model was printed on the Object Connex350 3D printer with the purpose of resembling as much as possible the human appearance and mobility of a real hand while needing no assembly. After printing the prototype, strings where installed as actuators to test mobility. Based on printing materials, the manufacturing cost of the hand was $167, significantly lower than other robotic hands without the actuators since they have more complex assembly processes.

  11. Drum inspection robots: Application development

    International Nuclear Information System (INIS)

    Hazen, F.B.; Warner, R.D.

    1996-01-01

    Throughout the Department of Energy (DOE), drums containing mixed and low level stored waste are inspected, as mandated by the Resource Conservation and Recovery Act (RCRA) and other regulations. The inspections are intended to prevent leaks by finding corrosion long before the drums are breached. The DOE Office of Science and Technology (OST) has sponsored efforts towards the development of robotic drum inspectors. This emerging application for mobile and remote sensing has broad applicability for DOE and commercial waste storage areas. Three full scale robot prototypes have been under development, and another project has prototyped a novel technique to analyze robotically collected drum images. In general, the robots consist of a mobile, self-navigating base vehicle, outfitted with sensor packages so that rust and other corrosion cues can be automatically identified. They promise the potential to lower radiation dose and operator effort required, while improving diligence, consistency, and documentation

  12. Medical Robotic and Tele surgical Simulation Education Research

    Science.gov (United States)

    2017-05-01

    Prototypes have been carried to product completion through additional investment by Adventist Health System/Sunbelt, Inc. dba Florida Hospital and are...robotic surgery. Prototypes have been carried to product completion through additional investment by Adventist Health System/Sunbelt, Inc. dba Florida...develop a nationally accepted curriculum in the Fundamentals of Robotic Surgery (FRS). Period 1 Telesurgery: Communications Latency Experiments

  13. Fundamentals of ergonomic exoskeleton robots

    OpenAIRE

    Schiele, A.

    2008-01-01

    This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a new theoretical framework for analyzing physical human robot interaction (pHRI) with exoskeletons, and (2) a clear set of design rules of how to build wearable, portable exoskeletons to easily and...

  14. Can crawl space temperature and moisture conditions be calculated with a whole-building hygrothermal simulation tool?

    DEFF Research Database (Denmark)

    Vanhoutteghem, Lies; Morelli, Martin; Sørensen, Lars Schiøtt

    2017-01-01

    of measurements was compared with simulations of temperature and moisture condition in the floor structure and crawl space. The measurements showed that the extra 50 mm insulation placed below the beams reduced moisture content in the beams below 20 weight% all year. A reasonable agreement between......The hygrothermal behaviour of an outdoor ventilated crawl space with two different designs of the floor structure was investigated. The first design had 250 mm insulation and visible wooden beams towards the crawl space. The second design had 300 mm insulation and no visible wooden beams. One year...... the measurements and simulations was found; however, the evaporation from the soil was a dominant parameter affecting the hygrothermal response in the crawl space and floor structure....

  15. A Project-based Learning approach for teaching Robotics to ...

    African Journals Online (AJOL)

    In this research we used a project-based learning approach to teach robotics basics to undergraduate business computing students. The course coverage includes basic electronics, robot construction and programming using arduino. Students developed and tested a robot prototype. The project was evaluated using a ...

  16. The use of hand paddles and fins in front crawl: biomechanical and physiological responses

    Directory of Open Access Journals (Sweden)

    Cristiano Cardoso de Matos

    2013-04-01

    Full Text Available Paddles and fins are used during swim training and practice as tools for improving performance. The use of these equipment can alter physiological and kinematic parameters of swimming. The purpose of this literature review was to present and discussthe effects of paddles and fins on kinematic and physiological variables in front crawl,and provide update on the topic for teachers, researchers, coaches and swimmers. Thirty articles were reviewed. To crawl, paddles can change the averages of stroke length and stroke rate, the average swimming speed, the absolute duration of the stroke phases and the index of coordination. Fins can modify the average stroke rate, the average swimming speed, the kick frequency and deep, and the energy cost. We found no studies that verified the longitudinal effects of the use of paddles and fins on these parameters.

  17. Compact Tactile Sensors for Robot Fingers

    Science.gov (United States)

    Martin, Toby B.; Lussy, David; Gaudiano, Frank; Hulse, Aaron; Diftler, Myron A.; Rodriguez, Dagoberto; Bielski, Paul; Butzer, Melisa

    2004-01-01

    Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

  18. Neuropsychological relationship between maturity and presence-absence of crawling behavior

    OpenAIRE

    Suárez, Alejandra; Lozada, Carlos

    2017-01-01

    Neuropsychological maturity is the level of organization and maturational development that allows the development of behavioral and cognitive age-appropriate individual functions, crawling behavior is the first harmonic motion in which the baby uses his head and his both lower extremities as superior, to support and move, it allows the establishment of connections between brain hemispheres, leading to the intercom that simplifies the work of the brain and promotes the maturation of the cognit...

  19. Application of irradiation in bait production to the control of crawling insects in urban areas

    Energy Technology Data Exchange (ETDEWEB)

    Migdal, W.; Owczarczyk, H.B.; Swietoslawski, J.; Swietoslawski, J

    2000-03-01

    The efficiency and palatability of two baits were studied to the control of crawling insects in urban areas: 'Cockroach Kill Gel' for control of cockroaches and Faratox B for control of ants. Ionizing energy was used in producing the baits. It was concluded, that after irradiation the palatability of Faratox B improved and palatability of Cockroach Kill Gel did not change.

  20. Deep iCrawl: An Intelligent Vision-Based Deep Web Crawler

    OpenAIRE

    R.Anita; V.Ganga Bharani; N.Nityanandam; Pradeep Kumar Sahoo

    2011-01-01

    The explosive growth of World Wide Web has posed a challenging problem in extracting relevant data. Traditional web crawlers focus only on the surface web while the deep web keeps expanding behind the scene. Deep web pages are created dynamically as a result of queries posed to specific web databases. The structure of the deep web pages makes it impossible for traditional web crawlers to access deep web contents. This paper, Deep iCrawl, gives a novel and vision-based app...

  1. Robotic Software Integration Using MARIE

    Directory of Open Access Journals (Sweden)

    Carle Côté

    2006-03-01

    Full Text Available This paper presents MARIE, a middleware framework oriented towards developing and integrating new and existing software for robotic systems. By using a generic communication framework, MARIE aims to create a flexible distributed component system that allows robotics developers to share software programs and algorithms, and design prototypes rapidly based on their own integration needs. The use of MARIE is illustrated with the design of a socially interactive autonomous mobile robot platform capable of map building, localization, navigation, tasks scheduling, sound source localization, tracking and separation, speech recognition and generation, visual tracking, message reading and graphical interaction using a touch screen interface.

  2. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  3. 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....

  4. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  5. Online Gait Learning for Modular Robots with Arbitrary Shapes and Sizes

    NARCIS (Netherlands)

    Weel, Berend; D'Angelo, M.; Haasdijk, Evert; Eiben, A. E.

    2017-01-01

    Evolutionary robotics using real hardware is currently restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. Rapid prototyping (3D printing) and automated assembly are the main enablers of robotic systems where robot offspring can be produced

  6. Identification of advective entry of soil-gas radon into a crawl space covered with sheets of polyethylene foil

    Energy Technology Data Exchange (ETDEWEB)

    Andersen, C. [Risoe National Lab., Dept. of Nucl. Safety Res. and Nucl. Facilities, Roskilde (Denmark); Koopmanns, M.; Meijer, R.J. de [Kernfysische Versneller Inst., Environmental Radioactivity Res., Groningen (Netherlands)

    1996-04-01

    To assess the effectiveness of mitigative measures against radon ({sup 222}Rn) entry into houses, experiments were conducted in a crawl-space house where the dirt floor of the crawl space was covered with sheets of 0.23 mm polyethylene foil fixed to the walls. The radon concentration was measured below the foil and in the crawl space together with environmental variables such as indoor-outdoor pressure differences. The experimental data was analyzed using various types of models including a simplistic mass-balance model, a regression model, and a two-dimensional numerical model based on Darcy flow or soil gas and combined diffusive and advective transport of radon. The main outcome of the work was that: (i) The soil-gas entry rate per pascal depressurization was at the order of 1 m{sup 3} h{sup -1}, (ii) the stack-related part of the depressurization of the crawl space (approx. 0.1 Pa deg. C{sup -1}) was controlled by the temperature difference between the living room of the house and the outdoors (not by the difference between the crawl space and the outdoors), (iii) that part of the wind-related depressurization that was measured by the pressure transducers seemed to force radon into the crawl space in the same proportion as the stack-related part of the depressurization, (iv) the ratio of advective and diffusive entry was approx. 0.7, when the crawl space was depressurized 1.5 Pa, (v) the effective diffusivity of the foil was found to be three orders of magnitude larger than that measured in the laboratory (the enhanced diffusivity was most likely caused by leaks in the foil and by mixing fans located in the crawl space), and (vi) there was no measurable mitigative impact of having the sheets of foil on the crawl-space floor even if the crawl space was artificially pressurized or depressurized. (au) 28 tabs., 36 ills., 61 refs.

  7. Design and Rolling Analysis of a Novel Deformable Polyhedron Robot

    Directory of Open Access Journals (Sweden)

    Yaobin Tian

    2014-10-01

    Full Text Available In this paper, a new rolling robot is proposed. The mechanism of the robot consists of eight links with three degrees of freedom (DOFs. The shape of each link of the robot is an equilateral triangle. The robot realizes its direction switching function by deforming into different modes of planar parallelogram mechanisms (PPM. In any deterministic mode, the robot can roll on the ground. The motion of the robot is studied based on the kinematic and zero moment point (ZMP analyses. Though the robot has three DOFs, we show that it can realize flexible mobility via direction switching and rolling functions with two DOFs and one DOF, respectively. A prototype robot was manufactured. A series of simulations and experiments done using this prototype is reported, verifying the feasibility of the design.

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

    Directory of Open Access Journals (Sweden)

    Giuseppe Quaglia

    2013-07-01

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

  9. Fundamentals of ergonomic exoskeleton robots

    NARCIS (Netherlands)

    Schiele, A.

    2008-01-01

    This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a

  10. The effect of waist twisting on walking speed of an amphibious salamander like robot

    Science.gov (United States)

    Yin, Xin-Yan; Jia, Li-Chao; Wang, Chen; Xie, Guang-Ming

    2016-06-01

    Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion. A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems (ADAMS) and physical experiments verify the rationality and validity of this expression.

  11. Virtual Prototyping at CERN

    Science.gov (United States)

    Gennaro, Silvano De

    The VENUS (Virtual Environment Navigation in the Underground Sites) project is probably the largest Virtual Reality application to Engineering design in the world. VENUS is just over one year old and offers a fully immersive and stereoscopic "flythru" of the LHC pits for the proposed experiments, including the experimental area equipment and the surface models that are being prepared for a territorial impact study. VENUS' Virtual Prototypes are an ideal replacement for the wooden models traditionally build for the past CERN machines, as they are generated directly from the EUCLID CAD files, therefore they are totally reliable, they can be updated in a matter of minutes, and they allow designers to explore them from inside, in a one-to-one scale. Navigation can be performed on the computer screen, on a stereoscopic large projection screen, or in immersive conditions, with an helmet and 3D mouse. By using specialised collision detection software, the computer can find optimal paths to lower each detector part into the pits and position it to destination, letting us visualize the whole assembly probess. During construction, these paths can be fed to a robot controller, which can operate the bridge cranes and build LHC almost without human intervention. VENUS is currently developing a multiplatform VR browser that will let the whole HEP community access LHC's Virtual Protoypes over the web. Many interesting things took place during the conference on Virtual Reality. For more information please refer to the Virtual Reality section.

  12. A Recipe for Soft Fluidic Elastomer Robots.

    Science.gov (United States)

    Marchese, Andrew D; Katzschmann, Robert K; Rus, Daniela

    2015-03-01

    This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes.

  13. Shoulder and hip roll changes during 200-m front crawl swimming.

    Science.gov (United States)

    Psycharakis, Stelios G; Sanders, Ross H

    2008-12-01

    To determine accurately the magnitude and changes in shoulder roll (SR) and hip roll (HR) throughout a 200-m maximum front crawl swim and whether SR and HR were associated with swimming velocity (V). Bilateral roll asymmetries and timing differences between SR and HR were also investigated. Ten male swimmers of national/international level performed a maximum 200-m front crawl swim. Performance was recorded with four below- and two above-water synchronized cameras and four nonbreathing stroke cycles (SC) were analyzed (one for each 50 m). SR and HR were calculated separately. Swimmers rolled their shoulders significantly more than their hips (P < 0.001). V generally decreased during the test, and HR was significantly higher in SC4 than in SC1 (P = 0.001). SR had a negative and significant correlation with V in each SC (-0.663 crawl swimming. Faster swimmers tended to roll their shoulders less than slower swimmers. The increase in HR as the test progressed is possibly associated with a decrease in stroke frequency and increase in SC duration. Given that all swimmers were right-handed and that SR was significantly greater to the left than to the right side, it seems that factors related to handedness might affect SR symmetry in swimming.

  14. UNDERWATER STROKE KINEMATICS DURING BREATHING AND BREATH-HOLDING FRONT CRAWL SWIMMING

    Directory of Open Access Journals (Sweden)

    Nickos Vezos

    2007-03-01

    Full Text Available The aim of the present study was to determine the effects of breathing on the three - dimensional underwater stroke kinematics of front crawl swimming. Ten female competitive freestyle swimmers participated in the study. Each subject swam a number of front crawl trials of 25 m at a constant speed under breathing and breath-holding conditions. The underwater motion of each subject's right arm was filmed using two S-VHS cameras, operating at 60 Hz, which were positioned behind two underwater viewing windows. The spatial coordinates of selected points were calculated using the DLT procedure with 30 control points and after the digital filtering of the raw data with a cut-off frequency of 6 Hz, the hand's linear displacements and velocities were calculated. The results revealed that breathing caused significantly increases in the stroke duration (t9 = 2.764; p < 0.05, the backward hand displacement relative to the water (t9 = 2.471; p<0.05 and the lateral displacement of the hand in the X - axis during the downsweep (t9 = 2.638; p < 0.05. On the contrary, the peak backward hand velocity during the insweep (t9 = 2.368; p < 0.05 and the displacement of the hand during the push phase (t9 = -2.297; p < 0.05 were greatly reduced when breathing was involved. From the above, it was concluded that breathing action in front crawl swimming caused significant modifications in both the basic stroke parameters and the overall motor pattern were, possibly due to body roll during breathing

  15. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  16. Efficiency analysis of the speed turns in the crawl stroke swimming.

    Directory of Open Access Journals (Sweden)

    Savchenko M.I.

    2011-02-01

    Full Text Available Contemporary approaches to improving technique of the speed in the crawl stroke swimming, namely roll-forward turn were considered in the paper. The performance efficiency is defined by the time covering 15 meter distance. The students of the sports mastering group aged 16-20 took part in the experiment. The video recordings of the Ukrainian, European and World Championships and Deflympic Games, and also chronometration during the department trainings served as the experimental data. The research showed that white improving the technical level of turns performance, the attention should be paid to the exact performance of all the elements of the turns.

  17. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

  18. INVESTIGATING PECTORAL SHAPES AND LOCOMOTIVE STRATEGIES FOR CONCEPTUAL DESIGNING BIO-INSPIRED ROBOTIC FISH

    Directory of Open Access Journals (Sweden)

    A. I. MAINONG

    2017-01-01

    Full Text Available This paper describes the performance analysis of a conceptual bio-inspired robotic fish design, which is based on the morphology similar to the boxfish (Ostracion melagris. The robotic fish prototype is driven by three micro servos; two on the pectoral fins, and one on the caudal fin. Two electronic rapid prototyping boards were employed; one for the movement of robotic fish, and one for the force sensors measurements. The robotic fish were built using fused deposition modeling (FDM, more popularly known as the 3D printing method. Several designs of pectoral fins (rectangular, triangular and quarter-ellipse with unchanging the value of aspect ratio (AR employed to measure the performance of the prototype robotic fish in terms of hydrodynamics, thrust and maneuvering characteristics. The analysis of the unmanned robotic system performance is made experimentally and the results show that the proposed bioinspired robotic prototype opens up the possibility of design optimization research for future work.

  19. Concept design of robotic modules for needlescopic surgery.

    Science.gov (United States)

    Sen, Shin; Harada, Kanako; Hewitt, Zackary; Susilo, Ekawahyu; Kobayashi, Etsuko; Sakuma, Ichiro

    2017-08-01

    Many minimally invasive surgical procedures and assisting robotic systems have been developed to further minimize the number and size of incisions in the body surface. This paper presents a new idea combining the advantages of modular robotic surgery, single incision laparoscopic surgery and needlescopic surgery. In the proposed concept, modules carrying therapeutic or diagnostic tools are inserted in the abdominal cavity from the navel as in single incision laparoscopic surgery and assembled to 3-mm needle shafts penetrating the abdominal wall. A three degree-of-freedom robotic module measuring 16 mm in diameter and 51 mm in length was designed and prototyped. The performance of the three connected robotic modules was evaluated. A new idea of modular robotic surgery was proposed, and demonstrated by prototyping a 3-DOF robotic module. The performance of the connected robotic modules was evaluated, and the challenges and future work were summarized.

  20. 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.

  1. Robot Futures

    DEFF Research Database (Denmark)

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

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

  2. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  3. Relationship between shoulder roll and hand propulsion in the front crawl stroke.

    Science.gov (United States)

    Kudo, Shigetada; Sakurai, Yoshihisa; Miwa, Takahiro; Matsuda, Yuji

    2017-05-01

    This study re-evaluated the magnitude of hand propulsion (HP) in the pull and push phases of the front crawl stroke and investigated the association between the angular velocity of shoulder roll (ω SR ) and hand propulsive lift (HP L ). ω SR was computed in the plane normal to a forward direction for 16 skilled swimmers performing the front crawl stroke at a maximal sprinting pace. HP, hand propulsive drag (HP D ) and HP L were determined by a dynamic pressure approach. HP and HP D in the pull phase were greater than in the push phase (P push phase. Eleven swimmers out of the 16 swimmers had a significant within-swimmers correlation between ω SR and HP L in the push phase (P push phase as the ω SR of rolling back to the neutral position became faster. A swimmer should use more drag for hand propulsion in the pull phase and propulsion from drag and lift equally in the push phase. Based on the relationship between ω SR and HP L in the push phase, a possible stroke technique to enhance HP L using ω SR is discussed.

  4. Mechanical Study of Standard Six Beat Front Crawl Swimming by Using Swimming Human Simulation Model

    Science.gov (United States)

    Nakashima, Motomu

    There are many dynamical problems in front crawl swimming which have not been fully investigated by analytical approaches. Therefore, in this paper, standard six beat front crawl swimming is analyzed by the swimming human simulation model SWUM, which has been developed by the authors. First, the outline of the simulation model, the joint motion for one stroke cycle, and the specifications of calculation are described respectively. Next, contribution of each fluid force component and of each body part to the thrust, effect of the flutter kick, estimation of the active drag, roll motion, and the propulsive efficiency are discussed respectively. The following results were theoretically obtained: The thrust is produced at the upper limb by the normal drag force component. The flutter kick plays a role in raising the lower half of the body. The active drag coefficient in the simulation becomes 0.082. Buoyancy determines the primal wave of the roll motion fluctuation. The propulsive efficiency in the simulation becomes 0.2.

  5. The effect of learner's control of self-observation strategies on learning of front crawl.

    Science.gov (United States)

    Marques, Priscila Garcia; Corrêa, Umberto Cesar

    2016-02-01

    This study investigated the effect of learner's control of self-observation strategies on motor skill learning. For this purpose, beginner and intermediate learner swimmers practised the front crawl. Seventy college students took part in this experiment. They comprised 40 novice learners, both male (n=19) and female (n=21), with an average age of 20.7 years (±0.44), and 30 intermediate learners, both male (n=17) and female (n=13), with an average age of 21.1 years (±0.86). The design involved a pretest (one day), four acquisition sessions (four days), and a retention test (one day). They were divided into three groups: (1) choice, which could choose to watch a video with their best or overall performance during practise; (2) yoked, which were paired to those of the choice group; and (3) control (did not watch any video). The measures included the performance of front crawl and self-efficacy. The results showed that: (1) beginners who chose a type of observation strategy had superior motor skill learning; (2) for intermediate learners, self-observation promoted better motor learning, regardless of the control of choices; (3) self-observation improved self-efficacy beliefs. Copyright © 2016 Elsevier B.V. All rights reserved.

  6. Phase-dependence of elbow muscle coactivation in front crawl swimming.

    Science.gov (United States)

    Lauer, Jessy; Figueiredo, Pedro; Vilas-Boas, João Paulo; Fernandes, Ricardo J; Rouard, Annie Hélène

    2013-08-01

    Propulsion in swimming is achieved by complex sculling movements with elbow quasi-fixed on the antero-posterior axis to transmit forces from the hand and the forearm to the body. The purpose of this study was to investigate how elbow muscle coactivation was influenced by the front crawl stroke phases. Ten international level male swimmers performed a 200-m front crawl race-pace bout. Sagittal views were digitized frame by frame to determine the stroke phases (aquatic elbow flexion and extension, aerial elbow flexion and extension). Surface electromyograms (EMG) of the right biceps brachii and triceps brachii were recorded and processed using the integrated EMG to calculate a coactivation index (CI) for each phase. A significant effect of the phases on the CI was revealed with highest levels of coactivation during the aquatic elbow flexion and the aerial elbow extension. Swimmers stabilize the elbow joint to overcome drag during the aquatic phase, and act as a brake at the end of the recovery to replace the arm for the next stroke. The CI can provide insight into the magnitude of mechanical constraints supported by a given joint, in particular during a complex movement. Copyright © 2013 Elsevier Ltd. All rights reserved.

  7. Front-Crawl Instantaneous Velocity Estimation Using a Wearable Inertial Measurement Unit

    Directory of Open Access Journals (Sweden)

    Kamiar Aminian

    2012-09-01

    Full Text Available Monitoring the performance is a crucial task for elite sports during both training and competition. Velocity is the key parameter of performance in swimming, but swimming performance evaluation remains immature due to the complexities of measurements in water. The purpose of this study is to use a single inertial measurement unit (IMU to estimate front crawl velocity. Thirty swimmers, equipped with an IMU on the sacrum, each performed four different velocity trials of 25 m in ascending order. A tethered speedometer was used as the velocity measurement reference. Deployment of biomechanical constraints of front crawl locomotion and change detection framework on acceleration signal paved the way for a drift-free integration of forward acceleration using IMU to estimate the swimmers velocity. A difference of 0.6 ± 5.4 cm·s−1 on mean cycle velocity and an RMS difference of 11.3 cm·s−1 in instantaneous velocity estimation were observed between IMU and the reference. The most important contribution of the study is a new practical tool for objective evaluation of swimming performance. A single body-worn IMU provides timely feedback for coaches and sport scientists without any complicated setup or restraining the swimmer’s natural technique.

  8. Relative Contribution of Arms and Legs in 30 s Fully Tethered Front Crawl Swimming

    Directory of Open Access Journals (Sweden)

    Pedro G. Morouço

    2015-01-01

    Full Text Available The relative contribution of arm stroke and leg kicking to maximal fully tethered front crawl swimming performance remains to be solved. Twenty-three national level young swimmers (12 male and 11 female randomly performed 3 bouts of 30 s fully tethered swimming (using the whole body, only the arm stroke, and only the leg kicking. A load-cell system permitted the continuous measurement of the exerted forces, and swimming velocity was calculated from the time taken to complete a 50 m front crawl swim. As expected, with no restrictions swimmers were able to exert higher forces than that using only their arm stroke or leg kicking. Estimated relative contributions of arm stroke and leg kicking were 70.3% versus 29.7% for males and 66.6% versus 33.4% for females, with 15.6% and 13.1% force deficits, respectively. To obtain higher velocities, male swimmers are highly dependent on the maximum forces they can exert with the arm stroke (r=0.77, P<0.01, whereas female swimmers swimming velocity is more related to whole-body mean forces (r=0.81, P<0.01. The obtained results point that leg kicking plays an important role over short duration high intensity bouts and that the used methodology may be useful to identify strength and/or coordination flaws.

  9. 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...... children who often could be prevented from using and taking benefits from modern technologies. The objective is to get any children moving, exchanging, experimenting and having fun, regardless of their cognitive or physical ability levels. The paper describes two prototype systems developed as modular...

  10. The Middlesex University rehabilitation robot.

    Science.gov (United States)

    Parsons, B; White, A; Prior, S; Warner, P

    2005-01-01

    This paper describes the development of an electrically powered wheelchair-mounted manipulator for use by severely disabled persons. A detailed review is given explaining the specification. It describes the construction of the device and its control architecture. The prototype robot used several gesture recognition and other input systems. The system has been tested on disabled and non-disabled users. They observed that it was easy to use but about 50% slower than comparable systems before design modifications were incorporated. The robot has a payload of greater than 1 kg with a maximum reach of 0.7-0.9 m.

  11. Do We Really Need to Catch Them All? A New User-Guided Social Media Crawling Method

    Science.gov (United States)

    Erlandsson, Fredrik; Bródka, Piotr; Boldt, Martin; Johnson, Henric

    2017-12-01

    With the growing use of popular social media services like Facebook and Twitter it is challenging to collect all content from the networks without access to the core infrastructure or paying for it. Thus, if all content cannot be collected one must consider which data are of most importance. In this work we present a novel User-guided Social Media Crawling method (USMC) that is able to collect data from social media, utilizing the wisdom of the crowd to decide the order in which user generated content should be collected to cover as many user interactions as possible. USMC is validated by crawling 160 public Facebook pages, containing content from 368 million users including 1.3 billion interactions, and it is compared with two other crawling methods. The results show that it is possible to cover approximately 75% of the interactions on a Facebook page by sampling just 20% of its posts, and at the same time reduce the crawling time by 53%. In addition, the social network constructed from the 20% sample contains more than 75% of the users and edges compared to the social network created from all posts, and it has similar degree distribution.

  12. A Field Study Comparison of the Energy and Moisture Performance Characteristics of Ventilated Versus Sealed Crawl Spaces in the South

    Energy Technology Data Exchange (ETDEWEB)

    Bruce Davis; Cyrus Dastur; William E. Warren; Shawn Fitzpatrick; Christine Maurer; Rob Stevens; Terry Brennan; William Rose

    2005-06-22

    This study compared the performance of closed crawl spaces, which had sealed foundation wall vents, a sealed polyethylene film liner and various insulation and drying strategies, to traditional wall-vented crawl spaces with perimeter wall vents and polyethylene film covering 100% of the ground surface. The study was conducted at 12 owner-occupied, all electric, single-family detached houses with the same floor plan located on one cul-de-sac in the southeastern United States. Using the matched pairs approach, the houses were divided into three study groups of four houses each. Comparative data was recorded for each house to evaluate sub-metered heat pump energy consumption, relative humidity, wood moisture content, duct infiltration, house infiltration, temperature, radon, and bioaerosol levels. Findings indicated that in the humid conditions of the southeastern United States, a properly closed crawl space is a robust construction measure that produces a substantially drier crawl space and significantly reduces occupied space conditioning energy use on an annual basis.

  13. Do We Really Need to Catch Them All? A New User-Guided Social Media Crawling Method

    Directory of Open Access Journals (Sweden)

    Fredrik Erlandsson

    2017-12-01

    Full Text Available [-15]With the growing use of popular social media services like Facebook and Twitter it is challenging to collect all content from the networks without access to the core infrastructure or paying for it. Thus, if all content cannot be collected one must consider which data are of most importance. In this work we present a novel User-guided Social Media Crawling method (USMC that is able to collect data from social media, utilizing the wisdom of the crowd to decide the order in which user generated content should be collected to cover as many user interactions as possible. USMC is validated by crawling 160 public Facebook pages, containing content from 368 million users including 1.3 billion interactions, and it is compared with two other crawling methods. The results show that it is possible to cover approximately 75% of the interactions on a Facebook page by sampling just 20% of its posts, and at the same time reduce the crawling time by 53%. In addition, the social network constructed from the 20% sample contains more than 75% of the users and edges compared to the social network created from all posts, and it has similar degree distribution.

  14. Developing an Automatic Crawling System for Populating a Digital Repository of Professional Development Resources: A Pilot Study

    Science.gov (United States)

    Park, Jung-ran; Yang, Chris; Tosaka, Yuji; Ping, Qing; Mimouni, Houda El

    2016-01-01

    This study is a part of the larger project that develops a sustainable digital repository of professional development resources on emerging data standards and technologies for data organization and management in libraries. Toward that end, the project team developed an automated workflow to crawl for, monitor, and classify relevant web objects…

  15. A 200-m All-out Front-crawl Swim Modifies Competitive Swimmers' Shoulder Joint Position Sense

    NARCIS (Netherlands)

    Uematsu, A.; Kurita, Y.; Inoue, K.; Okuno, K.; Hortobagyi, T.; Suzuki, S.

    2015-01-01

    We tested the hypothesis that an all-out-effort 200-m front-crawl swim trial affects competitive swimmers' shoulder joint position sense. On Day 1, we measured shoulder joint position sense before and after the swim trial, and on Day 2 before and after 2 min of seated rest. On both days, shoulder

  16. Rethink! prototyping transdisciplinary concepts of prototyping

    CERN Document Server

    Nagy, Emilia; Stark, Rainer

    2016-01-01

    In this book, the authors describe the findings derived from interaction and cooperation between scientific actors employing diverse practices. They reflect on distinct prototyping concepts and examine the transformation of development culture in their fusion to hybrid approaches and solutions. The products of tomorrow are going to be multifunctional, interactive systems – and already are to some degree today. Collaboration across multiple disciplines is the only way to grasp their complexity in design concepts. This underscores the importance of reconsidering the prototyping process for the development of these systems, particularly in transdisciplinary research teams. “Rethinking Prototyping – new hybrid concepts for prototyping” was a transdisciplinary project that took up this challenge. The aim of this programmatic rethinking was to come up with a general concept of prototyping by combining innovative prototyping concepts, which had been researched and developed in three sub-projects: “Hybrid P...

  17. Architectures of prototypes and architectural prototyping

    DEFF Research Database (Denmark)

    Hansen, Klaus Marius; Christensen, Michael; Sandvad, Elmer

    1998-01-01

    together as a team, but developed a prototype that more than fulfilled the expectations of the shipping company. The prototype should: - complete the first major phase within 10 weeks, - be highly vertical illustrating future work practice, - continuously live up to new requirements from prototyping......This paper reports from experience obtained through development of a prototype of a global customer service system in a project involving a large shipping company and a university research group. The research group had no previous knowledge of the complex business of shipping and had never worked...... sessions with users, - evolve over a long period of time to contain more functionality - allow for 6-7 developers working intensively in parallel. Explicit focus on the software architecture and letting the architecture evolve with the prototype played a major role in resolving these conflicting...

  18. Development and test of prototype components for ITER

    International Nuclear Information System (INIS)

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

    2015-08-01

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

  19. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

  20. Fault Diagnosis of a Reconfigurable Crawling–Rolling Robot Based on Support Vector Machines

    Directory of Open Access Journals (Sweden)

    Karthikeyan Elangovan

    2017-10-01

    Full Text Available As robots begin to perform jobs autonomously, with minimal or no human intervention, a new challenge arises: robots also need to autonomously detect errors and recover from faults. In this paper, we present a Support Vector Machine (SVM-based fault diagnosis system for a bio-inspired reconfigurable robot named Scorpio. The diagnosis system needs to detect and classify faults while Scorpio uses its crawling and rolling locomotion modes. Specifically, we classify between faulty and non-faulty conditions by analyzing onboard Inertial Measurement Unit (IMU sensor data. The data capture nine different locomotion gaits, which include rolling and crawling modes, at three different speeds. Statistical methods are applied to extract features and to reduce the dimensionality of original IMU sensor data features. These statistical features were given as inputs for training and testing. Additionally, the c-Support Vector Classification (c-SVC and nu-SVC models of SVM, and their fault classification accuracies, were compared. The results show that the proposed SVM approach can be used to autonomously diagnose locomotion gait faults while the reconfigurable robot is in operation.

  1. Distributed Web-Scale Infrastructure For Crawling, Indexing And Search With Semantic Support

    Directory of Open Access Journals (Sweden)

    Stefan Dlugolinsky

    2012-01-01

    Full Text Available In this paper, we describe our work in progress in the scope of web-scale informationextraction and information retrieval utilizing distributed computing. Wepresent a distributed architecture built on top of the MapReduce paradigm forinformation retrieval, information processing and intelligent search supportedby spatial capabilities. Proposed architecture is focused on crawling documentsin several different formats, information extraction, lightweight semantic annotationof the extracted information, indexing of extracted information andfinally on indexing of documents based on the geo-spatial information foundin a document. We demonstrate the architecture on two use cases, where thefirst is search in job offers retrieved from the LinkedIn portal and the second issearch in BBC news feeds and discuss several problems we had to face duringthe implementation. We also discuss spatial search applications for both casesbecause both LinkedIn job offer pages and BBC news feeds contain a lot of spatialinformation to extract and process.

  2. You'll never crawl alone: Neurophysiological evidence for experience-dependent motor resonance in infancy

    DEFF Research Database (Denmark)

    van Elk, Michiel; van Schie, Hein; Hunnius, Sabine

    2008-01-01

    Lately, neuroscience is showing a great interest in examining the functional and neural mechanisms which support action observation and understanding. Recent studies have suggested that our motor skills crucially affect the way in which we perceive the actions generated by others, by showing...... stronger motor resonance for observation of actions that are established in one's motor repertoire. In the present study we extend previous findings that were based on expert motor skills in adults to the natural development of actions in infants. To investigate the effect of natural motor experience...... on motor resonance during action observation, 14- to 16-month-old infants' EEG was recorded during observation of action videos. Stronger mu- and betadesynchronizations were found for observation of crawling compared to walking videos and the size of the effect was strongly related to the infant's own...

  3. PRATICE CRAWL – MENTAL DISTABILITIES: ADULT CHOICE OF DRIVE TECHNOLOGY ADAPTED COMPETITORS

    Directory of Open Access Journals (Sweden)

    Dominique Redon

    2014-06-01

    Full Text Available Introduction: Of the two schools most stressed about the act of propelling the crawl, crawl in practice, which is the most efficient swimming, the two modes of propulsion favorites are "The outstretched arm" next to the called swimmer paddling and "The arm bent S-shaped" under the so-called swimmer impeller (N. Lanotte, S. Lem, 2012 The debate is not yet settled (Potdevin F; Pelayo P. 2006. Any swimmer has a strategy for managing its own resources considering the cost / benefit of each stroke technique report, with the aim of improving strength (Arellano, R. (1992, its movement and hence its performance (Joshua, 1992 in retarded placed in individual practice crawl competition, open to different technical conditions, what is the movement that is most often practiced, according to "the outstretched arm" or "folded S-shaped arm "under the swimmer? Methods: We record video (Pk Chollet - 2003, during two Regional championships in France adapted swim organized by the French Federation of Adapted Sport tests crawl in Division 1 Division 2 and Division 3 according to the latest regulations for implementation first time. We question the choice: "The outstretched arm" or "arm bent S-shaped" under the swimmer, by interviews (Y.Meynaud; Duclos D.1996 professional supervisors or volunteers before tests their competitors and we competitors are questioning after their trials. Results: It appears on the video that all competitors swim the "arms outstretched" The point of view of professional or volunteer supervisors: no of them are not asked for the choice of method of propulsion is best for their competitors as they say swimming techniques they teach in their club are the same as for all disabled or not competitors. The point of view of competitors: For competitors the method of propulsion "outstretched arm" seems to them the most effective. Method "arm S" Their demand coordination of movement more difficult to obtain in the context of mental disability

  4. National project : advanced robot for nuclear power plant

    International Nuclear Information System (INIS)

    Tsunemi, T.; Takehara, K.; Hayashi, T.; Okano, H.; Sugiyama, S.

    1993-01-01

    The national project 'Advanced Robot' has been promoted by the Agency of Industrial science and Technology, MITI for eight years since 1983. The robot for a nuclear plant is one of the projects, and is a prototype intelligent one that also has a three dimensional vision system to generate an environmental model, a quadrupedal walking mechanism to work on stairs and four fingered manipulators to disassemble a valve with a hand tool. Many basic technologies such as an actuator, a tactile sensor, autonomous control and so on progress to high level. The prototype robot succeeded functionally in official demonstration in 1990. More refining such as downsizing and higher intelligence is necessary to realize a commercial robot, while basic technologies are useful to improve conventional robots and systems. This paper presents application studies on the advanced robot technologies. (author)

  5. Simulated front crawl swimming performance related to critical speed and critical power.

    Science.gov (United States)

    Toussaint, H M; Wakayoshi, K; Hollander, A P; Ogita, F

    1998-01-01

    Competitive pool swimming events range in distance from 50 to 1500 m. Given the difference in performance times (+/- 23-1000 s), the contribution of the aerobic and anaerobic energy systems changes considerably with race distance. In training practice the regression line between swimming distance and time (Distance = critical velocity x time + anaerobic swimming capacity) is used to determine the individual capacity of the aerobic and anaerobic metabolic pathways. Although there is confidence that critical velocity and anaerobic swimming capacity are fitness measures that separate aerobic and anaerobic components, a firm theoretical basis for the interpretation of these results does not exist. The purpose of this study was to evaluate the critical power concept and anaerobic swimming capacity as measures of the aerobic and anaerobic capacity using a modeling approach. A systems model was developed that relates the mechanics and energetics involved in front crawl swimming performance. From actual swimming flume measurements, the time dependent aerobic and anaerobic energy release was modeled. Data derived from the literature were used to relate the energy cost of front crawl swimming to swimming velocity. A balance should exist between the energy cost to swim a distance in a certain time and the concomitant aerobic and anaerobic energy release. The ensuing model was used to predict performance times over a range of distances (50-1500 m) and to calculate the regression line between swimming distance and time. Using a sensitivity analysis, it was demonstrated that the critical velocity is indicative for the capacity of the aerobic energy system. Estimates of the anaerobic swimming capacity, however, were influenced by variations in both anaerobic and aerobic energy release. Therefore, it was concluded that the anaerobic swimming capacity does not provide a reliable estimate of the anaerobic capacity.

  6. The Relationship between Anthropometric Characteristics and Crawl and Breaststroke Performance in Adolescent Girl Swimmers

    Directory of Open Access Journals (Sweden)

    Shirin Yazdani

    2017-03-01

    Full Text Available Objective: The aim of this study was to investigate the relationship between anthropometric characteristics and crawl and breaststroke performance in adolescent girl swimmers with an emphasis on ratio of length and width of limbs to the height of subjects. Methods: Twenty adolescent female swimmers voluntarily participated in this study. Anthropometric variables, including height , length of thigh, leg, foot, arm, forearm and hand , arm span, widths of pelvic, shoulders, knees, wrists and ankles were measured using a tape measure and caliper. Then the ratio of length and width of limbs to the height of subjects was calculated. Pearson correlation test at a significance level of 0.05 was used for statistical analysis. Results: Significant relationship were found between crawl record and subjects’ height, thigh, arm and forearm lengths, arm span, shoulder width, the ratios of arm, palm and foot length to the height and ratio of arm span to height (p<0.05. Also, the relationship between breaststroke record and subjects’ height, arm and thigh lengths, arm span, shoulder and palm widths, the ratios of forearm and thigh lengths to the height, ratio of shoulder girdle width to height and ratio of shoulder girdle to pelvic width were all found to be significant (p<0.05. Conclusion: In addition to the effect of anthropometric characteristics such as height, arm, forearm, thigh lengths, arm span, palm and shoulder girdle widths on the performance of adolescent girl swimmers, the ratios of limb lengths and widths to the height and ratio of shoulder girdle to pelvic width were positively related with swimming record. Thus, it is recommended that to achieve better results in swimming talent, coaches consider the ratio of limbs to the height.

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

    Science.gov (United States)

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

    2018-04-01

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

  8. State Estimation for Tensegrity Robots

    Science.gov (United States)

    Caluwaerts, Ken; Bruce, Jonathan; Friesen, Jeffrey M.; Sunspiral, Vytas

    2016-01-01

    Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

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

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

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

  10. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  11. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  12. Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots.

    Science.gov (United States)

    Umedachi, T; Vikas, V; Trimmer, B A

    2016-03-10

    Robots that can easily interact with humans and move through natural environments are becoming increasingly essential as assistive devices in the home, office and hospital. These machines need to be safe, effective, and easy to control. One strategy towards accomplishing these goals is to build the robots using soft and flexible materials to make them much more approachable and less likely to damage their environment. A major challenge is that comparatively little is known about how best to design, fabricate and control deformable machines. Here we describe the design, fabrication and control of a novel soft robotic platform (Softworms) as a modular device for research, education and public outreach. These robots are inspired by recent neuromechanical studies of crawling and climbing by larval moths and butterflies (Lepidoptera, caterpillars). Unlike most soft robots currently under development, the Softworms do not rely on pneumatic or fluidic actuators but are electrically powered and actuated using either shape-memory alloy microcoils or motor tendons, and they can be modified to accept other muscle-like actuators such as electroactive polymers. The technology is extremely versatile, and different designs can be quickly and cheaply fabricated by casting elastomeric polymers or by direct 3D printing. Softworms can crawl, inch or roll, and they are steerable and even climb steep inclines. Softworms can be made in any shape but here we describe modular and monolithic designs requiring little assembly. These modules can be combined to make multi-limbed devices. We also describe two approaches for controlling such highly deformable structures using either model-free state transition-reward matrices or distributed, mechanically coupled oscillators. In addition to their value as a research platform, these robots can be developed for use in environmental, medical and space applications where cheap, lightweight and shape-changing deformable robots will provide new

  13. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  14. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  15. Social Robots

    DEFF Research Database (Denmark)

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

  16. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  17. Prototypical Rod Consolidation Demonstration Project

    International Nuclear Information System (INIS)

    1993-05-01

    The objective of Phase 3 of the Prototypical Rod consolidation Demonstration Project (PRCDP) was to procure, fabricate, assemble, and test the Prototypical Rod consolidation System as described in the NUS Phase 2 Final Design Report. This effort required providing the materials, components, and fabricated parts which makes up all of the system equipment. In addition, it included the assembly, installation, and setup of this equipment at the Cold Test Facility. During the Phase 3 effort the system was tested on a component, subsystem, and system level. This volume 1, discusses the PRCDP Phase 3 Test Program that was conducted by the HALLIBURTON NUS Environmental Corporation under contract AC07-86ID12651 with the United States Department of Energy. This document, Volume 1, Book 5 discusses the following topics: Lower Cutting System Test Results and Analysis Report; NFBC Loading System Test Results and Analysis Report; Robotic Bridge Transporter Test Results and Analysis Report; RM-10A Remotec Manipulator Test Results and Analysis Report; and Manipulator Transporter Test Results and Analysis Report

  18. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  19. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  20. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  1. Modular Robotics in an African Context

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2011-01-01

    In this paper, we review the concept, development and use of modular robotic devices for education, health improvements, and business in Africa. The modular robotics inspired technology has the advantage of allowing any user easy access to a physical construction of new and advanced technology. We...... conceptualized several educational tools inspired by modular robotics for contextualized IT education in Tanzania, leading to a novel IT degree program and the development of East Africa’s first science and business park in Iringa, Tanzania. The prototypes inspired by modular robotics were developed in the local......, rural context and tested by local users in hospitals and rehabilitation centres. In this paper, we review the development of both modular building blocks for education and modular robotic tiles for rehabilitation in Tanzania....

  2. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, John Min; Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Yeong; Lee, Young Bum; Sohn, Suk Won; Kim, Woon Gi

    1990-01-01

    The project of this study is to develop a real time controller applying autonomous robotic systems operated in hostile environment. Developed control system is designed with a multiprocessor to get independency and reliability as well as to extend the system easily. The control system is designed in three distinct subsystems (supervisory control part, functional control part, and remote control part). To review the functional performance of developed controller, a prototype mobile robot, which was installed 4 DOF mainpulator, was designed and manufactured. Initial tests showed that the robot could turn with a radius of 38 cm and a maximum speed of 1.26 km/hr and go over obstacle of 18 cm in height. (author)

  3. Development of Multiple Capsule Robots in Pipe

    Directory of Open Access Journals (Sweden)

    Shuxiang Guo

    2018-05-01

    Full Text Available Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenges to practical application. To address the fundamental challenges of narrow body cavities, a different-frequency driven approach for multiple capsule robots with screw structure manipulated by external electromagnetic field is proposed in this paper. The multiple capsule robots are composed of driven permanent magnets, joint permanent magnets, and a screw body. The screw body generates a propulsive force in a fluidic environment. Moreover, robots can form new constructions via mutual docking and release. To provide manipulation guidelines for active locomotion, a dynamic model of axial propulsion and circumferential torque is established. The multiple start and step-out frequencies for multiple robots are defined theoretically. Moreover, the different-frequency driven approach based on geometrical parameters of screw structure and the overlap angles of magnetic polarities is proposed to drive multiple robots in an identical electromagnetic field. Finally, two capsule robots were prototyped and experiments in a narrow pipe were conducted to verify the different motions such as docking, release, and cooperative locomotion. The experimental results demonstrated the validity of the driven approach for multiple capsule robots in narrow body cavities.

  4. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    International Nuclear Information System (INIS)

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

    2007-01-01

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  5. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, Pekka [Lappeenranta University of Technology, Lappeenranta (Finland)], E-mail: pessi@lut.fi; Wu, Huapeng; Handroos, Heikki [Lappeenranta University of Technology, Lappeenranta (Finland); Jones, Lawrence [EFDA Close Support Unit, Boltzmannstrasse 2, Garching D-85748 (Germany)

    2007-10-15

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  6. Analytical and numerical models for estimating the effect of exhaust ventilation on radon entry in houses with basements or crawl spaces

    International Nuclear Information System (INIS)

    Mowris, R.J.

    1986-08-01

    Mechanical exhaust ventilation systems are being installed in newer, energy-efficient houses and their operation can increase the indoor-outdoor pressure differences that drive soil gas and thus radon entry. This thesis presents simplified models for estimating the pressure driven flow of radon into houses with basements or crawl spaces, due to underpressures induced by indoor-outdoor temperature differences, wind, or exhaust ventilation. A two-dimensional finite difference model is presented and used to calculate the pressure field and soil gas flow rate into a basement situated in soil of uniform permeability. A simplified analytical model is compared to the finite difference model with generally very good agreement. Another simplified model is presented for houses with a crawl space. Literature on radon research is also reviewed to show why pressure driven flow of soil gas is considered to be the major source of radon entry in houses with higher-than-average indoor radon concentrations. Comparisons of measured vs. calculated indoor radon concentrations for a house with a basement showed the simplified basement model underpredicting on average by 25%. For a house with a crawl space the simplified crawl space model overpredicted by 23% when the crawl space vents are open and 48% when the crawl space vents are sealed

  7. Design of a Robust Stair Climbing Compliant Modular Robot to Tackle Overhang on Stairs

    OpenAIRE

    Bhole, Ajinkya; Turlapati, Sri Harsha; S, Rajashekhar V.; Dixit, Jay; Shah, Suril V.; Krishna, K Madhava

    2016-01-01

    This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling overhangs. Along with establishing a concept design, robust design parameters are set to minimize performance variation. The Grey-based Taguchi Method is adopted for providing an optimal setting for the design parameters of the robot. The robot prototype is shown...

  8. Space Robotics Challenge

    Data.gov (United States)

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

  9. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  10. Robotic surgery

    Science.gov (United States)

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

  11. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  12. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  13. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  14. Imagining the prototype

    OpenAIRE

    Brouwer, C. E.; Bhomer, ten, M.; Melkas, H.; Buur, J.

    2013-01-01

    This article reports on the analysis of a design session, employing conversation analysis. In the design session three experts and a designer discuss a prototype of a shirt, which has been developed with the input from these experts. The analysis focuses on the type of involvement of the participants with the prototype and how they explicate the points they make in the discussion with or without making use of the prototype. Three techniques for explicating design issues that exploit the proto...

  15. Rapid Prototyping Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — The ARDEC Rapid Prototyping (RP) Laboratory was established in December 1992 to provide low cost RP capabilities to the ARDEC engineering community. The Stratasys,...

  16. Fabrication and Prototyping Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Purpose: The Fabrication and Prototyping Lab for composite structures provides a wide variety of fabrication capabilities critical to enabling hands-on research and...

  17. Velocity, aerobic power and metabolic cost of whole body and arms only front crawl swimming at various stroke rates.

    Science.gov (United States)

    Morris, Kirstin S; Osborne, Mark A; Shephard, Megan E; Skinner, Tina L; Jenkins, David G

    2016-05-01

    Stroke rate (SR) has not been considered in previous research examining the relative roles of the limbs in front-crawl performance. This study compared velocity, aerobic power ([Formula: see text]) and metabolic cost (C) between whole body (WB) and arms only (AO) front-crawl swimming across various intensities while controlling SR. Twenty Australian national swimmers performed six 200 m front-crawl efforts under two conditions: (1) WB swimming and, (2) AO swimming. Participants completed the 200 m trials under three SR conditions: "low" (22-26 stroke-cycles min(-1)), "moderate" (30-34 stroke-cycles min(-1) and "high" (38-42 stroke-cycles min(-1)). [Formula: see text] was continuously measured, with C, velocity, SR, and kick rate calculated for each effort. Regardless of the SR condition and sex, AO velocity was consistently lower than WB velocity by ~11.0 % (p  0.01). When C was expressed as a function of velocity, WB and AO regression equations differed for males (p = 0.01) but not for females (p = 0.087). Kick rate increased as SR increased (p swimming is the same. Coaches should consider these results when prescribing AO sets if their intention is to reduce the metabolic load.

  18. Planar covariance of upper and lower limb elevation angles during hand-foot crawling in healthy young adults.

    Science.gov (United States)

    MacLellan, M J; Catavitello, G; Ivanenko, Y P; Lacquaniti, F

    2017-11-01

    Habitual quadrupeds have been shown to display a planar covariance of segment elevation angle waveforms in the fore and hind limbs during many forms of locomotion. The purpose of the current study was to determine if humans generate similar patterns in the upper and lower limbs during hand-foot crawling. Nine healthy young adults performed hand-foot crawling on a treadmill at speeds of 1, 2, and 3 km/h. A principal component analysis (PCA) was applied to the segment elevation angle waveforms for the upper (upper arm, lower arm, and hand) and lower (thigh, shank, and foot) limbs separately. The planarity of the elevation angle waveforms was determined using the sum of the variance explained by the first two PCs and the orientation of the covariance plane was quantified using the direction cosines of the eigenvector orthogonal to the plane, projected upon each of the segmental semi-axes. Results showed that planarity of segment elevation angles was maintained in the upper and lower limbs (explained variance >97%), although a slight decrease was present in the upper limb when crawling at 3 km/h. The orientation of the covariance plane was highly limb-specific, consistent with animal studies and possibly related to the functional neural control differences between the upper and lower limbs. These results may suggest that the motor patterns stored in the central nervous system for quadrupedal locomotion may be retained through evolution and may still be exploited when humans perform such tasks.

  19. How crawling and manual object exploration are related to the mental rotation abilities of 9-month-old infants

    Directory of Open Access Journals (Sweden)

    Gudrun eSchwarzer

    2013-03-01

    Full Text Available The present experiment examined whether the mental rotation ability of 9-month-old infants was related to their abilities to crawl and manually explore objects. Forty-eight 9-month-old infants were tested; half of them had been crawling for an average of 9.3 weeks. The infants were habituated to a video of a simplified Shepard-Metzler object rotating back and forth through a 240° angle around the longitudinal axis of the object. They were tested with videos of the same object rotating through a previously unseen 120° angle and with a mirror image of the display. All of the infants also participated in a manual object exploration task, in which they freely explored 5 toy blocks. The results showed that the crawlers looked significantly longer at the novel (mirror object than at the familiar object, independent of their manual exploration scores. The non-crawlers looking times, in contrast, were influenced by the manual exploration scores. The infants who did not spontaneously explore the toy blocks tended to show a familiarity preference, whereas those who explored the toy blocks preferred to look at the novel object. Thus, all of the infants were able to master the mental rotation task but it seemed to be the most complex process for infants who had no crawling experience and who did not spontaneously explore objects.

  20. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

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

  1. Unibot, a Universal Agent Architecture for Robots

    Directory of Open Access Journals (Sweden)

    Saša Mladenović

    2017-01-01

    Full Text Available Today there are numerous robots in different applications domains despite the fact that they still have limitations in perception, actuation and decision process. Consequently, robots usually have limited autonomy, they are domain specific or have difficulty to adapt on new environments. Learning is the property that makes an agent intelligent and the crucial property that a robot should have to proliferate into the human society. Embedding the learning ability into the robot may simplify the development of the robot control mechanism. The motivation for this research is to develop the agent architecture of the universal robot – Unibot. In our approach the agent is the robot i.e. Unibot that acts in the physical world and is capable of learning. The Unibot conducts several simultaneous simulations of a problem of interest like path-finding. The novelty in our approach is the Multi-Agent Decision Support System which is developed and integrated into the Unibot agent architecture in order to execute simultaneous simulations. Furthermore, the Unibot calculates and evaluates between multiple solutions, decides which action should be performed and performs the action. The prototype of the Unibot agent architecture is described and evaluated in the experiment supported by the Lego Mindstorms robot and the NetLogo.

  2. Sensing of substratum rigidity and directional migration by fast-crawling cells

    Science.gov (United States)

    Okimura, Chika; Sakumura, Yuichi; Shimabukuro, Katsuya; Iwadate, Yoshiaki

    2018-05-01

    Living cells sense the mechanical properties of their surrounding environment and respond accordingly. Crawling cells detect the rigidity of their substratum and migrate in certain directions. They can be classified into two categories: slow-moving and fast-moving cell types. Slow-moving cell types, such as fibroblasts, smooth muscle cells, mesenchymal stem cells, etc., move toward rigid areas on the substratum in response to a rigidity gradient. However, there is not much information on rigidity sensing in fast-moving cell types whose size is ˜10 μ m and migration velocity is ˜10 μ m /min . In this study, we used both isotropic substrata with different rigidities and an anisotropic substratum that is rigid on the x axis but soft on the y axis to demonstrate rigidity sensing by fast-moving Dictyostelium cells and neutrophil-like differentiated HL-60 cells. Dictyostelium cells exerted larger traction forces on a more rigid isotropic substratum. Dictyostelium cells and HL-60 cells migrated in the "soft" direction on the anisotropic substratum, although myosin II-null Dictyostelium cells migrated in random directions, indicating that rigidity sensing of fast-moving cell types differs from that of slow types and is induced by a myosin II-related process.

  3. Raetrad model extensions for radon entry into multi-level buildings with basements or crawl spaces.

    Science.gov (United States)

    Nielson, K K; Rogers, V C; Rogers, V; Holt, R B

    1997-10-01

    The RAETRAD model was generalized to characterize radon generation and movement from soils and building materials into multi-level buildings with basements or crawl spaces. With the generalization, the model retains its original simplicity and ease of use. The model calculates radon entry rates that are consistent with measurements published for basement test structures at Colorado State University, confirming approximately equal contributions from diffusion and pressure-driven air flow at indoor-outdoor air pressure differences of deltaP(i-o) = -3.5 Pa. About one-fourth of the diffusive radon entry comes from concrete slabs and three-fourths comes from the surrounding soils. Calculated radon entry rates with and without a barrier over floor-wall shrinkage cracks generally agree with Colorado State University measurements when a sustained pressure of deltaP(i-o) = -2 Pa is used to represent calm wind (<1 m s(-1)) conditions. Calculated radon distributions in a 2-level house also are consistent with published measurements and equations.

  4. Measuring Kinematic Variables in Front Crawl Swimming Using Accelerometers: A Validation Study

    Directory of Open Access Journals (Sweden)

    Andrew J. Callaway

    2015-05-01

    Full Text Available Objective data on swimming performance is needed to meet the demands of the swimming coach and athlete. The purpose of this study is to use a multiple inertial measurement units to calculate Lap Time, Velocity, Stroke Count, Stroke Duration, Stroke Rate and Phases of the Stroke (Entry, Pull, Push, Recovery in front crawl swimming. Using multiple units on the body, an algorithm was developed to calculate the phases of the stroke based on the relative position of the body roll. Twelve swimmers, equipped with these devices on the body, performed fatiguing trials. The calculated factors were compared to the same data derived to video data showing strong positive results for all factors. Four swimmers required individual adaptation to the stroke phase calculation method. The developed algorithm was developed using a search window relative to the body roll (peak/trough. This customization requirement demonstrates that single based devices will not be able to determine these phases of the stroke with sufficient accuracy.

  5. Kinematic, kinetic and EMG analysis of four front crawl flip turn techniques.

    Science.gov (United States)

    Pereira, Suzana Matheus; Ruschel, Caroline; Hubert, Marcel; Machado, Leandro; Roesler, Helio; Fernandes, Ricardo Jorge; Vilas-Boas, João Paulo

    2015-01-01

    This study aimed to analyse the kinematic, kinetic and electromyographic characteristics of four front crawl flip turn technique variants. The variants distinguished from each other by differences in body position (i.e., dorsal, lateral, ventral) during rolling, wall support, pushing and gliding phases. Seventeen highly trained swimmers (17.9 ± 3.2 years old) participated in interventional sessions and performed three trials of each variant, being monitored with a 3-D video system, a force platform and an electromyography (EMG) system. Studied variables: rolling time and distance, wall support time, push-off time, peak force and horizontal impulse at wall support and push-off, centre of mass horizontal velocity at the end of the push-off, gliding time, centre of mass depth, distance, average and final velocity during gliding, total turn time and electrical activity of Gastrocnemius Medialis, Tibialis Anterior, Biceps Femoris and Vastus Lateralis muscles. Depending on the variant, total turn time ranged from 2.37 ± 0.32 to 2.43 ± 0.33 s, push-off force from 1.86 ± 0.33 to 1.92 ± 0.26 BW and centre of mass velocity during gliding from 1.78 ± 0.21 to 1.94 ± 0.22 m · s(-1). The variants were not distinguishable in terms of kinematical, kinetic and EMG parameters during the rolling, wall support, pushing and gliding phases.

  6. Involvement of Crawling and Attached Ciliates in the Aggregation of Particles in Wastewater Treatment Plants

    Directory of Open Access Journals (Sweden)

    Lucía Arregui

    2008-01-01

    Full Text Available The biological community in activated sludge wastewater plants is organized within this ecosystem as bioaggregates or flocs, in which the biotic component is embedded in a complex matrix comprised of extracellular polymeric substances mainly of microbial origin. The aim of this work is to study the role of different floc-associated ciliates commonly reported in wastewater treatment plants-crawling Euplotes and sessile Vorticella- in the formation of aggregates. Flocs, in experiments with ciliates and latex beads, showed more compactation and cohesion among particles than those in the absence of ciliates. Ciliates have been shown to contribute to floc formation through different mechanisms such as the active secretion of polymeric substances (extrusomes, their biological activities (movement and feeding strategies, or the cysts formation capacity of some species. Staining with lectins coupled to fluorescein showed that carbohydrate of the matrix contained glucose, manose, N-acetyl-glucosamine and galactose. Protein fraction revealed over the latex beads surfaces could probably be of bacterial origin, but nucleic acids represented an important fraction of the extracellular polymeric substances of ciliate origin.

  7. TACIT: An open-source text analysis, crawling, and interpretation tool.

    Science.gov (United States)

    Dehghani, Morteza; Johnson, Kate M; Garten, Justin; Boghrati, Reihane; Hoover, Joe; Balasubramanian, Vijayan; Singh, Anurag; Shankar, Yuvarani; Pulickal, Linda; Rajkumar, Aswin; Parmar, Niki Jitendra

    2017-04-01

    As human activity and interaction increasingly take place online, the digital residues of these activities provide a valuable window into a range of psychological and social processes. A great deal of progress has been made toward utilizing these opportunities; however, the complexity of managing and analyzing the quantities of data currently available has limited both the types of analysis used and the number of researchers able to make use of these data. Although fields such as computer science have developed a range of techniques and methods for handling these difficulties, making use of those tools has often required specialized knowledge and programming experience. The Text Analysis, Crawling, and Interpretation Tool (TACIT) is designed to bridge this gap by providing an intuitive tool and interface for making use of state-of-the-art methods in text analysis and large-scale data management. Furthermore, TACIT is implemented as an open, extensible, plugin-driven architecture, which will allow other researchers to extend and expand these capabilities as new methods become available.

  8. 2nd International Conference on Cable-Driven Parallel Robots

    CERN Document Server

    Bruckmann, Tobias

    2015-01-01

    This volume presents the outcome of the second forum to cable-driven parallel robots, bringing the cable robot community together. It shows the new ideas of the active researchers developing cable-driven robots. The book presents the state of the art, including both summarizing contributions as well as latest research and future options. The book cover all topics which are essential for cable-driven robots: Classification Kinematics, Workspace and Singularity Analysis Statics and Dynamics Cable Modeling Control and Calibration Design Methodology Hardware Development Experimental Evaluation Prototypes, Application Reports and new Application concepts

  9. Designing and testing prototypes

    NARCIS (Netherlands)

    Vereijken, P.; Wijnands, F.; Stol, W.

    1995-01-01

    This second progress report focuses on designing a theoretical prototype by linking parameters to methods and designing the methods in this context until they are ready for initial testing. The report focuses also on testing and improving the prototype in general and the methods in particular until

  10. EUCLID ARCHIVE SYSTEM PROTOTYPE

    NARCIS (Netherlands)

    Belikov, Andrey; Williams, Owen; Droge, Bob; Tsyganov, Andrey; Boxhoorn, Danny; McFarland, John; Verdoes Kleijn, Gijs; Valentijn, E; Altieri, Bruno; Dabin, Christophe; Pasian, F.; Osuna, Pedro; Soille, P.; Marchetti, P.G.

    2014-01-01

    The Euclid Archive System prototype is a functional information system which is used to address the numerous challenges in the development of fully functional data processing system for Euclid. The prototype must support the highly distributed nature of the Euclid Science Ground System, with Science

  11. Specifications in software prototyping

    OpenAIRE

    Luqi; Chang, Carl K.; Zhu, Hong

    1998-01-01

    We explore the use of software speci®cations for software prototyping. This paper describes a process model for software prototyping, and shows how specifications can be used to support such a process via a cellular mobile phone switch example.

  12. EPCiR prototype

    DEFF Research Database (Denmark)

    2003-01-01

    A prototype of a residential pervasive computing platform based on OSGi involving among other a mock-up of an health care bandage.......A prototype of a residential pervasive computing platform based on OSGi involving among other a mock-up of an health care bandage....

  13. Cooperative Prototyping Experiments

    DEFF Research Database (Denmark)

    Bødker, Susanne; Grønbæk, Kaj

    1989-01-01

    This paper describes experiments with a design technique that we denote cooperative prototyping. The experiments consider design of a patient case record system for municipal dental clinics in which we used HyperCard, an off the shelf programming environment for the Macintosh. In the ecperiments we...... tried to achieve a fluent work-like evaluation of prototypes where users envisioned future work with a computer tool, at the same time as we made on-line modifications of prototypes in cooperation with the users when breakdown occur in their work-like evaluation. The experiments showed...... that it was possible to make a number of direct manipulation changes of prototypes in cooperation with the users, in interplay with their fluent work-like evaluation of these. However, breakdown occurred in the prototyping process when we reached the limits of the direct manipulation support for modification. From...

  14. Soft Robotics Week

    CERN Document Server

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

    2017-01-01

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

  15. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  16. 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.

  17. Analyses of the dynamics of changes between individual men's events in front crawl during the XIX Olympic Games in Beijing 2008.

    Science.gov (United States)

    Kucia-Czyszczoń, Katarzyna; Dybińska, Ewa; Bieniek, Paweł; Ambroży, Tadeusz

    2014-01-01

    The main purpose of this study was to analyze tactical solutions used by swimmers, the finalists of the 19th Beijing Olympics in 2008, in individual front crawl events at distances of 50, 100 and 200 m. Observations were carried out on 7 swimmers, the Beijing Olympics medalists competing in front crawl individual events. Detailed analyses were run on: 1) Sports results obtained by the finalists at distances of 50, 100 and 200 m front crawl; 2) block time; 3) results of each 50 m lap time (100 and 200) called split times except 50 m front crawl (there is no split time in 50 m); and 4) the mean swimming speed (V) on individual laps of the analyzed races. To determine the correlation between the response time, the time of individual laps, and the final time of the analyzed front crawl races, Pearson's linear correlation coefficient r was obtained. As a result of detailed analyses of the test material it is believed that not only tactics for an individual race is important, but equally significant is to elaborate the strategy for the whole event and to prepare the swimmer to compete in the system of heats, semifinals and finals. However, some of the following tactical objectives can be formulated: sprinters (a distance of 50 and 100 m front crawl) should start at maximum speed, according to their abilities, and try to maintain that speed until the end of the race; middle-distance swimmers (200 m front crawl) should adopt the most optimal tactical solutions characterized by increasing speed in the second half of the distance.

  18. Generic robot architecture

    Science.gov (United States)

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

    2010-09-21

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

  19. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  20. ROBOSIM, a simulator for robotic systems

    Science.gov (United States)

    Hinman, Elaine M.; Fernandez, Ken; Cook, George E.

    1991-01-01

    ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented.

  1. Robotized Surface Mounting of Permanent Magnets

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2014-10-01

    Full Text Available Using permanent magnets on a rotor can both simplify the design and increase the efficiency of electric machines compared to using electromagnets. A drawback, however, is the lack of existing automated assembly methods for large machines. This paper presents and motivates a method for robotized surface mounting of permanent magnets on electric machine rotors. The translator of the Uppsala University Wave Energy Converter generator is used as an example of a rotor. The robot cell layout, equipment design and assembly process are presented and validated through computer simulations and experiments with prototype equipment. A comparison with manual assembly indicates substantial cost savings and an improved work environment. By using the flexibility of industrial robots and a scalable equipment design, it is possible for this assembly method to be adjusted for other rotor geometries and sizes. Finally, there is a discussion on the work that remains to be done on improving and integrating the robot cell into a production line.

  2. Acropolis: A Fast Protoyping Robotic Application

    Directory of Open Access Journals (Sweden)

    Vincent Zalzal

    2009-03-01

    Full Text Available Acropolis is an open source middleware robotic framework for fast software prototyping and reuse of program codes. It is made up of a core software and a collection of several extension modules called plugins. Each plugin encapsulates a specific functionality needed for robotic applications. To design a robot behavior, a circuit of the involved plugins is built with a graphical user interface. A high degree of decoupling between components and a graph-based representation allow the user to build complex robot behaviors with minimal need for code writing. In addition, the Acropolis core is hardware platform independent. Well-known design patterns and layered software architecture are its key features. Through the description of three applications, we illustrate some of its usability.

  3. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

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

  4. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  5. Service Robots

    DEFF Research Database (Denmark)

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

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

  6. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  7. PRMS Data Warehousing Prototype

    Science.gov (United States)

    Guruvadoo, Eranna K.

    2002-01-01

    Project and Resource Management System (PRMS) is a web-based, mid-level management tool developed at KSC to provide a unified enterprise framework for Project and Mission management. The addition of a data warehouse as a strategic component to the PRMS is investigated through the analysis, design and implementation processes of a data warehouse prototype. As a proof of concept, a demonstration of the prototype with its OLAP's technology for multidimensional data analysis is made. The results of the data analysis and the design constraints are discussed. The prototype can be used to motivate interest and support for an operational data warehouse.

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

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

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

  9. Ceramic Prototypes – Design, Computation, and Digital Fabrication

    Directory of Open Access Journals (Sweden)

    M. Bechthold

    2016-12-01

    Full Text Available Research in ceramic material systems at Harvard University has introduced a range of novel applications which combine digital manufacturing technologies and robotics with imaginative design and engineering methods. Prototypes showcase the new performative qualities of ceramics and the integration of this material in today’s construction culture. Work ranges from daylight control systems to structural applications and a robotic tile placement system. Emphasis is on integrating novel technologies with tried and true manufacturing methods. The paper describes two distinct studies – one on 3D print-ing of ceramics, the other on structural use of large format thin tiles.

  10. Crawling Big Data in a New Frontier for Socioeconomic Research: Testing with social tagging

    Directory of Open Access Journals (Sweden)

    Juan D. Borrero

    2013-03-01

    Full Text Available Tags, keywords freely chosen by users for annotating resources, offers a new way for organizing and retrieving web resources that closely reflect the users’ interests and preferences, and also automatically generate folksonomies. Social tagging systems have gained increasing popularity as a method for annotating and categorizing a wide range of different web resources. They also attract researchers in social sciences because they offer a huge quantity of user-generated annotations that reveal the interests of millions of people. To date, the study using digital trace data methods continues to lack a theoretical framework, particularly in social science research. This paper presents a methodology to use big data from Web 2.0 in social research. At the same time, it applies a method to extract data from a particular social bookmarking site (Delicious and shows the sort of results that this type of analysis can offer to social scientists. The illustration is made around the topic globalization of agriculture Using data crawled from a large social tagging system, can have an important impact in the discovering of latent patterns, which is basic in order to provide effective recommendations to different actors. In this paper a sample of 851 users, 526 URLs and 1,700 tags from the Delicious classification system on the subject of globalization were retrieved and analysed. Through the analysis main users and websites around globalization issues in Delicious emerged, and also the most important tags that were applied by users to describe the globalization of agriculture were discovered. The implications of these methodology and findings for further research are discussed.

  11. Analysis on the time and frequency domains of the acceleration in front crawl stroke.

    Science.gov (United States)

    Gil, Joaquín Madera; Moreno, Luis-Millán González; Mahiques, Juan Benavent; Muñoz, Víctor Tella

    2012-05-01

    The swimming involves accelerations and decelerations in the swimmer's body. Thus, the main objective of this study is to make a temporal and frequency analysis of the acceleration in front crawl swimming, regarding the gender and the performance. The sample was composed by 31 male swimmers (15 of high-level and 16 of low-level) and 20 female swimmers (11 of high-level and 9 of low-level). The acceleration was registered from the third complete cycle during eight seconds in a 25 meters maximum velocity test. A position transducer (200Hz) was used to collect the data, and it was synchronized to an aquatic camera (25Hz). The acceleration in the temporal (root mean square, minimum and maximum of the acceleration) and frequency (power peak, power peak frequency and spectral area) domains was calculated with Fourier analysis, as well as the velocity and the spectrums distribution in function to present one or more main peaks (type 1 and type 2). A one-way ANOVA was used to establish differences between gender and performance. Results show differences between genders in all the temporal domain variables (p<0.05) and only the Spectral Area (SA) in the frequency domain (p<0.05). Between gender and performance, only the Root Mean Square (RMS) showed differences in the performance of the male swimmers (p<0.05) and in the higher level swimmers, the Maximum (Max) and the Power Peak (PP) of the acceleration showed differences between both genders (p<0.05). These results confirms the importance of knowing the RMS to determine the efficiency of the swimmers regarding gender and performance level.

  12. Differences in the energy cost between children and adults during front crawl swimming.

    Science.gov (United States)

    Kjendlie, Per-Ludvik; Ingjer, Frank; Madsen, Ørjan; Stallman, Robert Keig; Stray-Gundersen, James

    2004-04-01

    There is little information available about the swimming economy of children. The aim of this study was to examine any possible differences in swimming economy in children and adults, swimming front crawl submaximally. Swimming economy was compared in adults [ n=13, aged 21.4 (3.7) years] and children [n=10, aged 11.8 (0.8) years] tested at four submaximal 6-min workloads. Oxygen consumption (VO2) was measured with Douglas bags in a 25-m pool and pacer lights were used to control the velocities. Swimming economy was scaled to body size using mass (BM), body surface area (BSA) and body length (BL). Children had lower VO2 (litres per minute) at a given velocity than the adults, with 1.86 (0.28) and 2.39 (0.20) l min(-1) respectively (at 1.00 m s(-1)). When scaling for size, children had higher VO2 measured in litres per square metre per minute and millilitres per kilogram per minute (divided by BSA and BM) than adults. The VO2 divided by BL was found not to differ between the two groups. The O2 cost of swimming 1 m at a velocity of 1.00 m s(-1) was lower in the children [31.0 (4.6) ml m(-1)] than in the adults [39.9 (3.3) ml m(-1) Pswimming velocity cubed and VO2 exists as shown earlier for adults. It is concluded that, when scaling for BSA and BM, children are less economical than adults, when scaling for BL, children are equally economical, and when considering energy cost per metre and absolute VO2, children are more economical than the adults.

  13. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  14. Robotics in scansorial environments

    Science.gov (United States)

    Autumn, Kellar; Buehler, Martin; Cutkosky, Mark; Fearing, Ronald; Full, Robert J.; Goldman, Daniel; Groff, Richard; Provancher, William; Rizzi, Alfred A.; Saranli, Uluc; Saunders, Aaron; Koditschek, Daniel E.

    2005-05-01

    We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.

  15. Smart Material-Actuated Flexible Tendon-Based Snake Robot

    Directory of Open Access Journals (Sweden)

    Mohiuddin Ahmed

    2016-05-01

    Full Text Available A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs, which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

  16. Field Tested Service Oriented Robotic Architecture: Case Study

    Science.gov (United States)

    Flueckiger, Lorenzo; Utz, Hanz

    2012-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

  17. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  19. Stochastic receding horizon control: application to an octopedal robot

    Science.gov (United States)

    Shah, Shridhar K.; Tanner, Herbert G.

    2013-06-01

    Miniature autonomous systems are being developed under ARL's Micro Autonomous Systems and Technology (MAST). These systems can only be fitted with a small-size processor, and their motion behavior is inherently uncertain due to manufacturing and platform-ground interactions. One way to capture this uncertainty is through a stochastic model. This paper deals with stochastic motion control design and implementation for MAST- specific eight-legged miniature crawling robots, which have been kinematically modeled as systems exhibiting the behavior of a Dubin's car with stochastic noise. The control design takes the form of stochastic receding horizon control, and is implemented on a Gumstix Overo Fire COM with 720 MHz processor and 512 MB RAM, weighing 5.5 g. The experimental results show the effectiveness of this control law for miniature autonomous systems perturbed by stochastic noise.

  20. Theseus: tethered distributed robotics (TDR)

    Science.gov (United States)

    Digney, Bruce L.; Penzes, Steven G.

    2003-09-01

    The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Thethered Distributed Robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

  1. Pengaruh Latihan Spiderman Crawl Terhadap Kelenturan Otot Tungkai Pada Pemain Sepakbola Siswa Ekstrakurikuler Smpnegeri 1 Cerenti Kabupaten Kuantan Singingi

    OpenAIRE

    Menrofa, Julius; ', Slamet; Wijayanti, Ni Putu Nita

    2016-01-01

    Based the observation, the student used to get low score for the flexibility of leg muscle in playing football. It was shown when they did dribbling or the other techniques. The aim of the research was to know the effect of spiderman crawl to the leg muscle flexibility in playing football for the extracurriculer students of SMP 1 Cerenti in Kuantan Singingi. The population was the extracurriculer students of SMP 1 Cerenti in Kuantan Singingi 2013 / 2014 which was 24 students. Based on the pop...

  2. Mechatronics Education: From Paper Design to Product Prototype Using LEGO NXT Parts

    Science.gov (United States)

    Lofaro, Daniel M.; Le, Tony Truong Giang; Oh, Paul

    The industrial design cycle starts with design then simulation, prototyping, and testing. When the tests do not match the design requirements the design process is started over again. It is important for students to experience this process before they leave their academic institution. The high cost of the prototype phase, due to CNC/Rapid Prototype machine costs, makes hands on study of this process expensive for students and the academic institutions. This document shows that the commercially available LEGO NXT Robot kit is a viable low cost surrogate to the expensive industrial CNC/Rapid Prototype portion of the industrial design cycle.

  3. Micro Robotics Lab

    Data.gov (United States)

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

  4. Robots of the Future

    Indian Academy of Sciences (India)

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

  5. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  6. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

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

  7. Designing a social and assistive robot for seniors.

    Science.gov (United States)

    Eftring, H; Frennert, S

    2016-06-01

    The development of social assistive robots is an approach with the intention of preventing and detecting falls among seniors. There is a need for a relatively low-cost mobile robot with an arm and a gripper which is small enough to navigate through private homes. User requirements of a social assistive robot were collected using workshops, a questionnaire and interviews. Two prototype versions of a robot were designed, developed and tested by senior citizens (n = 49) in laboratory trials for 2 h each and in the private homes of elderly persons (n = 18) for 3 weeks each. The user requirement analysis resulted in a specification of tasks the robot should be able to do to prevent and detect falls. It was a challenge but possible to design and develop a robot where both the senior and the robot arm could reach the necessary interaction points of the robot. The seniors experienced the robot as happy and friendly. They wanted the robot to be narrower so it could pass through narrow passages in the home and they also wanted it to be able to pass over thresholds without using ramps and to drive over carpets. User trials in seniors' homes are very important to acquire relevant knowledge for developing robots that can handle real life situations in the domestic environment. Very high reliability of a robot is needed to get feedback about how seniors experience the overall behavior of the robot and to find out if the robot could reduce falls and improve the feeling of security for seniors living alone.

  8. Experiments in Neural-Network Control of a Free-Flying Space Robot

    National Research Council Canada - National Science Library

    Wilson, Edward

    1995-01-01

    Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype...

  9. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  10. Biophysical Determinants of Front-Crawl Swimming at Moderate and Severe Intensities.

    Science.gov (United States)

    Ribeiro, João; Toubekis, Argyris G; Figueiredo, Pedro; de Jesus, Kelly; Toussaint, Huub M; Alves, Francisco; Vilas-Boas, João P; Fernandes, Ricardo J

    2017-02-01

    To conduct a biophysical analysis of the factors associated with front-crawl performance at moderate and severe swimming intensities, represented by anaerobic-threshold (vAnT) and maximal-oxygen-uptake (vV̇O 2 max) velocities. Ten high-level swimmers performed 2 intermittent incremental tests of 7 × 200 and 12 × 25 m (through a system of underwater push-off pads) to assess vAnT, and vV̇O 2 max, and power output. The 1st protocol was videotaped (3D reconstruction) for kinematic analysis to assess stroke frequency (SF), stroke length (SL), propelling efficiency (η P ), and index of coordination (IdC). V̇O 2 was measured and capillary blood samples (lactate concentrations) were collected, enabling computation of metabolic power. The 2nd protocol allowed calculating mechanical power and performance efficiency from the ratio of mechanical to metabolic power. Neither vAnT nor vV̇O 2 max was explained by SF (0.56 ± 0.06 vs 0.68 ± 0.06 Hz), SL (2.29 ± 0.21 vs 2.06 ± 0.20 m), η P (0.38 ± 0.02 vs 0.36± 0.03), IdC (-12.14 ± 5.24 vs -9.61 ± 5.49), or metabolic-power (1063.00 ± 122.90 vs 1338.18 ± 127.40 W) variability. vV̇O 2 max was explained by power to overcome drag (r = .77, P ≤ .05) and η P (r = .72, P ≤ .05), in contrast with the nonassociation between these parameters and vAnT; both velocities were well related (r = .62, P ≤ .05). The biomechanical parameters, coordination, and metabolic power seemed not to be performance discriminative at either intensity. However, the increase in power to overcome drag, for the less metabolic input, should be the focus of any intervention that aims to improve performance at severe swimming intensity. This is also true for moderate intensities, as vAnT and vV˙O2max are proportional to each other.

  11. Dynamical analysis and development of a biologically inspired SMA caterpillar robot.

    Science.gov (United States)

    Daily-Diamond, Christopher A; Novelia, Alyssa; O'Reilly, Oliver M

    2017-09-26

    With the goal of robustly designing and fabricating a soft robot based on a caterpillar featuring shape memory alloy (SMA) actuators, analytical and numerical models for a soft robot were created based on the forward crawling motion of the Manduca sexta caterpillar. The analytical model features a rod theory and the mechanics of undulation were analyzed using a motion pattern based on the 'Witch of Agnesi' curve. Complementing these models, experiments on a SMA actuator sample were performed in order to determine its flexural rigidity and curvature as a function of the actuation voltage. A series of these actuators can be modeled as a system of rigid bodies connected by torsional springs. As these bodies are actuated according to the motion pattern based on the individual caterpillar segments, ground contact forces are calculated and analyzed to determine the requirements of successful forward locomotion. The energetics of the analytical and numerical models are then compared and discussed.

  12. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  13. From prototype to product

    DEFF Research Database (Denmark)

    Andersen, Tariq Osman; Bansler, Jørgen P.; Kensing, Finn

    2017-01-01

    This paper delves into the challenges of engaging patients, clinicians and industry stakeholders in the participatory design of an mHealth platform for patient-clinician collaboration. It follows the process from the development of a research prototype to a commercial software product. In particu......This paper delves into the challenges of engaging patients, clinicians and industry stakeholders in the participatory design of an mHealth platform for patient-clinician collaboration. It follows the process from the development of a research prototype to a commercial software product....... In particular, we draw attention to four major challenges of (a) aligning the different concerns of patients and clinicians, (b) designing according to clinical accountability, (c) ensuring commercial interest, and (d) dealing with regulatory constraints when prototyping safety critical health Information...... Technology. Using four illustrative cases, we discuss what these challenges entail and the implications they pose to Participatory Design. We conclude the paper by presenting lessons learned....

  14. DARC: Next generation decentralized control framework for robot applications

    DEFF Research Database (Denmark)

    Kjærgaard, Morten; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry....... It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness....

  15. Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance

    OpenAIRE

    Raj, Anil K.; Neuhaus, Peter D.; Moucheboeuf, Adrien M.; Noorden, Jerryll H.; Lecoutre, David V.

    2011-01-01

    While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC) has developed the Mina, a prototype sensorimotor robotic ort...

  16. Design on a Composite Mobile System for Exploration Robot

    OpenAIRE

    Shang, Weiyan; Yang, Canjun; Liu, Yunping; Wang, Junming

    2016-01-01

    In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been st...

  17. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

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

  18. PANDA Muon System Prototype

    Science.gov (United States)

    Abazov, Victor; Alexeev, Gennady; Alexeev, Maxim; Frolov, Vladimir; Golovanov, Georgy; Kutuzov, Sergey; Piskun, Alexei; Samartsev, Alexander; Tokmenin, Valeri; Verkheev, Alexander; Vertogradov, Leonid; Zhuravlev, Nikolai

    2018-04-01

    The PANDA Experiment will be one of the key experiments at the Facility for Antiproton and Ion Research (FAIR) which is under construction now in the territory of the GSI Helmholtz Centre for Heavy Ion Research in Darmstadt, Germany. PANDA is aimed to study hadron spectroscopy and various topics of the weak and strong forces. Muon System is chosen as the most suitable technology for detecting the muons. The Prototype of the PANDA Muon System is installed on the test beam line T9 at the Proton Synchrotron (PS) at CERN. Status of the PANDA Muon System prototype is presented with few preliminary results.

  19. Prototyping a Smart City

    DEFF Research Database (Denmark)

    Korsgaard, Henrik; Brynskov, Martin

    In this paper, we argue that by approaching the so-called Smart City as a design challenge, and an interaction design perspective, it is possible to both uncover existing challenges in the interplay between people, technology and society, as well as prototype possible futures. We present a case...... in which we exposed data about the online communication between the citizens and the municipality on a highly visible media facade, while at the same time prototyped a tool that enabled citizens to report ‘bugs’ within the city....

  20. PANDA Muon System Prototype

    Directory of Open Access Journals (Sweden)

    Abazov Victor

    2018-01-01

    Full Text Available The PANDA Experiment will be one of the key experiments at the Facility for Antiproton and Ion Research (FAIR which is under construction now in the territory of the GSI Helmholtz Centre for Heavy Ion Research in Darmstadt, Germany. PANDA is aimed to study hadron spectroscopy and various topics of the weak and strong forces. Muon System is chosen as the most suitable technology for detecting the muons. The Prototype of the PANDA Muon System is installed on the test beam line T9 at the Proton Synchrotron (PS at CERN. Status of the PANDA Muon System prototype is presented with few preliminary results.

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

    OpenAIRE

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

    2013-01-01

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

  2. Parallel Robot for Lower Limb Rehabilitation Exercises

    Directory of Open Access Journals (Sweden)

    Alireza Rastegarpanah

    2016-01-01

    Full Text Available The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators’ forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators’ forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg’s model placed on the robot. The results demonstrate the robot’s capability to perform a full range of various rehabilitation exercises.

  3. Laser assisted robotic surgery in cornea transplantation

    Science.gov (United States)

    Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

    2017-03-01

    Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

  4. A Multidisciplinary Industrial Robot Approach for Teaching Mechatronics-Related Courses

    Science.gov (United States)

    Garduño-Aparicio, Mariano; Rodríguez-Reséndiz, Juvenal; Macias-Bobadilla, Gonzalo; Thenozhi, Suresh

    2018-01-01

    This paper presents a robot prototype for an undergraduate laboratory program designed to fulfill the criteria laid out by ABET. The main objective of the program is for students to learn some basic concepts of embedded systems and robotics, and apply them in practice. For that purpose, various practical laboratory exercises were prepared to teach…

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1991-11-01

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

  6. LEP vacuum chamber, prototype

    CERN Multimedia

    CERN PhotoLab

    1983-01-01

    Final prototype for the LEP vacuum chamber, see 8305170 for more details. Here we see the strips of the NEG pump, providing "distributed pumping". The strips are made from a Zr-Ti-Fe alloy. By passing an electrical current, they were heated to 700 deg C.

  7. Imagining the prototype

    NARCIS (Netherlands)

    Brouwer, C. E.; Bhomer, ten M.; Melkas, H.; Buur, J.

    2013-01-01

    This article reports on the analysis of a design session, employing conversation analysis. In the design session three experts and a designer discuss a prototype of a shirt, which has been developed with the input from these experts. The analysis focuses on the type of involvement of the

  8. MIND performance and prototyping

    International Nuclear Information System (INIS)

    Cervera-Villanueva, A.

    2008-01-01

    The performance of MIND (Magnetised Iron Neutrino Detector) at a neutrino factory has been revisited in a new analysis. In particular, the low neutrino energy region is studied, obtaining an efficiency plateau around 5 GeV for a background level below 10 -3 . A first look has been given into the detector optimisation and prototyping

  9. The prototype fast reactor

    International Nuclear Information System (INIS)

    Broomfield, A.M.

    1985-01-01

    The paper concerns the Prototype Fast Reactor (PFR), which is a liquid metal cooled fast reactor power station, situated at Dounreay, Scotland. The principal design features of a Fast Reactor and the PFR are given, along with key points of operating history, and health and safety features. The role of the PFR in the development programme for commercial reactors is discussed. (U.K.)

  10. AGS Booster prototype magnets

    Energy Technology Data Exchange (ETDEWEB)

    Danby, G.; Jackson, J.; Lee, Y.Y.; Phillips, R.; Brodowski, J.; Jablonski, E.; Keohane, G.; McDowell, B.; Rodger, E.

    1987-03-19

    Prototype magnets have been designed and constructed for two half cells of the AGS Booster. The lattice requires 2.4m long dipoles, each curved by 10/sup 0/. The multi-use Booster injector requires several very different standard magnet cycles, capable of instantaneous interchange using computer control from dc up to 10 Hz.

  11. AGS booster prototype magnets

    International Nuclear Information System (INIS)

    Danby, G.; Jackson, J.; Lee, Y.Y.; Phillips, R.; Brodowski, J.; Jablonski, E.; Keohane, G.; McDowell, B.; Rodger, E.

    1987-01-01

    Prototype magnets have been designed and constructed for two half cells of the AGS Booster. The lattice requires 2.4m long dipoles, each curved by 10 0 . The multi-use Booster injector requires several very different standard magnet cycles, capable of instantaneous interchange using computer control from dc up to 10 Hz

  12. Cockroft Walton accelerator prototype

    International Nuclear Information System (INIS)

    Hutapea, Sumihar.

    1976-01-01

    Prototype of a Cockroft Walton generator using ceramic and plastic capacitors is discussed. Compared to the previous generator, the construction and components are much more improved. Pralon is used for the high voltage insulation column and plastic is used as a dielectric material for the high voltage capacitor. Cockroft Walton generator is used as a high tension supply for an accelerator. (author)

  13. Prompt and Precise Prototyping

    Science.gov (United States)

    2003-01-01

    For Sanders Design International, Inc., of Wilton, New Hampshire, every passing second between the concept and realization of a product is essential to succeed in the rapid prototyping industry where amongst heavy competition, faster time-to-market means more business. To separate itself from its rivals, Sanders Design aligned with NASA's Marshall Space Flight Center to develop what it considers to be the most accurate rapid prototyping machine for fabrication of extremely precise tooling prototypes. The company's Rapid ToolMaker System has revolutionized production of high quality, small-to-medium sized prototype patterns and tooling molds with an exactness that surpasses that of computer numerically-controlled (CNC) machining devices. Created with funding and support from Marshall under a Small Business Innovation Research (SBIR) contract, the Rapid ToolMaker is a dual-use technology with applications in both commercial and military aerospace fields. The advanced technology provides cost savings in the design and manufacturing of automotive, electronic, and medical parts, as well as in other areas of consumer interest, such as jewelry and toys. For aerospace applications, the Rapid ToolMaker enables fabrication of high-quality turbine and compressor blades for jet engines on unmanned air vehicles, aircraft, and missiles.

  14. Surrogates-based prototyping

    NARCIS (Netherlands)

    Du Bois, E.; Horvath, I.

    2014-01-01

    The research is situated in the system development phase of interactive software products. In this detailed design phase, we found a need for fast testable prototyping to achieve qualitative change proposals on the system design. In this paper, we discuss a literature study on current software

  15. Z Andromedae: the prototype

    International Nuclear Information System (INIS)

    Viotti, R.; Giangrande, A.; Ricciardi, O.; Cassatella, A.

    1982-01-01

    Z And is considered as the ''prototype'' of the symbiotic stars. Besides its symbiotic spectrum, the star is also known for its characteristic light curve (and for the related spectral variations). Since many theoretical speculations on Z And and similar objects have been based on the luminosity and spectral variations of this star, the authors critically analyse the observational data concerning it. (Auth.)

  16. Prototype ATLAS straw tracker

    CERN Multimedia

    Laurent Guiraud

    1998-01-01

    This is an early prototype of the straw tracking device for the ATLAS detector at CERN. This detector will be part of the LHC project, scheduled to start operation in 2008. The straw tracker will consist of thousands of gas-filled straws, each containing a wire, allowing the tracks of particles to be followed.

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

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

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

  18. Courthouse Prototype Building

    Energy Technology Data Exchange (ETDEWEB)

    Malhotra, Mini [ORNL; New, Joshua Ryan [ORNL; Im, Piljae [ORNL

    2018-02-01

    As part of DOE's support of ANSI/ASHRAE/IES Standard 90.1 and IECC, researchers at Pacific Northwest National Laboratory (PNNL) apply a suite of prototype buildings covering 80% of the commercial building floor area in the U.S. for new construction. Efforts have started on expanding the prototype building suite to cover 90% of the commercial building floor area in the U.S., by developing prototype models for additional building types including place of worship, public order and safety, public assembly. Courthouse is courthouse is a sub-category under the “Public Order and Safety" building type category; other sub-categories include police station, fire station, and jail, reformatory or penitentiary.ORNL used building design guides, databases, and documented courthouse projects, supplemented by personal communication with courthouse facility planning and design experts, to systematically conduct research on the courthouse building and system characteristics. This report documents the research conducted for the courthouse building type and proposes building and system characteristics for developing a prototype building energy model to be included in the Commercial Building Prototype Model suite. According to the 2012 CBECS, courthouses occupy a total of 436 million sqft of floor space or 0.5% of the total floor space in all commercial buildings in the US, next to fast food (0.35%), grocery store or food market (0.88%), and restaurant or cafeteria (1.2%) building types currently included in the Commercial Prototype Building Model suite. Considering aggregated average, courthouse falls among the larger with a mean floor area of 69,400 sqft smaller fuel consumption intensity building types and an average of 94.7 kBtu/sqft compared to 77.8 kBtu/sqft for office and 80 kBtu/sqft for all commercial buildings.Courthouses range in size from 1000 sqft to over a million square foot building gross square feet and 1 courtroom to over 100 courtrooms. Small courthouses

  19. A parallel robot to assist vitreoretinal surgery

    Energy Technology Data Exchange (ETDEWEB)

    Nakano, Taiga; Sugita, Naohiko; Mitsuishi, Mamoru [University of Tokyo, School of Engineering, Tokyo (Japan); Ueta, Takashi; Tamaki, Yasuhiro [University of Tokyo, Graduate School of Medicine, Tokyo (Japan)

    2009-11-15

    This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. The manipulator was specifically designed to meet requirements such as size, precision, and sterilization; this has six-degree-of-freedom parallel architecture and provides positioning accuracy with micrometer resolution within the eye. The manipulator is controlled by an operator with a ''master manipulator'' consisting of multiple joints. Results of the in vitro experiments revealed that when compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved using the prototype robot. This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery. (orig.)

  20. 3D Printer Instrumentation to Create Varied Geometries of Robotic Limbs and Heterogeneous Granular Media

    Science.gov (United States)

    2015-05-20

    Transfer Robo Ant The 3D printer was used to rapidly prototype a robot ant . The robot ant was used to model the behavior of the fire ant and to model...computer models and 3D printed ant robots are shown below. Snake Bot We used the 3D printed to rapidly design a modular, easily-modified snake...living organism (modern mudskippers, a terrestrial fish) and extinct early tetrapods (e.g. Ichthyostega, Acanthostega) while allowing us to explore

  1. Service design in social robotics: Involving elderly care professionals into co-creation

    OpenAIRE

    Tarasova, Kseniya

    2015-01-01

    The global trend of the population ageing triggers the development of social robotics for the needs of elderly people in most European countries. After decades of being a subject of scientific research and a prototype in the lab, social robotics is finally becoming a consumer product. At the moment the logic of the consumer market points towards customer experience. Therefore, social robotics companies should follow this trend. This study considers service design as one of the best approache...

  2. Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

    Science.gov (United States)

    Erikson, Jon D.

    1994-01-01

    This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

  3. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  4. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  5. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

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

  6. To Glide or Not to Glide.... Response to Havriluk's Comment on "Arm Coordination and Performance Level in the 400-m Front Crawl"

    Science.gov (United States)

    Schnitzler, Christophe; Seifert, Ludovic; Chollet, Didier

    2012-01-01

    We recently published an article on arm coordination and performance level in 400-m front-crawl swimming in Research Quarterly for Exercise and Sport (Schnitzler, Seifert, & Chollet, 2011). The index of coordination (IdC) was used to quantify interarm coordination. Our results showed that expert swimmers exhibited lower IdC than recreational…

  7. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  8. Robots and cyborgs: to be or to have a body?

    Science.gov (United States)

    Palese, Emma

    2012-06-01

    Starting with service robotics and industrial robotics, this paper aims to suggest philosophical reflections about the relationship between body and machine, between man and technology in our contemporary world. From the massive use of the cell phone to the robots which apparently "feel" and show emotions like humans do. From the wearable exoskeleton to the prototype reproducing the artificial sense of touch, technological progress explodes to the extent of embodying itself in our nakedness. Robotics, indeed, is inspired by biology in order to develop a new kind of technology affecting human life. This is a bio-robotic approach, which is fulfilled in the figure of the cyborg and consequently in the loss of human nature. Today, humans have reached the possibility to modify and create their own body following their personal desires. But what is the limit of this achievement? For this reason, we all must question ourselves whether we have or whether we are a body.

  9. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  10. Performance of the Improvements of the CAESAR Robot

    Directory of Open Access Journals (Sweden)

    Riaan Stopforth

    2010-09-01

    Full Text Available Robots are able to enter concealed and unstable environments inaccessible to rescuers. Previous Urban Search And Rescue (USAR robots have experienced problems with malfunction of communication systems, traction systems, control and telemetry. These problems were accessed and improved in developing a prototype robot called CAESAR, which is an acronym for Contractible Arms Elevating Search And Rescue. Problems encountered with previous USAR robots are discussed. The mechanical, sensory and communication systems that were used on CAESAR are briefly explained. Each system was separately tested by performed experiments. Results of field tests and the robot performance experienced during a disaster scenario that was created are discussed. The capabilities of CAESAR are explained in these tests to determine if some of the problems experienced previously are solved.

  11. Embodiment design of soft continuum robots

    Directory of Open Access Journals (Sweden)

    Rongjie Kang

    2016-04-01

    Full Text Available This article presents the results of a multidisciplinary project where mechatronic engineers worked alongside biologists to develop a soft robotic arm that captures key features of octopus anatomy and neurophysiology. The concept of embodiment (the dynamic coupling between sensory-motor control, anatomy, materials and environment that allows for the animal to achieve adaptive behaviours is used as a starting point for the design process but tempered by current engineering technologies and approaches. In this article, the embodied design requirements are first discussed from a robotic viewpoint by taking into account real-life engineering limitations; then, the motor control schemes inspired by octopus nervous system are investigated. Finally, the mechanical and control design of a prototype is presented that appropriately blends bio-inspiration and engineering limitations. Simulated and experimental results show that the developed continuum robotic arm is able to reproduce octopus-like motions for bending, reaching and grasping.

  12. Mobile robot motion estimation using Hough transform

    Science.gov (United States)

    Aldoshkin, D. N.; Yamskikh, T. N.; Tsarev, R. Yu

    2018-05-01

    This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot’s range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.

  13. Design of Lightweight e Attendance Prototype Using Raspberry Pi

    International Nuclear Information System (INIS)

    Mohd Dzul Aiman Aslan; Mohamad Safuan Sulaiman; Saaidi Ismail; Mohd Fauzi Haris; Nurbahyah Hamdan; Abdul Muin Abd Rahman

    2014-01-01

    E-Attendance is a system that has been extensively used to record attendance in most of the official ceremony of Nuclear Malaysia. Currently, a computer is used as the client to record the input from the proximity card. However, further study on Raspberry Pi, the single board computer that use system on a chip (SoC) in the current market, discover that it is capable of delivering a simple light task of the e-attendance. With a compact memory and in linux environment, a prototype for lightweight e-attendance is being developed. This prototype of Raspberry Pi is believe to have potential in computer based system of Nuclear Technology such as access control, monitoring system and even robotic assistance. This paper will discuss the design of the prototype that resemble e-attendance to improve the robustness of the system. (author)

  14. Piezoresistive pressure sensor array for robotic skin

    Science.gov (United States)

    Mirza, Fahad; Sahasrabuddhe, Ritvij R.; Baptist, Joshua R.; Wijesundara, Muthu B. J.; Lee, Woo H.; Popa, Dan O.

    2016-05-01

    Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, haptic communication is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots increase perception capabilities of their surrounding environments. Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability. In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

  15. Development and test of prototype components for ITER; Entwicklung und Test von Prototypkomponenten fuer ITER

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-08-15

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

  16. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  17. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  18. 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

  19. Database Replication Prototype

    OpenAIRE

    Vandewall, R.

    2000-01-01

    This report describes the design of a Replication Framework that facilitates the implementation and com-parison of database replication techniques. Furthermore, it discusses the implementation of a Database Replication Prototype and compares the performance measurements of two replication techniques based on the Atomic Broadcast communication primitive: pessimistic active replication and optimistic active replication. The main contributions of this report can be split into four parts....

  20. Brachial Plexus Blocker Prototype

    OpenAIRE

    Stéphanie Coelho Monteiro

    2017-01-01

    Although the area of surgical simulation has been the subject of study in recent years, it is still necessary to develop artificial experimental models with a perspective to dismiss the use of biological models. Since this makes the simulators more real, transferring the environment of the health professional to a physical or virtual reality, an anesthetic prototype has been developed, where the motor response is replicated when the brachial plexus is subjected to a proximal nervous stimulus....

  1. SATBOT I: Prototype of a biomorphic autonomous spacecraft

    Energy Technology Data Exchange (ETDEWEB)

    Frigo, J.; Tilden, M.W.

    1995-12-01

    Our goal is to produce a prototype of an autonomous satellite robot, SATBOT. This robot differs from conventional robots in that it has three degrees of freedom, uses magnetics to direct the motion, and needs a zero gravity environment. The design integrates the robot`s structure and a biomorphic (biological morphology) control system to produce a survival-oriented vehicle that adapts to an unknown environment. Biomorphic systems, loosely modeled after biological systems, use simple analog circuitry, low power, and are microprocessor independent. These analog networks called Nervous Networks (Nv), are used to solve real-time controls problems. The Nv approach to problem solving in the robotics has produced many surprisingly capable machines which exhibit emergent behavior. The network can be designed to respond to positive or negative inputs from a sensor and produce a desired directed motion. The fluidity and direction of motion is set by the neurons and is inherent to the structure of the device. The robot is designed to orient itself with respect to a local magnetic field; to direct its attitude toward the greatest source of light; and robustly recover from variations in the local magnetic field, power source, or structural stability. This design uses a two neuron network which acts as a push-pull controller for the actuator (air core coil), and two sun sensors (photodiodes) as bias inputs to the neuron. The effect of sensor activation as it relates to an attractive or repulsive torque (directional motion) is studied. A discussion of this system`s power (energy) efficiency and frequency, noise immunity, and some dynamic characteristics is presented.

  2. Soft and smart modular structures actuated by shape memory alloy (SMA) wires as tentacles of soft robots

    Science.gov (United States)

    Jin, Hu; Dong, Erbao; Xu, Min; Liu, Chunshan; Alici, Gursel; Jie, Yang

    2016-08-01

    This paper introduces the design and fabrication of a multi-layered smart modular structure (SMS) that has been inspired by the muscular organs and modularity in soft animals. The SMS is capable of planar reciprocal motion of bending in heating process and recovering in cooling process when SMA wires carry out phase transformation. An adaptive regulation heating strategy is applied to avoid overheating and achieve bending range control of the SMS based on the resistance feedback of the SMA wires which as actuator of the SMS. The SMS can modular assemble soft robots with multiple morphologies such as lateral robots, bilateral robots and actinomorphic robots. A five-armed actinomorphic soft robot is conducted to crawling in terrestrial ground (max speed: 140 mm s-1, 0.7 body s-1), swimming in underwater environment (max speed: 67 mm s-1, 2.5 height s-1) and griping fragile objects (max object weight: 0.91 kg, 15 times the weight of itself). Those demonstrate that the performance of the SMS is good enough to be modular units to establish soft robots which possess a high speed of response, good adaptability and a safe interaction with their environments.

  3. Prototyping real-time systems

    OpenAIRE

    Clynch, Gary

    1994-01-01

    The traditional software development paradigm, the waterfall life cycle model, is defective when used for developing real-time systems. This thesis puts forward an executable prototyping approach for the development of real-time systems. A prototyping system is proposed which uses ESML (Extended Systems Modelling Language) as a prototype specification language. The prototyping system advocates the translation of non-executable ESML specifications into executable LOOPN (Language of Object ...

  4. MITRE sensor layer prototype

    Science.gov (United States)

    Duff, Francis; McGarry, Donald; Zasada, David; Foote, Scott

    2009-05-01

    The MITRE Sensor Layer Prototype is an initial design effort to enable every sensor to help create new capabilities through collaborative data sharing. By making both upstream (raw) and downstream (processed) sensor data visible, users can access the specific level, type, and quantities of data needed to create new data products that were never anticipated by the original designers of the individual sensors. The major characteristic that sets sensor data services apart from typical enterprise services is the volume (on the order of multiple terabytes) of raw data that can be generated by most sensors. Traditional tightly coupled processing approaches extract pre-determined information from the incoming raw sensor data, format it, and send it to predetermined users. The community is rapidly reaching the conclusion that tightly coupled sensor processing loses too much potentially critical information.1 Hence upstream (raw and partially processed) data must be extracted, rapidly archived, and advertised to the enterprise for unanticipated uses. The authors believe layered sensing net-centric integration can be achieved through a standardize-encapsulate-syndicateaggregate- manipulate-process paradigm. The Sensor Layer Prototype's technical approach focuses on implementing this proof of concept framework to make sensor data visible, accessible and useful to the enterprise. To achieve this, a "raw" data tap between physical transducers associated with sensor arrays and the embedded sensor signal processing hardware and software has been exploited. Second, we encapsulate and expose both raw and partially processed data to the enterprise within the context of a service-oriented architecture. Third, we advertise the presence of multiple types, and multiple layers of data through geographic-enabled Really Simple Syndication (GeoRSS) services. These GeoRSS feeds are aggregated, manipulated, and filtered by a feed aggregator. After filtering these feeds to bring just the type

  5. A prototype analysis of vengeance

    NARCIS (Netherlands)

    Elshout, Maartje; Nelissen, Rob; van Beest, Ilja

    2015-01-01

    The authors examined the concept of vengeance from a prototype perspective. In 6 studies, the prototype structure of vengeance was mapped. Sixty-nine features of vengeance were identified (Study 1), and rated on centrality (Study 2). Further studies confirmed the prototype structure. Compared to

  6. Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment

    Directory of Open Access Journals (Sweden)

    Aleksandar Rodić

    2015-04-01

    Full Text Available The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope, stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions

  7. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  8. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  9. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  10. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  11. Classification of robotic battery service systems for unmanned aerial vehicles

    Directory of Open Access Journals (Sweden)

    Ngo Tien

    2018-01-01

    Full Text Available Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: the type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed.

  12. Force-sensed interface for control and training space robot

    Science.gov (United States)

    Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

    2018-05-01

    A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

  13. Structural optimization for materially informed design to robotic production processes

    NARCIS (Netherlands)

    Bier, H.H.; Mostafavi, S.

    2015-01-01

    Hyperbody’s materially informed Design-to-Robotic-Production (D2RP) processes for additive and subtractive manufacturing aim to achieve performative porosity in architecture at various scales. An extended series of D2RP experiments aiming to produce prototypes at 1:1 scale wherein design materiality

  14. Rad-hard embedded computers for nuclear robotics

    International Nuclear Information System (INIS)

    Giraud, A.; Joffre, F.; Marceau, M.; Robiolle, M.; Brunet, J.P.; Mijuin, D.

    1994-01-01

    Nuclear industries require robots with embedded rad hard electronics and high reliability. The SYROCO research program allowed to perform efficient industrial prototypes, build according to MICADO architecture, and to design CADMOS architecture. MICADO architecture uses the auto healing property that have CMOS circuits when being switched off during irradiation. (D.L.). 8 refs., 5 figs

  15. Durable Tactile Glove for Human or Robot Hand

    Science.gov (United States)

    Butzer, Melissa; Diftler, Myron A.; Huber, Eric

    2010-01-01

    A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. The force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable than earlier models.

  16. 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.

  17. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

  18. OPAL Jet Chamber Prototype

    CERN Multimedia

    OPAL was one of the four experiments installed at the LEP particle accelerator from 1989 - 2000. OPAL's central tracking system consists of (in order of increasing radius) a silicon microvertex detector, a vertex detector, a jet chamber, and z-chambers. All the tracking detectors work by observing the ionization of atoms by charged particles passing by: when the atoms are ionized, electrons are knocked out of their atomic orbitals, and are then able to move freely in the detector. These ionization electrons are detected in the dirfferent parts of the tracking system. This piece is a prototype of the jet chambers

  19. Prototyping Augmented Reality

    CERN Document Server

    Mullen, Tony

    2011-01-01

    Learn to create augmented reality apps using Processing open-source programming language Augmented reality (AR) is used all over, and you may not even realize it. Smartphones overlay data onto live camera views to show homes for sale, restaurants, or historical sites. American football broadcasts use AR to show the invisible first-down line on the field to TV viewers. Nike and Budweiser, among others, have used AR in ads. Now, you can learn to create AR prototypes using 3D data, Processing open-source programming language, and other languages. This unique book is an easy-to-follow guide on how

  20. Nightshade Prototype Experiments (Silverleaf)

    Energy Technology Data Exchange (ETDEWEB)

    Danielson, Jeremy [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Bauer, Amy L. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-12-23

    The Red Sage campaign is a series of subcritical dynamic plutonium experiments designed to measure ejecta. Nightshade, the first experiments in Red Sage scheduled for fiscal year 2019, will measure the amount of ejecta emission into vacuum from a double-­shocked plutonium surface. To address the major technical risks in Nightshade, a Level 2 milestone was developed for fiscal year 2016. Silverleaf, a series of four experiments, was executed at the Los Alamos National Laboratory in July and August 2016 to demonstrate a prototype of the Nightshade package and to satisfy this Level 2 milestone. This report is documentation that Red Sage Level 2 milestone requirements were successfully met.

  1. PLANNING IN ARTIFICIAL INTELLIGENCE AND ROBOTICS (PAIR

    Directory of Open Access Journals (Sweden)

    Editorial, Foreword

    2016-11-01

    , in particular from Czechia, Germany, Poland, and Slovakia. Regarding this, the conference continues with addressing a broader audience and not only students from Czech universities.During the student talks, it has been satisfactory to see young researchers how they acquired experience with presenting their ideas and share results with the audience. The topics of the student presentations range from fundamental problems of mobile robotics such simultaneous localization and mapping, planning algorithms, decentralized exploration but also address high-level data managing for guiding humans or autonomous vehicles. Six papers have been selected for the proceedings and you can read students work about autonomous robot control in robotic competitions, communications frameworks in multi-robot systems, map building, localization of hexapod crawling robot and its energy efficiency using various motion gaits, and multi-goal planning for unmanned aerial vehicles. These papers have been mostly written by undergraduate students, and it is my great pleasure to see how they put their results into a form of research papers. Hopefully, it will provide them nice experience and courage them to further research and scientific work. The format of the conference as a joint event with the RoboTour competition proves to be very vital and interesting for young researchers. Based on the positive feedback and interest from the international young research community, it encourages me to continue with the conference for the next year. I would like to thank all the authors for high-quality presentations and final versions of the articles presented in the proceedings. Thank you all,Jan Faigl 

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

    Science.gov (United States)

    Lee, Hyeong Suk; Kim, Jeongeun

    2018-01-01

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

  3. BiLBIQ A Biologically Inspired Robot with Walking and Rolling Locomotion

    CERN Document Server

    King, Ralf Simon

    2013-01-01

    The book ‘BiLBIQ: A biologically inspired Robot with walking and rolling locomotion’ deals with implementing a locomotion behavior observed in the biological archetype Cebrennus villosus to a robot prototype whose structural design needs to be developed.   The biological sample is investigated as far as possible and compared to other evolutional solutions within the framework of nature’s inventions. Current achievements in robotics are examined and evaluated for their relation and relevance to the robot prototype in question. An overview of what is state of the art in actuation ensures the choice of the hardware available and most suitable for this project. Through a constant consideration of the achievement of two fundamentally different ways of locomotion with one and the same structure, a robot design is developed and constructed taking hardware constraints into account. The development of a special leg structure that needs to resemble and replace body elements of the biological archetype is a speci...

  4. Hydro-Quebec inspection robot RIT-LRG

    International Nuclear Information System (INIS)

    Champagne, D.; Rinfret, F.; Bourgault, Y.G.

    2008-01-01

    Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

  5. Development of a mobile robot for remote radiation measurement

    International Nuclear Information System (INIS)

    Sarkar, Ushnish; Saini, Surendra Singh; Swaroop, Tumapala Teja; Sreejith, P.; Kumar, Ravinder; Ray, Debasish Datta

    2016-01-01

    Remote measurement of radiation using mobile robots is recommended in nuclear installations. For this purpose various robots have been developed that carry a radiation sensor. However since the robot has to go very near to the source of radiation, the life of the robot's components is compromised due to high level of absorbed dose. It was earlier managed to increase the life expectancy of remote radiation measurement robots by allowing the sensor to be placed on an extendable telescopic assembly; analogous to a health physicist taking measurements using a Teletector. The first prototype developed had stair climbing capabilities but it was found to be over dimensioned for various potential applications. A significant use of such robots is in taking measurements at nuclear reprocessing facilities having narrow cluttered pathways. This required development of a new version of the robot capable of negotiating the narrow pathways of such facilities. This paper describes the different aspects of the development of the mobile robot system with flexible radiation sensing capabilities

  6. Hydro-Quebec inspection robot RIT-LRG

    Energy Technology Data Exchange (ETDEWEB)

    Champagne, D., E-mail: champagne.dominique@ireq.ca [Inst. de recherche d' Hydro-Quebec, Quebec (Canada); Rinfret, F.; Bourgault, Y.G., E-mail: rinfret.francois@hydro.qc.ca, E-mail: bourgault.yves.g@hydro.qc.ca [Hydro-Quebec, Becancour, Quebec (Canada)

    2008-07-01

    Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

  7. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  8. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

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

  9. DataCollection Prototyping

    CERN Multimedia

    Beck, H.P.

    DataCollection is a subsystem of the Trigger, DAQ & DCS project responsible for the movement of event data from the ROS to the High Level Triggers. This includes data from Regions of Interest (RoIs) for Level 2, building complete events for the Event Filter and finally transferring accepted events to Mass Storage. It also handles passing the LVL1 RoI pointers and the allocation of Level 2 processors and load balancing of Event Building. During the last 18 months DataCollection has developed a common architecture for the hardware and software required. This involved a radical redesign integrating ideas from separate parts of earlier TDAQ work. An important milestone for this work, now achieved, has been to demonstrate this subsystem in the so-called Phase 2A Integrated Prototype. This prototype comprises the various TDAQ hardware and software components (ROSs, LVL2, etc.) under the control of the TDAQ Online software. The basic functionality has been demonstrated on small testbeds (~8-10 processing nodes)...

  10. OMS FDIR: Initial prototyping

    Science.gov (United States)

    Taylor, Eric W.; Hanson, Matthew A.

    1990-01-01

    The Space Station Freedom Program (SSFP) Operations Management System (OMS) will automate major management functions which coordinate the operations of onboard systems, elements and payloads. The objectives of OMS are to improve safety, reliability and productivity while reducing maintenance and operations cost. This will be accomplished by using advanced automation techniques to automate much of the activity currently performed by the flight crew and ground personnel. OMS requirements have been organized into five task groups: (1) Planning, Execution and Replanning; (2) Data Gathering, Preprocessing and Storage; (3) Testing and Training; (4) Resource Management; and (5) Caution and Warning and Fault Management for onboard subsystems. The scope of this prototyping effort falls within the Fault Management requirements group. The prototyping will be performed in two phases. Phase 1 is the development of an onboard communications network fault detection, isolation, and reconfiguration (FDIR) system. Phase 2 will incorporate global FDIR for onboard systems. Research into the applicability of expert systems, object-oriented programming, fuzzy sets, neural networks and other advanced techniques will be conducted. The goals and technical approach for this new SSFP research project are discussed here.

  11. Live Piloting and Prototyping

    Directory of Open Access Journals (Sweden)

    Francesca Rizzo

    2013-07-01

    Full Text Available This paper presents current trends in service design research concerning large scale projects aimed at generating changes at a local scale. The strategy adopted to achieve this, is to co-design solutions including future users in the development process, prototyping and testing system of products and services before their actual implementation. On the basis of experience achieved in the European Project Life 2.0, this paper discusses which methods and competencies are applied in the development of these projects, eliciting the lessons learnt especially from the piloting phase in which the participatory design (PD approach plays a major role. In the first part, the topic is introduced jointly with the theoretical background where the user center design and participatory design methods are presented; then the Life 2.0 project development is described; finally the experience is discussed from a service design perspective, eliciting guidelines for piloting and prototyping services in a real context of use. The paper concludes reflecting on the designers’ role and competencies needed in this process.

  12. User-centric design of a personal assistance robot (FRASIER) for active aging.

    Science.gov (United States)

    Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

    2015-01-01

    We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications.

  13. Robotics and tele-operation technology for applications in nuclear fields

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Hirata, Yasuhisa; Takeo, Koji

    2002-01-01

    In this article, we introduce available robotics and tele-operation technology for applications in Nuclear Fields. First, robotics technology for manipulation of a large object is introduced which has been experimentally applied to ITER Maintenance Robot. Then, transportation technology of a large object by multiple mobile robots is reviewed. At last, recent tele-operation technologies and a prototype tele-operation system, referred to as VISIT (Visual Interface System for Interactive Task-execution), is introduced. Several experimental results are also introduced. (author)

  14. Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB

    OpenAIRE

    Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

    2013-01-01

    The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE a...

  15. Adaptation of the IBM ECR [electric cantilever robot] robot to plutonium processing applications

    International Nuclear Information System (INIS)

    Armantrout, G.A.; Pedrotti, L.R.; Halter, E.A.; Crossfield, M.

    1990-12-01

    The changing regulatory climate in the US is adding increasing incentive to reduce operator dose and TRU waste for DOE plutonium processing operations. To help achieve that goal the authors have begun adapting a small commercial overhead gantry robot, the IBM electric cantilever robot (ECR), to plutonium processing applications. Steps are being taken to harden this robot to withstand the dry, often abrasive, environment within a plutonium glove box and to protect the electronic components against alpha radiation. A mock-up processing system for the reduction of the oxide to a metal was prepared and successfully demonstrated. Design of a working prototype is now underway using the results of this mock-up study. 7 figs., 4 tabs

  16. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

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

  17. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  18. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  19. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  20. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  1. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

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

  2. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  3. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  4. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

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

  5. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

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

  6. Robots in the Roses

    OpenAIRE

    2014-01-01

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

  7. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

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

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

    CERN Document Server

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

    2016-01-01

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

  9. Prototypes as Platforms for Participation

    DEFF Research Database (Denmark)

    Horst, Willem

    developers, and design it accordingly. Designing a flexible prototype in combination with supportive tools to be used by both interaction designers and non-designers during development is introduced as a way to open up the prototyping process to these users. Furthermore I demonstrate how such a flexible...... on prototyping, by bringing to attention that the prototype itself is an object of design, with its users and use context, which deserves further attention. Moreover, in this work I present concrete tools and methods that can be used by interaction designers in practice. As such this work addresses both......The development of interactive products in industry is an activity involving different disciplines – such as different kinds of designers, engineers, marketers and managers – in which prototypes play an important role. On the one hand, prototypes can be powerful boundary objects and an effective...

  10. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  11. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available and their technologies within the field of multi-robot systems to ease the difficulty of realizing robot applications. And lastly, an example of algorithm development for multi-robot co-operation using one of the discussed software architecture is presented...

  12. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  13. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

    Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides

  14. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to

  15. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

    Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

  16. Prototype Stilbene Neutron Collar

    Energy Technology Data Exchange (ETDEWEB)

    Prasad, M. K. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Shumaker, D. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Snyderman, N. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Verbeke, J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Wong, J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2016-10-26

    A neutron collar using stilbene organic scintillator cells for fast neutron counting is described for the assay of fresh low enriched uranium (LEU) fuel assemblies. The prototype stilbene collar has a form factor similar to standard He-3 based collars and uses an AmLi interrogation neutron source. This report describes the simulation of list mode neutron correlation data on various fuel assemblies including some with neutron absorbers (burnable Gd poisons). Calibration curves (doubles vs 235U linear mass density) are presented for both thermal and fast (with Cd lining) modes of operation. It is shown that the stilbene collar meets or exceeds the current capabilities of He-3 based neutron collars. A self-consistent assay methodology, uniquely suited to the stilbene collar, using triples is described which complements traditional assay based on doubles calibration curves.

  17. Brachial Plexus Blocker Prototype

    Directory of Open Access Journals (Sweden)

    Stéphanie Coelho Monteiro

    2017-08-01

    Full Text Available Although the area of surgical simulation has been the subject of study in recent years, it is still necessary to develop artificial experimental models with a perspective to dismiss the use of biological models. Since this makes the simulators more real, transferring the environment of the health professional to a physical or virtual reality, an anesthetic prototype has been developed, where the motor response is replicated when the brachial plexus is subjected to a proximal nervous stimulus. Using action-research techniques, with this simulator it was possible to validate that the human nerve response can be replicated, which will aid the training of health professionals, reducing possible risks in a surgical environment.

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

    DEFF Research Database (Denmark)

    Canamero, Dolores; Fredslund, Jacob

    2001-01-01

    We report work on a LEGO robot that displays different emotional expressions in response to physical stimulation, for the purpose of social interaction with humans. This is a first step toward our longer-term goal of exploring believable emotional exchanges to achieve plausible interaction...... with a simple robot. Drawing inspiration from theories of human basic emotions, we implemented several prototypical expressions in the robot's caricatured face and conducted experiments to assess the recognizability of these expressions...

  19. Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

    Science.gov (United States)

    Phamduy, Paul

    The application of robotic fish in the fields of animal behavior and informal science learning are new and relatively untapped. In the context of animal behavior studies, robotic fish offers a consistent and customizable stimulus that could contribute to dissect the determinants of social behavior. In the realm of informal science learning, robotic fish are gaining momentum for the possibility of educating the general public simultaneously on fish physiology and underwater robotics. In this dissertation, the design and development of a number of robotic fish platforms and prototypes and their application in animal behavioral studies and informal science learning settings are presented. Robotic platforms for animal behavioral studies focused on the utilization replica or same scale prototypes. A novel robotic fish platform, featuring a three-dimensional swimming multi-linked robotic fish, was developed with three control modes varying in the level of robot autonomy offered. This platform was deployed at numerous science festivals and science centers, to obtain data on visitor engagement and experience.

  20. Naval Prototype Optical Interferometer (NPOI)

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Used for astrometry and astronomical imaging, the Naval Prototype Optical Interferometer (NPOI) is a distributed aperture optical telescope. It is operated...

  1. Mobile prototyping with Axure 7

    CERN Document Server

    Hacker, Will

    2013-01-01

    This book is a step-by-step tutorial which includes hands-on examples and downloadable Axure files to get you started with mobile prototyping immediately. You will learn how to develop an application from scratch, and will be guided through each and every step.If you are a mobile-centric developer/designer, or someone who would like to take their Axure prototyping skills to the next level and start designing and testing mobile prototypes, this book is ideal for you. You should be familiar with prototyping and Axure specifically, before you read this book.

  2. A novel semi-automatic snake robot for natural orifice transluminal endoscopic surgery: preclinical tests in animal and human cadaver models (with video).

    Science.gov (United States)

    Son, Jaebum; Cho, Chang Nho; Kim, Kwang Gi; Chang, Tae Young; Jung, Hyunchul; Kim, Sung Chun; Kim, Min-Tae; Yang, Nari; Kim, Tae-Yun; Sohn, Dae Kyung

    2015-06-01

    Natural orifice transluminal endoscopic surgery (NOTES) is an emerging surgical technique. We aimed to design, create, and evaluate a new semi-automatic snake robot for NOTES. The snake robot employs the characteristics of both a manual endoscope and a multi-segment snake robot. This robot is inserted and retracted manually, like a classical endoscope, while its shape is controlled using embedded robot technology. The feasibility of a prototype robot for NOTES was evaluated in animals and human cadavers. The transverse stiffness and maneuverability of the snake robot appeared satisfactory. It could be advanced through the anus as far as the peritoneal cavity without any injury to adjacent organs. Preclinical tests showed that the device could navigate the peritoneal cavity. The snake robot has advantages of high transverse force and intuitive control. This new robot may be clinically superior to conventional tools for transanal NOTES.

  3. Current Capabilities and Development Potential in Surgical Robotics

    Directory of Open Access Journals (Sweden)

    Mathias Hoeckelmann

    2015-05-01

    Full Text Available Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

  4. Development of automatic inspection robot for nuclear power plants

    International Nuclear Information System (INIS)

    Yamada, K.; Suzuki, K.; Saitoh, K.; Sakaki, T.; Ohe, Y.; Mizutani, T.; Segawa, M.; Kubo, K.

    1987-01-01

    This robot system has been developed for automatic inspection of nuclear power plants. The system configuration is composed of vehicle that runs on monorail, the sensors on the vehicle, an image processer that processes the image information from the sensors, a computer that creates the inspection planning of the robot and an operation panel. This system has two main features, the first is the robot control system. The vehicle and the sensors are controlled by the output data calculated in the computer with the three dimensional plant data. The malfunction is recognized by the combination of the results of image processing, information from the microphone and infrared camera. Tests for a prototype automatic inspection robot system have been performed in the simulated main steam piping room of a nuclear power plant

  5. Supporting robotics technology requirements through research in intelligent machines

    Energy Technology Data Exchange (ETDEWEB)

    Mann, R.C.

    1995-02-01

    {open_quotes}Safer, better, cheaper{close_quotes} are recurring themes in many robot development efforts. Significant improvements are being accomplished with existing technology, but basic research sets the foundations for future improvements and breakthrough discoveries. Advanced robots represent systems that integrate the three basic functions of sensing, reasoning, and acting (locomotion and manipulation) into one functional unit. Depending on the application requirements, some of these functions are implemented at a more or less advanced level than others. For example, some navigation tasks can be accomplished with purely reactive control and do not require sophisticated reasoning and planning methodologies. Robotics work at the Oak Ridge National Laboratory (ORNL) spans the spectrum from basic research to application-specific development and rapid prototyping of systems. This presentation summarizes recent highlights of the robotics research activities at ORNL.

  6. ANFIS -Based Navigation for HVAC Service Robot with Image Processing

    International Nuclear Information System (INIS)

    Salleh, Mohd Zoolfadli Md; Rashid, Nahrul Khair Alang Md; Mustafah, Yasir Mohd

    2013-01-01

    In this paper, we present an ongoing work on the autonomous navigation of a mobile service robot for Heat, Ventilation and Air Condition (HVAC) ducting. CCD camera mounted on the front-end of our robot is used to analyze the ducts openings (blob analysis) in order to differentiate them from other landmarks (blower fan, air outlets and etc). Distance between the robot and duct openings is measured using ultrasonic sensor. Controller chosen is ANFIS where its architecture accepts three inputs; recognition of duct openings, robot positions and distance while the outputs is maneuver direction (left or right).45 membership functions are created from which produces 46 training epochs. In order to demonstrate the functionality of the system, a working prototype is developed and tested inside HVAC ducting in ROBOCON Lab, IIUM

  7. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

    Despite the extensive use of robotics in the adult population, the use of robotics in pediatrics has not been well accepted. There is still a lack of awareness from pediatric surgeons on how to use the robotic equipment, its advantages and indications. Benefit is still controversial. Dexterity and better visualization of the surgical field are one of the strong values. Conversely, cost and a lack of small instruments prevent the use of robotics in the smaller patients. The aim of this manuscript is to present the controversies about the use of robotics in pediatric surgery.

  8. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

    Full Text Available A submarine robot is a semi-autonomous submarine robot used mainly for marine environmental research. We aim todevelop a low cost, semi-autonomous submarine robot which is able to travel underwater. The robot’s structure was designedand patented using a novel idea of the diving system employing a volume adjustment mechanism to vary the robot’s density.A light weight, flexibility and small structure provided by PVC can be used to construct the torpedo-liked shape robot.Hydraulic seal and O-ring rubbers are used to prevent water leaking. This robot is controlled by a wired communicationsystem.

  9. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

    The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained.  The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

  10. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

    The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

  11. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  12. Origami-based earthworm-like locomotion robots.

    Science.gov (United States)

    Fang, Hongbin; Zhang, Yetong; Wang, K W

    2017-10-16

    Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

  13. A comparative ecophysiology of ecolly (vitis vinifera l.) under the traditional independent long-stem pruning and crawled cordon training

    International Nuclear Information System (INIS)

    Nan, L.; Zhao, X.; Liu, L.; Wang, H.; Li, H.

    2014-01-01

    The aim of this study was to compare the ecophysiology character of Ecolly grape (Vitis vinifera L.) with the new technology-single crawled cordon training (SCCT) and traditional method-independent long-stem pruning (ILSP). The connections among net photosynthesis rate (Pn), transpiration rate (Tr), instantaneous water utilization efficiency (WUEi), stomatal conductance (Cs) and intercellular CO/sub 2/ concentration (Ci) were always mutual and inextricable in the trial. The leaves in every stage had the highest Pn respectively when growing under the light irradiance of the different period. The ILSP showed a lower total photosynthetic capacity than the SCCT. There was the total semblable Tr for two pruning plants, but lower Tr in ILSP at the every position of the prior stage and riping stage (PS and RS) excluding the growing stage (GS). The WUEi declined because of the net CO/sub 2/ assimilation saturated and the transpiration constantly fleetly increased before the photosynthetic active radiation (PAR) increased to 600 meu mol m/sup -2/ s/sup -1/. The increased WUEis from the first to the second stage deduced that stomatal closure at high irradiance reduced more Tr than Pn, while the values decreased again in the last stage indicated that stomatal opening at low irradiance added more Tr than Pn. These results suggested that it may be possible technology to change trellises in order to obtain better ecophysiology character in this study. The growth variability of vine may be affected by a particular training style. (author)

  14. 4th IFToMM International Symposium on Robotics and Mechatronics

    CERN Document Server

    Laribi, Med; Gazeau, Jean-Pierre

    2016-01-01

    This volume contains papers that have been selected after review for oral presentation at ISRM 2015, the Fourth IFToMM International Symposium on Robotics and Mechatronics held in Poitiers, France 23-24 June 2015. These papers  provide a vision of the evolution of the disciplines of robotics and mechatronics, including but not limited to: mechanism design; modeling and simulation; kinematics and dynamics of multibody systems; control methods; navigation and motion planning; sensors and actuators; bio-robotics; micro/nano-robotics; complex robotic systems; walking machines, humanoids-parallel kinematic structures: analysis and synthesis; smart devices; new design; application and prototypes. The book can be used by researchers and engineers in the relevant areas of robotics and mechatronics.

  15. Kinematics Analysis and Simulation on Transfer Robot with Six Degrees of Freedom

    Directory of Open Access Journals (Sweden)

    Yi Lu

    2014-08-01

    Full Text Available Study focuses on transfer robot with Six Degrees of Freedom, establishing kinematic equation by D-H method, analyzing forward kinematics and obtaining inverse kinematics by using method of inverse transform. Based on vector product, it develops velocity Jacobian matrix of robot. The geometric model of robot virtual prototype is established by SolidWorks software and generates parameters such as mass and moment. Kinematic simulation for robot is performed by Mathematica software and develops curve graph of displacement, velocity and accelerated speed in x, y and z direction in end executor center of robot with measurement, analysis and assessment, which provides foundation for further kinematics analysis and structure optimization as well as motion control of robot.

  16. Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots.

    Science.gov (United States)

    Chikhaoui, Mohamed Taha; Benouhiba, Amine; Rougeot, Patrick; Rabenorosoa, Kanty; Ouisse, Morvan; Andreff, Nicolas

    2018-04-30

    Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the form of tri-layer thin structures, CP micro-actuators produce high strains while requiring less than 1 V for actuation. Fabrication, characterization, and first integrations of such micro-actuators are presented. The integration is validated in a preliminary telescopic soft robot prototype with qualitative and quantitative performance assessment of accurate position control for trajectory tracking scenarios. Further, CP micro-actuators are integrated to a laser steering system in a closed-loop control scheme with displacements up to 5 mm. Our first developments aim toward intracorporeal medical robotics, with miniaturized actuators to be embedded into continuum robots.

  17. Window prototypes during the project

    DEFF Research Database (Denmark)

    Schultz, Jørgen Munthe

    1996-01-01

    The conditions for the PASSYS test and the results of the measurements on one of the aerogel window prototypes are described.......The conditions for the PASSYS test and the results of the measurements on one of the aerogel window prototypes are described....

  18. Rapid prototyping: een veelbelovende methode

    NARCIS (Netherlands)

    Haverman, T.M.; Karagozoglu, K.H.; Prins, H.; Schulten, E.A.J.M.; Forouzanfar, T.

    2013-01-01

    Rapid prototyping is a method which makes it possible to produce a three-dimensional model based on two-dimensional imaging. Various rapid prototyping methods are available for modelling, such as stereolithography, selective laser sintering, direct laser metal sintering, two-photon polymerization,

  19. Role model and prototype matching

    DEFF Research Database (Denmark)

    Lykkegaard, Eva; Ulriksen, Lars

    2016-01-01

    ’ meetings with the role models affected their thoughts concerning STEM students and attending university. The regular self-to-prototype matching process was shown in real-life role-models meetings to be extended to a more complex three-way matching process between students’ self-perceptions, prototype...

  20. Role of Pectoral Fin Flexibility in Robotic Fish Performance

    Science.gov (United States)

    Bazaz Behbahani, Sanaz; Tan, Xiaobo

    2017-08-01

    Pectoral fins play a vital role in the maneuvering and locomotion of fish, and they have become an important actuation mechanism for robotic fish. In this paper, we explore the effect of flexibility of robotic fish pectoral fins on the robot locomotion performance and mechanical efficiency. A dynamic model for the robotic fish is presented, where the flexible fin is modeled as multiple rigid elements connected via torsional springs and dampers. Blade element theory is used to capture the hydrodynamic force on the fin. The model is validated with experimental results obtained on a robotic fish prototype, equipped with 3D-printed fins of different flexibility. The model is then used to analyze the impacts of fin flexibility and power/recovery stroke speed ratio on the robot swimming speed and mechanical efficiency. It is found that, in general, flexible fins demonstrate advantages over rigid fins in speed and efficiency at relatively low fin-beat frequencies, while rigid fins outperform flexible fins at higher frequencies. For a given fin flexibility, the optimal frequency for speed performance differs from the optimal frequency for mechanical efficiency. In addition, for any given fin, there is an optimal power/recovery stroke speed ratio, typically in the range of 2-3, that maximizes the speed performance. Overall, the presented model offers a promising tool for fin flexibility and gait design, to achieve speed and efficiency objectives for robotic fish actuated with pectoral fins.

  1. Research and development of advanced robots for nuclear power plants

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Hirukawa, Hirohisa; Kitagaki, Kosei; Liu, Yunhui; Onda, Hiromu; Nakamura, Akira

    1994-01-01

    Social and economic demands have been pressing for automation of inspection tasks, maintenance and repair jobs of nuclear power plants, which are carried out by human workers under circumstances with high radiation level. Since the plants are not always designed for introduction of automatic machinery, sophisticated robots shall play a crucial role to free workers from hostile environments. We have been studying intelligent robot systems and regarded nuclear industries as one of the important application fields where we can validate the feasibility of the methods and systems we have developed. In this paper we firstly discuss on the tasks required in nuclear power plants. Secondly we introduce current status of R and D on special purpose robots, versatile robots and intelligent robots for automatizing the tasks. Then we focus our discussions on three major functions in realizing robotized assembly tasks under such unstructured environments as in nuclear power plants; planning, vision and manipulation. Finally we depict an image of a prototype robot system for nuclear power plants based on the advanced functions. (author) 64 refs

  2. Module-based structure design of wheeled mobile robot

    Directory of Open Access Journals (Sweden)

    Z. Luo

    2018-02-01

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

  3. Human-Like Room Segmentation for Domestic Cleaning Robots

    Directory of Open Access Journals (Sweden)

    David Fleer

    2017-11-01

    Full Text Available Autonomous mobile robots have recently become a popular solution for automating cleaning tasks. In one application, the robot cleans a floor space by traversing and covering it completely. While fulfilling its task, such a robot may create a map of its surroundings. For domestic indoor environments, these maps often consist of rooms connected by passageways. Segmenting the map into these rooms has several uses, such as hierarchical planning of cleaning runs by the robot, or the definition of cleaning plans by the user. Especially in the latter application, the robot-generated room segmentation should match the human understanding of rooms. Here, we present a novel method that solves this problem for the graph of a topo-metric map: first, a classifier identifies those graph edges that cross a border between rooms. This classifier utilizes data from multiple robot sensors, such as obstacle measurements and camera images. Next, we attempt to segment the map at these room–border edges using graph clustering. By training the classifier on user-annotated data, this produces a human-like room segmentation. We optimize and test our method on numerous realistic maps generated by our cleaning-robot prototype and its simulated version. Overall, we find that our method produces more human-like room segmentations compared to mere graph clustering. However, unusual room borders that differ from the training data remain a challenge.

  4. Controlling Tensegrity Robots through Evolution using Friction based Actuation

    Science.gov (United States)

    Kothapalli, Tejasvi; Agogino, Adrian K.

    2017-01-01

    Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

  5. Robotic surgery in children: adopt now, await, or dismiss?

    Science.gov (United States)

    Cundy, Thomas P; Marcus, Hani J; Hughes-Hallett, Archie; Khurana, Sanjeev; Darzi, Ara

    2015-12-01

    The role of robot-assisted surgery in children remains controversial. This article aims to distil this debate into an evidence informed decision-making taxonomy; to adopt this technology (1) now, (2) later, or (3) not at all. Robot-assistance is safe, feasible and effective in selected cases as an adjunctive tool to enhance capabilities of minimally invasive surgery, as it is known today. At present, expectations of rigid multi-arm robotic systems to deliver higher quality care are over-estimated and poorly substantiated by evidence. Such systems are associated with high costs. Further comparative effectiveness evidence is needed to define the case-mix for which robot-assistance might be indicated. It seems unlikely that we should expect compelling patient benefits when it is only the mode of minimally invasive surgery that differs. Only large higher-volume institutions that share the robot amongst multiple specialty groups are likely to be able to sustain higher associated costs with today's technology. Nevertheless, there is great potential for next-generation surgical robotics to enable better ways to treat childhood surgical diseases through less invasive techniques that are not possible today. This will demand customized technology for selected patient populations or procedures. Several prototype robots exclusively designed for pediatric use are already under development. Financial affordability must be a high priority to ensure clinical accessibility.

  6. UA1 prototype detector

    CERN Multimedia

    1980-01-01

    Prototype of UA1 central detector inside a plexi tube. The UA1 experiment ran at CERN's Super Proton Synchrotron and made the Nobel Prize winning discovery of W and Z particles in 1983. The UA1 central detector was crucial to understanding the complex topology of proton-antiproton events. It played a most important role in identifying a handful of Ws and Zs among billions of collisions. The detector was essentially a wire chamber - a 6-chamber cylindrical assembly 5.8 m long and 2.3 m in diameter, the largest imaging drift chamber of its day. It recorded the tracks of charged particles curving in a 0.7 Tesla magnetic field, measuring their momentum, the sign of their electric charge and their rate of energy loss (dE/dx). Atoms in the argon-ethane gas mixture filling the chambers were ionised by the passage of charged particles. The electrons which were released drifted along an electric field shaped by field wires and were collected on sense wires. The geometrical arrangement of the 17000 field wires and 6...

  7. Design of a biomimetic robotic octopus arm.

    Science.gov (United States)

    Laschi, C; Mazzolai, B; Mattoli, V; Cianchetti, M; Dario, P

    2009-03-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

  8. On safety enhancements for medical robots

    International Nuclear Information System (INIS)

    Ng, W.S.; Tan, C.K.

    1996-01-01

    Both software and hardware methods to enhance safety are discussed for active medical robots applied to, among others, neurosurgery, orthopaedic surgery and prostatectomy. This paper advocates that while it is practically difficult, if not impossible, for software reliability to be 100%, there are positive measures by which a medical robot system can be made adequately or inherently safe. Such measures avoid the problems of software reliability but turn to mathematical logic directly to build a safer system. Examples in a newly developed prototype, known as surgeon assistant robot for selected urological disorders (SARUD), are given to illustrate the concept. Although software measures to promote reliability of a system is less preferred compared to hardware measures, as it can never escape from operating on a hardware platform, it is suggested that a complementary/ hybrid approach can be a good solution for achieving a safe and flexible (by being reprogrammable) system. A totally independent safety monitor is being built. It can arrest a servo runaway and detect out-of-safe-boundary conditions, using encoder pulses as input. This dedicated system can resolve some major safety concerns of a medical robot such as SARUD

  9. A locust-inspired miniature jumping robot.

    Science.gov (United States)

    Zaitsev, Valentin; Gvirsman, Omer; Ben Hanan, Uri; Weiss, Avi; Ayali, Amir; Kosa, Gabor

    2015-11-25

    Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.

  10. Design of a biomimetic robotic octopus arm

    Energy Technology Data Exchange (ETDEWEB)

    Laschi, C; Cianchetti, M [Advanced Robotics Technology and Systems Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy); Mazzolai, B; Dario, P [Italian Institute of Technology, Genova (Italy); Mattoli, V [Centre of Research in Microengineering Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy)], E-mail: cecilia.laschi@sssup.it

    2009-03-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

  11. Knowledge assistant for robotic environmental characterization

    International Nuclear Information System (INIS)

    Feddema, J.; Rivera, J.; Tucker, S.; Matek, J.

    1996-08-01

    A prototype sensor fusion framework called the open-quotes Knowledge Assistantclose quotes has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition open-quotes specialist.close quotes During execution and postanalysis, the Knowledge Assistant sends raw data to other open-quotes specialists,close quotes which include statistical pattern recognition software, a neural network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g., estimated dimensions, weight, material composition, etc.) are displayed in the world model. This report highlights the major components of this system

  12. Design of a biomimetic robotic octopus arm

    International Nuclear Information System (INIS)

    Laschi, C; Cianchetti, M; Mazzolai, B; Dario, P; Mattoli, V

    2009-01-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups

  13. BOA II: Asbestos Pipe-Insulation Removal Robot System. Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    None

    2001-01-01

    The objective of this task is to develop and demonstrate a mechanical, asbestos-removal system that can be remotely operated without a containment area. The technology, known as BOA, consists of a pipe-crawler removal head and a boom vehicle system with dual robots. BOA's removal head can be remotely placed on the outside of the pipe and can crawl along the pipe, removing lagging and insulation. The lagging and insulation is cut using a hybrid endmill water-jet cutter and then diced into 2-inch cube sections of ACM. These ACM sections are then removed from the pipe using a set of blasting fan- spray nozzles, vacuumed off through a vacuum hose, and bagged. Careful attention to vacuum and entrapment air flow ensures that the system can operate without a containment area while meeting local and federal standards for fiber count

  14. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

    This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)

  15. Instruction understanding for intelligent robots in nuclear facilities

    International Nuclear Information System (INIS)

    Kambayashi, Shaw; Abe, Yasuaki

    1993-01-01

    As a first step to realize an autonomous mobile robot for plant maintenance, where the robot is capable to understand instructions written in natural languages, we have developed a prototype of instruction understanding system which makes the robot construct its motion sequences to approach instrumentations and inspect them from input sentences written in Japanese. In the prototype system, the instruction understanding and planning capabilities are integrated by an inference engine which consists of a cyclic operation of three processings, i.e., sensing, decision, and execution. Based on environmental data and current states of the robot, a proper process such as natural language processing is triggered by the decision part of the inference engine to accomplish the input instructions. The multiple- and dynamic-planning capabilities, which are necessary to cope with dynamic changes of environments surrounding the robot, are achieved by utilizing the cyclic inference engine together with a set of the inference packets which keep intermediate results of natural language processing and planning for respective input instructions. (orig.)

  16. Design on a Composite Mobile System for Exploration Robot

    Directory of Open Access Journals (Sweden)

    Weiyan Shang

    2016-01-01

    Full Text Available In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

  17. 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.

  18. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

  19. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  20. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  1. Biological inspiration used for robots motion synthesis.

    Science.gov (United States)

    Zielińska, Teresa

    2009-01-01

    This work presents a biologically inspired method of gait generation. Bipedal gait pattern (for hip and knee joints) was taken into account giving the reference trajectories in a learning task. The four coupled oscillators were taught to generate the outputs similar to those in a human gait. After applying the correction functions the obtained generation method was validated using ZMP criterion. The formula suitable for real-time motion generation taking into account the positioning errors was also formulated. The small real robot prototype was tested to be able walk successfully following the elaborated motion pattern.

  2. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

    The article surveys the background of nuclear remote handling and its associated technology, robotics. Manipulators, robots, robot applications, extending the range of applications, and future developments, are all discussed.

  3. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    a need for a technique by which the robot is able to acquire new behaviours automatically .... Evolutionary robotics is a comparatively new field of robotics research, which seems to ..... Technical Report: PCIA-94-04, Institute of Psychology,.

  4. An autonomous mobil robot to perform waste drum inspections

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1994-01-01

    A mobile robot is being developed by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure and create accurate, high quality documentation to ensure regulatory compliance. Development work is being coordinated among several DOE, academic and commercial entities in accordance with DOE's technology transfer initiative. The prototype system was demonstrated in November of 1993. A system is now being developed for field trails at the Fernald site

  5. EXOS research on master controllers for robotic devices

    Science.gov (United States)

    Marcus, Beth A.; An, Ben; Eberman, Brian

    1992-01-01

    Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

  6. Prototype moving-ring reactor

    International Nuclear Information System (INIS)

    Smith, A.C. Jr.; Ashworth, C.P.; Abreu, K.E.

    1981-01-01

    The objective of this work was to design a prototype fusion reactor based on fusion plasmas confined as ''Compact Toruses.' Six major criteria guided the prototype design. The prototype must: (1) produce net electricity decisively (P/sub net/ >70% of P/sub gross/), with P/sub net/ approximately 100 MW(e); (2) have small physical size (low project cost) but commercial plant; (3) have all features required of commerical plants; (4) avoid unreasonable extrapolation of technology; (5) minimize nuclear issues substantially, i.e. accident and waste issues of public concern, and (6) be modular (to permit repetitive fabrication of parts) and be maintainable with low occupational radiological exposures

  7. Views from Within a Narrative: Evaluating Long-Term Human-Robot Interaction in a Naturalistic Environment Using Open-Ended Scenarios.

    Science.gov (United States)

    Syrdal, Dag Sverre; Dautenhahn, Kerstin; Koay, Kheng Lee; Ho, Wan Ching

    2014-01-01

    This article describes the prototyping of human-robot interactions in the University of Hertfordshire (UH) Robot House. Twelve participants took part in a long-term study in which they interacted with robots in the UH Robot House once a week for a period of 10 weeks. A prototyping method using the narrative framing technique allowed participants to engage with the robots in episodic interactions that were framed using narrative to convey the impression of a continuous long-term interaction. The goal was to examine how participants responded to the scenarios and the robots as well as specific robot behaviours, such as agent migration and expressive behaviours. Evaluation of the robots and the scenarios were elicited using several measures, including the standardised System Usability Scale, an ad hoc Scenario Acceptance Scale, as well as single-item Likert scales, open-ended questionnaire items and a debriefing interview. Results suggest that participants felt that the use of this prototyping technique allowed them insight into the use of the robot, and that they accepted the use of the robot within the scenario.

  8. 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...

  9. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

    improve a person’s overall health, and this thesis investigates how games based on an autonomous, mobile robot platform, can be used to motivate elderly to move physically while playing. The focus of the investigation is on the development of games for an autonomous, mobile robot based on algorithms using...... spatio-temporal information about player behaviour - more specifically, I investigate three types of games each using a different control strategy. The first game is based on basic robot control which allows the robot to detect and follow a person. A field study in a rehabilitation centre and a nursing....... The robot facilitates interaction, and the study suggests that robot based games potentially can be used for training balance and orientation. The second game consists in an adaptive game algorithm which gradually adjusts the game challenge to the mobility skills of the player based on spatio...

  10. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

    A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

  11. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  12. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

    Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

  13. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  14. A multimodal interface for real-time soldier-robot teaming

    Science.gov (United States)

    Barber, Daniel J.; Howard, Thomas M.; Walter, Matthew R.

    2016-05-01

    Recent research and advances in robotics have led to the development of novel platforms leveraging new sensing capabilities for semantic navigation. As these systems becoming increasingly more robust, they support highly complex commands beyond direct teleoperation and waypoint finding facilitating a transition away from robots as tools to robots as teammates. Supporting future Soldier-Robot teaming requires communication capabilities on par with human-human teams for successful integration of robots. Therefore, as robots increase in functionality, it is equally important that the interface between the Soldier and robot advances as well. Multimodal communication (MMC) enables human-robot teaming through redundancy and levels of communications more robust than single mode interaction. Commercial-off-the-shelf (COTS) technologies released in recent years for smart-phones and gaming provide tools for the creation of portable interfaces incorporating MMC through the use of speech, gestures, and visual displays. However, for multimodal interfaces to be successfully used in the military domain, they must be able to classify speech, gestures, and process natural language in real-time with high accuracy. For the present study, a prototype multimodal interface supporting real-time interactions with an autonomous robot was developed. This device integrated COTS Automated Speech Recognition (ASR), a custom gesture recognition glove, and natural language understanding on a tablet. This paper presents performance results (e.g. response times, accuracy) of the integrated device when commanding an autonomous robot to perform reconnaissance and surveillance activities in an unknown outdoor environment.

  15. Combining psychological and engineering approaches to utilizing social robots with children with autism.

    Science.gov (United States)

    Dickstein-Fischer, Laurie; Fischer, Gregory S

    2014-01-01

    It is estimated that Autism Spectrum Disorder (ASD) affects 1 in 68 children. Early identification of an ASD is exceedingly important to the introduction of an intervention. We are developing a robot-assisted approach that will serve as an improved diagnostic and early intervention tool for children with autism. The robot, named PABI® (Penguin for Autism Behavioral Interventions), is a compact humanoid robot taking on an expressive cartoon-like embodiment. The robot is affordable, durable, and portable so that it can be used in various settings including schools, clinics, and the home. Thus enabling significantly enhanced and more readily available diagnosis and continuation of care. Through facial expressions, body motion, verbal cues, stereo vision-based tracking, and a tablet computer, the robot is capable of interacting meaningfully with an autistic child. Initial implementations of the robot, as part of a comprehensive treatment model (CTM), include Applied Behavioral Analysis (ABA) therapy where the child interacts with a tablet computer wirelessly interfaced with the robot. At the same time, the robot makes meaningful expressions and utterances and uses stereo cameras in eyes to track the child, maintain eye contact, and collect data such as affect and gaze direction for charting of progress. In this paper we present the clinical justification, anticipated usage with corresponding requirements, prototype development of the robotic system, and demonstration of a sample application for robot-assisted ABA therapy.

  16. The Mechanical Properties of a Wall-Climbing Caterpillar Robot: Analysis and Experiment

    Directory of Open Access Journals (Sweden)

    Kun Wang

    2013-01-01

    Full Text Available This paper builds the kinematic model of a wall-climbing caterpillar robot to reveal the validity and the benefits of the closed-chain kinematics of the four-linkage mechanism to a crawling gait. The caterpillar robot can climb on a vertical wall by coordinating the rotations of one active joint and three passive joints. The mechanical property of the closed-chain kinematics of the four-linkage model is analysed. Furthermore, the relation between the driving joint torque and joint angle in the wall-climbing process is deduced based on the coplanar arbitrary force system. Afterwards, the joint control method is discussed in order to coordinate the rotation of the four joints so as to realize a reasonable wall climbing gait. To testify to the availability of the closed-chain four-linkage model, a wall-climbing caterpillar robot is developed with three different adhesion modules based on the vibrating suction method. A successful wall-climbing test confirms both the practicality of the four-linkage model and the validity of the adhesion modules based on the vibrating suction method. The results also show the reasonableness of the driving joint selection rule for ensuring a safe and reliable wall-climbing procedure.

  17. Fundamentals of soft robot locomotion

    OpenAIRE

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

    2017-01-01

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

  18. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

    Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840

  19. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

    Presents new, cutting-edge algorithms for robot/camera calibration, sensor fusion and sensor calibration Explores the main challenges for accurate coil positioning, such as head motion, and outlines how active robotic motion compensation can outperform hand-held solutions Analyzes how a robotized system in medicine can alleviate concerns with a patient's safety, and presents a novel fault-tolerant algorithm (FTA) sensor for system safety

  20. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

    This book is for enthusiasts who want to use the Raspberry Pi to build complex robotics projects. With the aid of the step-by-step instructions in this book, you can construct complex robotics projects that can move, talk, listen, see, swim, or fly. No previous Raspberry Pi robotics experience is assumed, but even experts will find unexpected and interesting information in this invaluable guide.

  1. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  2. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

    In summary, robotics has made a significant contribution to General Surgery in the past 20 years. In its infancy, surgical robotics has seen a shift from early systems that assisted the surgeon to current teleoperator systems that can enhance surgical skills. Telepresence and augmented reality surgery are being realized, while research and development into miniaturization and automation is rapidly moving forward. The future of surgical robotics is bright. Researchers are working to address th...

  3. Research on a Micro Flip Robot That Can Climb Stairs

    Directory of Open Access Journals (Sweden)

    Jianzhong Wang

    2016-03-01

    Full Text Available Micro mobile robots (MMRs can operate in rugged, narrow or dangerous regions; thus, they are widely used in numerous areas including surveillance, rescue and exploration. In urban environments, stairs are common obstacles, ones that such robots find difficult to manoeuvre over. The authors analysed the research status of MMRs, particularly in terms of difficulties when performing stair climbing and present a novel type of MMR called the micro flip robot (MFRobot. A support arm subassembly was added to the centre of a wheeled chassis; using this structure, the MFRobot can climb stairs when a flipping mode is utilized. Based on this structure, the authors established a kinematic model of the stair-climbing process and analysed the force conditions for the key status, contributing to the existing knowledge of robot design. An MFRobot prototype was produced and the stair-climbing experiments, as well as experiments on manoeuvring through rubble regions and slope surfaces, were conducted. The results show that the MFRobot can rapidly climb common stairs and can easily manoeuvre through a rubble region. The maximum slope angle the robot can climb was shown to be about 35° for concrete and wooden slope surfaces. In the case where the robot needed to be equipped with sensors, particularly a camera, the camera was equipped on the support arm of robot. The MFRobot prototype weighs 2.5 kg and is easily transportable. This structure can resolve contradictions between portability and performance in terms of overcoming obstacles; in addition, operational effectiveness can be improved using this structure.

  4. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

    In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...

  5. Perspectives of construction robots

    Science.gov (United States)

    Stepanov, M. A.; Gridchin, A. M.

    2018-03-01

    This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

  6. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

    8 págs, 9 figs. El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año...

  7. Human-Robot Interaction

    Science.gov (United States)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  8. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

    Robotic surgery has evolved over the last decade to compensate for limitations in human dexterity. It avoids the need for a trained assistant while decreasing error rates such as perforations. The nature of the robotic assistance varies from voice activated camera control to more elaborate telerobotic systems such as the Zeus and the Da Vinci where the surgeon controls the robotic arms using a console. Herein, we report the first series of robotic assisted colectomies in Ireland using a voice activated camera control system.

  9. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  10. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

    There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...

  11. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  12. Increasing Robotic Science Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — The principal objectives are to demonstrate robotic-based scientific investigations and resource prospecting, and develop and demonstrate modular science instrument...

  13. The Effects of Leg Kick on Swimming Speed and Arm-Stroke Efficiency in the Front Crawl.

    Science.gov (United States)

    Silveira, Ricardo Peterson; de Souza Castro, Flávio Antônio; Figueiredo, Pedro; Vilas-Boas, João Paulo; Zamparo, Paola

    2017-07-01

    To analyze the effects of swimming pace on the relative contribution of leg kick to swimming speed and to compare arm-stroke efficiency (ηF) assessed when swimming with the arms only (SAO) and while swimming front crawl (FCS) using individual and fixed adjustments to arm-stroke and leg-kick contribution to forward speed. Twenty-nine master swimmers (21 men, 8 women) performed SAO and FCS at 6 self-selected speeds from very slow to maximal. The average swimming speed (v), stroke frequency (SF), and stroke length (SL) were assessed in the central 10 m of the swimming pool. Then, a 2nd-order polynomial regression was used to obtain values of v at paired SF. The percentage difference in v between FCS and SAO, for each paired SF, was used to calculate the relative contributions of the arm stroke (AC) and leg kick (LC) to FCS. Then ηF was calculated using the indirect "paddle-wheel" approach in 3 different ways: using general, individual, and no adjustments to AC. The LC increased with SF (and speed) from -1% ± 4% to 11% ± 1% (P < .05). At the lower FCS speeds, ηF calculated using general adjustments was lower than ηF calculated using individual adjustments (P < .05), but differences disappear at the fastest speeds. Finally, ηF calculated using individual adjustments to LC in the FCS condition did not differ with ηF assessed in the SAO condition at all the investigated speeds. The relative contributions of the arm stroke and leg kick should be individually estimated to reduce errors when calculating arm-stroke efficiency at different speeds and in different swimmers.

  14. VO2 Kinetics in All-out Arm Stroke, Leg Kick and Whole Stroke Front Crawl 100-m Swimming.

    Science.gov (United States)

    Rodríguez, F A; Lätt, E; Jürimäe, J; Maestu, J; Purge, P; Rämson, R; Haljaste, K; Keskinen, K L; Jürimäe, T

    2016-03-01

    The VO2 response to extreme-intensity exercise and its relationship with sports performance are largely unexplored. This study investigated the pulmonary VO2 kinetics during all-out 100-m front crawl whole stroke swimming (S), arm stroke (A) and leg kick (L). 26 male and 10 female competitive swimmers performed an all-out S trial followed by A and L of equal duration in random order. Breath-by-breath VO2 was measured using a snorkel attached to a portable gas analyzer. Mean (±SD) primary component parameters and peak blood lactate (Lapeak) during S, A, and L were, respectively: time delay (s), 14.2 ± 4.7, 14.3 ± 4.5, 15.6 ± 5.1; amplitude (ml·kg(-1)·min(-1)), 46.8 ± 6.1, 37.3 ± 6.9, 41.0 ± 4.7; time constant (τ, s): 9.2 ± 3.2, 12.4 ± 4.7, 10.1 ± 3.2; Lapeak (mmol·l(-1)), 6.8 ± 3.1, 6.3 ± 2.5, 7.9 ± 2.8. During A and L respectively, 80% and 87% of amplitude in S was reached, whereas A+L were 68% greater than in S. 100-m performance was associated to shorter cardiodynamic phase and greater VO2 amplitude and Lapeak (accounting up to 61% of performance variance), but not to τ. We conclude that (i) VO2 gain was proportional to exercise intensity and muscle mass involved, (ii) kicking is metabolically less efficient, and (iii) the main limiting factor of peak VO2 appears to be O2 delivery and not muscle extraction. © Georg Thieme Verlag KG Stuttgart · New York.

  15. Learning Axure RP interactive prototypes

    CERN Document Server

    Krahenbuhl, John Henry

    2015-01-01

    If you are a user experience professional, designer, information architect, or business analyst who wants to gain interactive prototyping skills with Axure, then this book is ideal for you. Some familiarity with Axure is preferred but not essential.

  16. Architectural Prototyping in Industrial Practice

    DEFF Research Database (Denmark)

    Christensen, Henrik Bærbak; Hansen, Klaus Marius

    2008-01-01

    Architectural prototyping is the process of using executable code to investigate stakeholders’ software architecture concerns with respect to a system under development. Previous work has established this as a useful and cost-effective way of exploration and learning of the design space of a system......, in addressing issues regarding quality attributes, in addressing architectural risks, and in addressing the problem of knowledge transfer and conformance. Little work has been reported so far on the actual industrial use of architectural prototyping. In this paper, we report from an ethnographical study...... and focus group involving architects from four companies in which we have focused on architectural prototypes. Our findings conclude that architectural prototypes play an important role in resolving problems experimentally, but less so in exploring alternative solutions. Furthermore, architectural...

  17. Experimentation with PEC channel prototype

    International Nuclear Information System (INIS)

    Caponetti, R.; Iacovelli, M.

    1984-01-01

    Experimentation on prototypes of PEC components is presently being carried out at Casaccia CRE. This report shows the results of the first cycle of experimentation of the central channel, concerning the aspects of sodium removal after experimentation

  18. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

    This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

  19. Robots in Health and Social Care: A Complementary Technology to Home Care and Telehealthcare?

    OpenAIRE

    Torbjørn S. Dahl; Maged N. Kamel Boulos

    2013-01-01

    This article offers a brief overview of most current and potential uses and applications of robotics in health/care and social care, whether commercially ready and available on the market or still at the various stages of research and prototyping. We provide carefully hand-picked examples and pointers to on-going research for each set of identified robotics applications and then discuss the main ingredients for the success of these applications, as well as the main issues surrounding their a...

  20. An Evaluation of Camera Pose Methods for an Augmented Reality System: Application to Teaching Industrial Robots

    OpenAIRE

    Maidi , Madjid; Mallem , Malik; Benchikh , Laredj; Otmane , Samir

    2013-01-01

    International audience; In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases...

  1. Tangiplay: prototyping tangible electronic games

    OpenAIRE

    Boileau, Jason

    2010-01-01

    Tangible electronic games currently exist in research laboratories around the world but have yet to transition to the commercial sector. The development process of a tangible electronic game is one of the factors preventing progression, as it requires much time and money. Prototyping tools for tangible hardware and software development are becoming more available but are targeted to programmers and technically trained developers. Paper prototyping board and video games is a proven and rapid m...

  2. Parametric Optimal Design of a Parallel Schönflies-Motion Robot under Pick-And-Place Trajectory Constraints

    DEFF Research Database (Denmark)

    Wu, Guanglei; Bai, Shaoping; Hjørnet, Preben

    2015-01-01

    This paper deals with the parametric optimum design of a parallel Schoenflies-motion robot, named "Ragnar", designed for fast and flexible pick-and-place applications. The robot architecture admits a rectangular workspace, which can utilize the shop-floor space efficiently. In this work......, the parametric models of the transmission quality, elasto-statics and dynamics are established. By taking into consideration of design requirements and pick-and-place trajectory, a comprehensive multi-objective optimization problem is formulated to optimize both kinematic and dynamic performances. The Pareto......-front is obtained, which provides optimal solutions to the robot design. Robot prototyping work based on the optimal results is described....

  3. Fast-prototyping of VLSI

    International Nuclear Information System (INIS)

    Saucier, G.; Read, E.

    1987-01-01

    Fast-prototyping will be a reality in the very near future if both straightforward design methods and fast manufacturing facilities are available. This book focuses, first, on the motivation for fast-prototyping. Economic aspects and market considerations are analysed by European and Japanese companies. In the second chapter, new design methods are identified, mainly for full custom circuits. Of course, silicon compilers play a key role and the introduction of artificial intelligence techniques sheds a new light on the subject. At present, fast-prototyping on gate arrays or on standard cells is the most conventional technique and the third chapter updates the state-of-the art in this area. The fourth chapter concentrates specifically on the e-beam direct-writing for submicron IC technologies. In the fifth chapter, a strategic point in fast-prototyping, namely the test problem is addressed. The design for testability and the interface to the test equipment are mandatory to fulfill the test requirement for fast-prototyping. Finally, the last chapter deals with the subject of education when many people complain about the lack of use of fast-prototyping in higher education for VLSI

  4. Robotics Inspection Vehicle for Advanced Storages

    Energy Technology Data Exchange (ETDEWEB)

    Ruiz, Emilio; Renaldi, Graziano; Puig, David; Franzetti, Michele; Correcher, Carlos [European Commission, Ispra (Italy). Inst. for the Protection and Security of the Citizen

    2003-05-01

    After the dismantling of nuclear weapons and the probable release of large quantities of weapon graded materials under international verification regimes, there will be a wide interest in unmanned, highly automated and secure storage areas. In such circumstances, robotics technologies can provide an effective answer to the problem of securing, manipulating and inventorying all stored materials. In view of this future application JRC's NPNS started the development and construction of an advanced robotics prototype and demonstration system, named Robotics Inspection Vehicle (RIV), for remote inspection, surveillance and remote handling in those areas. The system was designed to meet requirements of reliability, security, high availability, robustness against radiation effects, self-maintainability (i.e., auto-repair capability), and easy installation. Due to its innovative holonomic design, RIV is a highly maneuverable and agile platform able to move in any direction, including sideways. The platform carries on-board a five degree of freedom manipulator arm. The high maneuverability and operation modes take into account the needs for accessing in the most easy way materials in the storage area. The platform is prepared to operate in one of three modes: i) manual tele-operation, ii) semiautonomous and iii) fully autonomous. The paper describes RIV's main design features, and details its GENERIS based control software [JRC's software architecture for robotics] and embedded sensors (i.e., 3D laser range, transponder antenna, ultra-sound, vision-based robot guidance, force-torque sensors, etc.). RIV was designed to incorporate several JRC innovative surveillance and inspection technologies and reveals that the current state of technology is mature to effectively provide a solution to novel storage solutions. The system is available for demonstration at JRC's Rialto Laboratory.

  5. Resource Prospector (RP) - Early Prototyping and Development

    Science.gov (United States)

    Andrews, D.; Colaprete, A.; Quinn, J.; Bluethmann, B.; Trimble, J.

    2015-01-01

    The Resource Prospector (RP) is an In-Situ Resource Utilization (ISRU) technology demonstration mission under study by the NASA Human Exploration and Operations Mission Directorate's (HEOMD) Advanced Exploration Systems (AES) Division. The mission, currently planned to launch in 2020, will demonstrate extraction of oxygen from lunar regolith to validate ISRU capability. The mission will address key Strategic Knowledge Gaps (SKGs) for robotic and human exploration to the Moon, Near Earth Asteroids (NEAs), and ultimately Mars, as well as meet the strategic goals of the Global Exploration Roadmap (GER), offered by the International Space Exploration Coordination Group (ISECG). In this roadmap, the use of local resources is specifically addressed relating to human exploration. RP will provide knowledge to inform the selection of future mission destinations, support the development of exploration systems, and reduce the risk associated with human exploration. Expanding human presence beyond low-Earth orbit to asteroids and Mars will require the maximum possible use of local materials, so-called in-situ resources. The moon presents a unique destination to conduct robotic investigations that advance ISRU capabilities, as well as providing significant exploration and science value. Lunar regolith contains useful resources such as oxygen, water, silicon, and light metals, like aluminum and titanium. Oxygen can be separated from the regolith for life support (breathable air), or used to create rocket propellant (oxidizer). Regolith can be used to protect against radiation exposure, be processed into solar cells, or used to manufacture construction materials such as bricks and glass. RP will characterize the constituents and distribution of water and other volatiles at the poles of the Moon, enabling innovative uses of local resources, in addition to validating ISRU capabilities. This capability, as well as a deeper understanding of regolith, will be valuable in the

  6. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    International Nuclear Information System (INIS)

    Asnafi, Alireza; Mahzoon, Mojtaba

    2011-01-01

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  7. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    Energy Technology Data Exchange (ETDEWEB)

    Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

    2011-09-15

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  8. Multi-robot control interface

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

  9. Additive Manufacturing of Parts and Tooling in Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Love, Lonnie J. [ORNL; Hassen, Ahmed A. [ORNL; Chesser, Phillip C. [ORNL; Parsons, Jeremy [Mantaro Networks, Inc.

    2018-04-01

    ORNL worked with Transcend Robotics, LLC to explore additive manufacturing of the two-piece compression body for their ARTI mobile robot platform. Extrusion compression molding was identified as an effective means of manufacturing these parts. ORNL consulted on modifications to the housing design to accommodate the selected manufacturing process. Parts were printed using ORNL's FDM machines for testing and evaluation of the design as a precursor to molding the parts. The assembly and evaluation of the parts proved favorable and minor design changes to improve assembly and performance were identified.The goal is to develop a light weight and rugged two-part robotic enclosure for an unmanned ground vehicle UGV) that will be used in search and rescue applications. The FDM parts fabricated by ORNL allowed Transcend Robotics to assemble a prototype robot and verify that the new parts will meet the performance requirements. ORNL fabricated enclosure parts out of ABS and Nylon 12 materials such that the design could be tested prior to fabricating tooling for compression molding of Nylon 6 with carbon fiber fill. The robot was performance tested and compared with the previous manufacturing techniques and found to have superior performance.

  10. A robotic platform for laser welding of corneal tissue

    Science.gov (United States)

    Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

    2017-07-01

    Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

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

    DEFF Research Database (Denmark)

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

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

  12. Robots: l'embarras de richesses [:survey of robots available

    International Nuclear Information System (INIS)

    Meieran, H.; Brittain, K.; Sturkey, R.

    1989-01-01

    A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)

  13. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

    Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

    2009-09-15

    This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.

  14. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    Can we trust robots? Responding to the literature on trust and e-trust, this paper asks if the question of trust is applicable to robots, discusses different approaches to trust, and analyses some preconditions for trust. In the course of the paper a phenomenological-social approach to trust is

  15. Robotics in endoscopy.

    Science.gov (United States)

    Klibansky, David; Rothstein, Richard I

    2012-09-01

    The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

  16. Neuronal nets in robotics

    International Nuclear Information System (INIS)

    Jimenez Sanchez, Raul

    1999-01-01

    The paper gives a generic idea of the solutions that the neuronal nets contribute to the robotics. The advantages and the inconveniences are exposed that have regarding the conventional techniques. It also describe the more excellent applications as the pursuit of trajectories, the positioning based on images, the force control or of the mobile robots management, among others

  17. 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...

  18. Robots that care

    NARCIS (Netherlands)

    Looije, R.; Arendsen, J.; Saldien, J.; Vanderborght, B.; Broekens, J.; Neerincx, M.

    2010-01-01

    Many countries face pressure on their health care systems. To alleviate this pressure, 'self care' and 'self monitoring' are often stimulated with the use of new assistive technologies. Social robotics is a research area where robotic technology is optimized for various social functions. One of

  19. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

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

  20. 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.