Development of a Mobile Robot as a Test Bed for Tele-Presentation

Directory of Open Access Journals (Sweden)

Diogenes Armando D. Pascua

2016-05-01

Full Text Available In this paper a human-sized tracked wheel robot with a large payload capacity for tele-presentation is presented. The robot is equipped with different sensors for obstacle avoidance and localization. A high definition web camera installed atop a pan and tilt assembly was in place as a remote environment feedback for users. An LCD monitor provides the visual display of the operator in the remote environment using the standard Skype teleconferencing software. Remote control was done via the internet through the free Teamviewer VNC remote desktop software. Moreover, this paper presents the design details, fabrication and evaluation of individual components. Core mobile robot movement and navigational controls were developed and tested. The effectiveness of the mobile robot as a test bed for tele-presentation were evaluated and analyzed by way of its real time response and time delay effects of the network

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.

Radiation-hardenable diluents for radiation-hardenable compositions

International Nuclear Information System (INIS)

Schuster, K.E.; Rosenkranz, H.J.; Furh, K.; Ruedolph, H.

1979-01-01

Radiation-crosslinkable diluents for radiation-hardenable compositions (binders) consisting of a mixture of triacrylates of a reaction product of trimethylol propane and ethylene oxide with an average degree of ethoxylation of from 2.5 to 4 are described. The ethoxylated trimethylol propane is substantially free from trimethylol propane and has the following distribution: 4 to 5% by weight of monoethoxylation product, 14 to 16% by weight of diethoxylation product, 20 to 30% by weight of triethoxylation product, 20 to 30% by weight of tetraethoxylation product, 16 to 18% by weight of pentaethoxylation product, and 6 to 8% by weight of hexaethoxylation product. The diluents effectively reduce the viscosity of radiation-hardenable compositions and do not have any adverse effect upon their reactivity or upon the properties of the resulting hardened products

Proposed radiation hardened mobile vehicle for Chernobyl dismantlement and nuclear accident response

International Nuclear Information System (INIS)

Rowland, M.S.; Holliday, M.A.; Karpachov, J.A.

1995-01-01

Researchers are developing a radiation hardened, Telerobotic Dismantling System (TDS) to remediate the Chernobyl facility. To withstand the severe radiation fields, the robotic system, will rely on electrical motors, actuators, and relays proven in the Chernobyl power station. Due to its dust suppression characteristics and ability to cut arbitrary materials the authors propose using a water knife as the principle tool to slice up the large fuel containing masses. The front end of the robot will use a minimum number of moving parts by locating most of the susceptible and bulky components outside the work area. Hardened and shielded video cameras will be designed for remote control and viewing of the robotic functions. Operators will supervise and control robot movements based on feedback from a suite of sensory systems that would include vision systems, radiation detection and measurement systems and force reflection systems. A gripper will be instrumented with a variety of sensors (e.g. force, torque, or tactile), allowing varying debris surface properties to be grasped. The gripper will allow the operator to manipulate and segregate debris items without entering the radiologically and physically dangerous dismantlement operations area. The robots will initially size reduce the FCM's to reduce the primary sources of the airborne radionuclides. The robot will then remove the high level waste for packaging or decontamination, and storage nearby

SRT project: tele-robotics maintenance of nuclear power plants

International Nuclear Information System (INIS)

Gomez-Santamaria, J.; Calleja, J.M.; Carmena, P.; Avello, A.; Rubio, Y.A.

2001-01-01

The main aim of the SRT project was to develop a family of robots to help in the operation of nuclear power plants. Four robotic systems were developed and this paper focuses on three of them: ANAES -a steam leak detector through noise analysis-, MALIBA -a master-slave tele-operation system with force feedback- and ROBICEN -a compact pneumatic wall climbing robot-. ANAES (the Spanish acronym of spectrum analysis) consists of a set of sensor heads attached to a computer. Each head has two microphones and a video camera installed on it, and a DC motor that rotates the head. The heads are shielded with lead and boron steel, especially near the video camera. The noise generated by the plant is recorded every day at the same time and the software compares the recorded noise with the mean values of past records. The system can discern whether the noise has remarkably changed and, through phase analysis of the sound recorded by both microphones, identifies the direction of arrival (DOA) of the new noise, probably a steam leak. Using several heads, the new noise source can be identified. The video camera can be used to ease the location of the steam leaks. The stationariness of the measured noise has been tested in C.N. Cofrentes -a Spanish BWR-6 reactor-. A finished system with six heads has recently been installed in the MSR (moisture separator reheater) of the same plant. MALIBA is a master-slave tele-operated system with force feedback. It consists of two robots: a Stewart platform used as master robot and an open chain robot used as slave. The slave robot follows faithfully the movements of the master, and the master robot can reflect a force proportional to the force exerted by the slave on the environment. Three tools have been developed for the slave robot: a robot hand that includes a small video camera, a pneumatic drill and a rectifier. The results obtained have shown its effectiveness for the designed operations. ROBICEN is a lightweight pneumatic robot

SRT project: tele-robotics maintenance of nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Gomez-Santamaria, J. [Iberdrola SA, Madrid (Spain); Calleja, J.M.; Carmena, P. [Endesa, Madrid (Spain); Avello, A.; Rubio, Y.A. [CEIT-Centro de Estudias e Investigaciones Tecnicas de Guipuzcoa, San Sebastian (Spain)

2001-07-01

The main aim of the SRT project was to develop a family of robots to help in the operation of nuclear power plants. Four robotic systems were developed and this paper focuses on three of them: ANAES -a steam leak detector through noise analysis-, MALIBA -a master-slave tele-operation system with force feedback- and ROBICEN -a compact pneumatic wall climbing robot-. ANAES (the Spanish acronym of spectrum analysis) consists of a set of sensor heads attached to a computer. Each head has two microphones and a video camera installed on it, and a DC motor that rotates the head. The heads are shielded with lead and boron steel, especially near the video camera. The noise generated by the plant is recorded every day at the same time and the software compares the recorded noise with the mean values of past records. The system can discern whether the noise has remarkably changed and, through phase analysis of the sound recorded by both microphones, identifies the direction of arrival (DOA) of the new noise, probably a steam leak. Using several heads, the new noise source can be identified. The video camera can be used to ease the location of the steam leaks. The stationariness of the measured noise has been tested in C.N. Cofrentes -a Spanish BWR-6 reactor-. A finished system with six heads has recently been installed in the MSR (moisture separator reheater) of the same plant. MALIBA is a master-slave tele-operated system with force feedback. It consists of two robots: a Stewart platform used as master robot and an open chain robot used as slave. The slave robot follows faithfully the movements of the master, and the master robot can reflect a force proportional to the force exerted by the slave on the environment. Three tools have been developed for the slave robot: a robot hand that includes a small video camera, a pneumatic drill and a rectifier. The results obtained have shown its effectiveness for the designed operations. ROBICEN is a lightweight pneumatic robot

The Development of Radiation hardened tele-robot system - Development of artificial force reflection control for teleoperated mobile robots

Energy Technology Data Exchange (ETDEWEB)

Lee, Ju Jang; Hong, Sun Gi; Kang, Young Hoon; Kim, Min Soeng [Korea Advanced Institute of Science and Technology, Taejon (Korea)

1999-04-01

One of the most important issues in teleoperation is to provide the sense of telepresence so as to conduct the task more reliably. In particular, teleoperated mobile robots are needed to have some kinds of backup system when the operator is blind for remote situation owing to the failure of vision system. In the first year, the idea of artificial force reflection was researched to enhance the reliability of operation when the mobile robot travels on the plain ground. In the second year, we extend previous results to help the teleoperator even when the robot climbs stairs. Finally, we apply the developed control algorithms to real experiments. The artificial force reflection method has two modes; traveling on the plain ground and climbing stairs. When traveling on the plain ground, the force information is artificially generated by using the range data from the environment while generating the impulse force when climbing stairs. To verify the validity of our algorithm, we develop the simulator which consists of the joystick and the visual display system. Through some experiments using this system, we confirm the validity and effectiveness of our new idea of artificial force reflection in the teleoperated mobile robot. 11 refs., 30 figs. (Author)

Radiation-hardened bulk CMOS technology

International Nuclear Information System (INIS)

Dawes, W.R. Jr.; Habing, D.H.

1979-01-01

The evolutionary development of a radiation-hardened bulk CMOS technology is reviewed. The metal gate hardened CMOS status is summarized, including both radiation and reliability data. The development of a radiation-hardened bulk silicon gate process which was successfully implemented to a commercial microprocessor family and applied to a new, radiation-hardened, LSI standard cell family is also discussed. The cell family is reviewed and preliminary characterization data is presented. Finally, a brief comparison of the various radiation-hardened technologies with regard to performance, reliability, and availability is made

The development of advanced robotic technology. A study on the tele-existence and intelligent control of a robot system for nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Chung, Myung Jin; Byun, Jueng Nam; Kim, Jong Hwan; Lee, Ju Jang; Bang, Seok Won; Chu, Gil Hwan; Park, Jong Cheol; Choi, Jong Seok; Yang, Jung Min; Hong, Sun Ki [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

1995-07-01

To increase the efficiency of human intelligence it is required to develop an intelligent monitoring and system. In this research, we develop intelligent control methods related with tele-operation, tele-existence, real-time control technique, and intelligent control technique. Those are key techniques in tele-operation, especially for the repair and maintenance of nuclear power plants. The objective of this project is to develop of the tele-existence and intelligent control system for a robot used in the nuclear power plants. (author). 20 refs.

Environmental hardening of robots for nuclear maintenance and surveillance tasks

International Nuclear Information System (INIS)

Hintenlang, D.E.; Tulenko, J.S.; Wheeler, R.; Roy, T.

1990-01-01

The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory, is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of environmentally hardened components so that autonomous robotic systems can successfully carry out their tasks under the most extreme expected environmental conditions. This requirement means that the designed robotic system with its onboard computer-based intelligence must be able to successfully complete tasks in toxic, radioactive, wet, temperature extremes, and other physically impairing environments. As part of this program, a study was carried out to determine the environmental conditions that should be set as the design criteria for robotic systems to maintain reasonable operations for nuclear plants in the course of maintenance, testing, and surveillance under all conditions, including plant upset. It was decided that Florida would build a combined environmental testing facility to test specific devices in high-radiation/high-temperature combined environments. This environmental test chamber has been built and successfully tested to over 250 degree F. This facility will provide some of the first combined temperatures/radiation data for many large-scale integrated components

A user interface for mobile robotized tele-echography

Energy Technology Data Exchange (ETDEWEB)

Triantafyllidis, G.A. [Informatics and Telematics Institute ITI-CERTH, Thessaloniki (Greece)]. E-mail: gatrian@iti.gr; Thomos, N. [Informatics and Telematics Institute ITI-CERTH, Thessaloniki (Greece); Canero, C. [Computer Vision Center, UAB, Barcelona (Spain); Vieyres, P. [Laboratoire Vision and Robotique Universite d' Orleans, Bourges (France); Strintzis, M.G. [Informatics and Telematics Institute ITI-CERTH, Thessaloniki (Greece)

2006-12-20

Ultrasound imaging allows the evaluation of the degree of emergency of a patient. However, in many situations no experienced sonographer is available to perform such echography. To cope with this issue, the OTELO project 'mObile Tele-Echography using an ultra-Light rObot' (OTELO) aims to develop a fully integrated end-to-end mobile tele-echography system using an ultralight, remotely controlled six degree-of-freedom (DOF) robot. In this context, this paper deals with the user interface environment of the OTELO system, composed by the following parts: an ultrasound video transmission system providing real-time images of the scanned area at each moment, an audio/video conference to communicate with the paramedical assistant and the patient, and finally a virtual reality environment, providing visual and haptic feedback to the expert, while capturing the expert's hand movements with a one-DOF hand free input device.

Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

Directory of Open Access Journals (Sweden)

Francisco J. Rodríguez-Lera

2018-03-01

Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

The Development of a Radiation Hardened Robot for Nuclear Facilities

Energy Technology Data Exchange (ETDEWEB)

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

2007-04-15

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

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

Science.gov (United States)

Aziz, Sarmad

2013-05-01

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

Environmental hardening of a mobile-manipulator system for nuclear environments

International Nuclear Information System (INIS)

Jones, S.L.; Cable, T.; Tulenko, J.S.; Toshkov, S.; Sias, F.R. Jr.

1993-01-01

This research report discusses the radiation hardening of a commercially available mobile robot, the REMOTEC ANDROS. This hardening effort is culminating in the availability of a megarad hardened mobile platform to access areas in nuclear facilities with extremely high levels of radiation (0.1 to 1 Mrad). These radiation levels may be encountered both during routine repair and monitoring activities and accident situations. The project has completed a phase-I U.S. Department of Energy Small Business Innovative Research contract and is now in a phase-II effort with completion scheduled in early 1995. The research involves the evaluation of the material and electrical components of an ANDROS robot to determine the anticipated radiation hardness of the current production version and evaluation of the components that must be replaced or modified to harden the system to higher radiation levels. The work being reported is based on an evaluation of the complete list of all electronic, electrical, and mechanical parts used in the robot and includes initial experimental radiation evaluations performed at the University of Florida

Use of mobile robots for mapping radiation field around particle accelerators

International Nuclear Information System (INIS)

Sharma, S.; Agashe, V.; Pal, P.K.

2011-01-01

In Particle Accelerators, when the accelerated particles hit the target or inadvertently strike the wall, prompt and induced radiation is produced. It is necessary to monitor the resulting radiation field in order to reduce radiation exposure to operating personnel, as well as to locate points of leakage of the particle beam. This paper describes the development of mobile robots equipped with onboard radiation detectors for mapping such radiation fields. They include a user interface software running on a host computer to tele operate the robot, monitor radiation levels, and build and display a radiation map out of these data through interpolation. One such robot (ARMER-II), designed and developed by us in consultation with Radiation Safety Division (RSD), is a portable mobile robot for identifying locations with radiation levels higher than permissible limits. Its remote interface computes and guides the robot to move in a direction in which the increase in intensity of radiation is the steepest. Another mobile robot (ARMER-I) has a telescopic arm fitted with a light and small GM tube. This also can be controlled remotely, and is very useful in remote measurement of radiation from locations which are difficult to reach otherwise. Another version (ASHWA) has been successfully adapted by VECC, Kolkata, for gamma and neutron radiation profiling in the cyclotron vault area. We are presently working on the design and development of a four-wheel differentially driven mobile robot (RADMAPPER) with higher payload capacity for carrying radiation detectors like gamma camera and neutron dosimeters and positioning them at desired heights. With appropriate localization capability, this is going to be a very flexible mobile robot based system for radiation profiling around particle accelerators. The specification for this robot has been prepared in consultation with VECC for use in their cyclotron facilities. (author)

Radiation hardening of integrated circuits technologies

International Nuclear Information System (INIS)

Auberton-Herve, A.J.; Leray, J.L.

1991-01-01

The radiation hardening studies started in the mid decade -1960-1970. To survive the different military or space radiative environment, a new engineering science borned, to understand the degradation of electronics components. The different solutions to improve the electronic behavior in such environment, have been named radiation hardening of the technologies. Improvement of existing technologies, and qualification method have been widely studied. However, at the other hand, specific technologies was developped : The Silicon On Insulator technologies for CMOS or Bipolar. The HSOI3HD technology (supported by DGA-CEA DAM and LETI with THOMSON TMS) offers today the highest hardening level for the integration density of hundreds of thousand transistors on the same silicon. Full complex systems would be realized on a single die with a technological radiation hardening and no more system hardening

Radiation hardened COTS-based 32-bit microprocessor

International Nuclear Information System (INIS)

Haddad, N.; Brown, R.; Cronauer, T.; Phan, H.

1999-01-01

A high performance radiation hardened 32-bit RISC microprocessor based upon a commercial single chip CPU has been developed. This paper presents the features of radiation hardened microprocessor, the methods used to radiation harden this device, the results of radiation testing, and shows that the RAD6000 is well-suited for the vast majority of space applications. (authors)

A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.

Science.gov (United States)

Hadavand, Mostafa; Mirbagheri, Alireza; Behzadipour, Saeed; Farahmand, Farzam

2014-06-01

An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications. Copyright © 2013 John Wiley & Sons, Ltd.

Multi-MGy Radiation Hardened Camera for Nuclear Facilities

International Nuclear Information System (INIS)

Girard, Sylvain; Boukenter, Aziz; Ouerdane, Youcef; Goiffon, Vincent; Corbiere, Franck; Rolando, Sebastien; Molina, Romain; Estribeau, Magali; Avon, Barbara; Magnan, Pierre; Paillet, Philippe; Duhamel, Olivier; Gaillardin, Marc; Raine, Melanie

2015-01-01

There is an increasing interest in developing cameras for surveillance systems to monitor nuclear facilities or nuclear waste storages. Particularly, for today's and the next generation of nuclear facilities increasing safety requirements consecutive to Fukushima Daiichi's disaster have to be considered. For some applications, radiation tolerance needs to overcome doses in the MGy(SiO 2 ) range whereas the most tolerant commercial or prototypes products based on solid state image sensors withstand doses up to few kGy. The objective of this work is to present the radiation hardening strategy developed by our research groups to enhance the tolerance to ionizing radiations of the various subparts of these imaging systems by working simultaneously at the component and system design levels. Developing radiation-hardened camera implies to combine several radiation-hardening strategies. In our case, we decided not to use the simplest one, the shielding approach. This approach is efficient but limits the camera miniaturization and is not compatible with its future integration in remote-handling or robotic systems. Then, the hardening-by-component strategy appears mandatory to avoid the failure of one of the camera subparts at doses lower than the MGy. Concerning the image sensor itself, the used technology is a CMOS Image Sensor (CIS) designed by ISAE team with custom pixel designs used to mitigate the total ionizing dose (TID) effects that occur well below the MGy range in classical image sensors (e.g. Charge Coupled Devices (CCD), Charge Injection Devices (CID) and classical Active Pixel Sensors (APS)), such as the complete loss of functionality, the dark current increase and the gain drop. We'll present at the conference a comparative study between these radiation-hardened pixel radiation responses with respect to conventional ones, demonstrating the efficiency of the choices made. The targeted strategy to develop the complete radiation hard camera

Multi-MGy Radiation Hardened Camera for Nuclear Facilities

Energy Technology Data Exchange (ETDEWEB)

Girard, Sylvain; Boukenter, Aziz; Ouerdane, Youcef [Universite de Saint-Etienne, Lab. Hubert Curien, UMR-CNRS 5516, F-42000 Saint-Etienne (France); Goiffon, Vincent; Corbiere, Franck; Rolando, Sebastien; Molina, Romain; Estribeau, Magali; Avon, Barbara; Magnan, Pierre [ISAE, Universite de Toulouse, F-31055 Toulouse (France); Paillet, Philippe; Duhamel, Olivier; Gaillardin, Marc; Raine, Melanie [CEA, DAM, DIF, F-91297 Arpajon (France)

2015-07-01

There is an increasing interest in developing cameras for surveillance systems to monitor nuclear facilities or nuclear waste storages. Particularly, for today's and the next generation of nuclear facilities increasing safety requirements consecutive to Fukushima Daiichi's disaster have to be considered. For some applications, radiation tolerance needs to overcome doses in the MGy(SiO{sub 2}) range whereas the most tolerant commercial or prototypes products based on solid state image sensors withstand doses up to few kGy. The objective of this work is to present the radiation hardening strategy developed by our research groups to enhance the tolerance to ionizing radiations of the various subparts of these imaging systems by working simultaneously at the component and system design levels. Developing radiation-hardened camera implies to combine several radiation-hardening strategies. In our case, we decided not to use the simplest one, the shielding approach. This approach is efficient but limits the camera miniaturization and is not compatible with its future integration in remote-handling or robotic systems. Then, the hardening-by-component strategy appears mandatory to avoid the failure of one of the camera subparts at doses lower than the MGy. Concerning the image sensor itself, the used technology is a CMOS Image Sensor (CIS) designed by ISAE team with custom pixel designs used to mitigate the total ionizing dose (TID) effects that occur well below the MGy range in classical image sensors (e.g. Charge Coupled Devices (CCD), Charge Injection Devices (CID) and classical Active Pixel Sensors (APS)), such as the complete loss of functionality, the dark current increase and the gain drop. We'll present at the conference a comparative study between these radiation-hardened pixel radiation responses with respect to conventional ones, demonstrating the efficiency of the choices made. The targeted strategy to develop the complete radiation hard camera

A Low-Cost Tele-Presence Wheelchair System

OpenAIRE

Shen, Jiajun; Xu, Bin; Pei, Mingtao; Jia, Yunde

2016-01-01

This paper presents the architecture and implementation of a tele-presence wheelchair system based on tele-presence robot, intelligent wheelchair, and touch screen technologies. The tele-presence wheelchair system consists of a commercial electric wheelchair, an add-on tele-presence interaction module, and a touchable live video image based user interface (called TIUI). The tele-presence interaction module is used to provide video-chatting for an elderly or disabled person with the family mem...

Radiation Hardened Telerobotic Dismantling System Development Final Report CRADA No. TC-1340-96

Energy Technology Data Exchange (ETDEWEB)

Smith, C. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Lightman, A. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

2017-09-27

This project was a collaborative effort between the University of California, LLNL and RedZone Robotics, Inc. for the development of radiation-hardened telerobotic dismantling systems for use in applications such as nuclear facility remediation, nuclear accident response, and Chemobyltype remediation. The project supported the design, development, fabrication and testing of a Ukrainian robotic systems. The project was completed on time and within budget. All deliverables were completed. The final project deliverables were consistent with the plans developed in the original project with the exception that the fabricated systems remained in Ukraine.

Radiation hardenable coating mixture

International Nuclear Information System (INIS)

Howard, D.D.

1977-01-01

This invention relates to coatings that harden under radiation and to their compositions. Specifically, this invention concerns unsaturated urethane resins polymerisable by addition and to compositions, hardening under the effect of radiation, containing these resins. These resins feature the presence of at least one unsaturated ethylenic terminal group of structure CH 2 =C and containing the product of the reaction of an organic isocyanate compound with at least two isocyanate groups and one polyester polyol with at least two hydroxyl groups, and one unsaturated monomer compound polymerisable by addition having a single active hydrogen group reacting with the isocyanate [fr

Development of a radiation hardened ANDROS robot for environmental restoration and waste management operations

International Nuclear Information System (INIS)

Tulenko, J.S.; Youk, G.; Ekdahl, D.; Liu, H.; Zhou, H.; Phillips, K.; Sias, F.; Jones, S.; Cable, T.; Harvey, H.

1995-01-01

A radiation hardened and tolerant version of the ANDROS V-A and VI-A system has been developed by a team composed of engineers and scientists from REMOTEC, Inc. and the University of Florida. The final upgrade of the major control components to a hardness level greater than one megarad is detailed. Over twelve hundred parts were reviewed. The project has completed its Phase 1 and Phase 2 SBIR redesign with the upgrade of all control components. The facilities at the University of Florida which include a linear accelerator and multiple cobalt irradiators have provided the capability to perform the extensive testing required. The commercial production of this radiation hardened ANDROS makes available a mobile platform that can serve as a main work and inspection system for hazardous tasks facing the world nuclear industry

Radiation-chemical hardening of phenol-formaldehyde oligomers

International Nuclear Information System (INIS)

Shlapatskaya, V.V.; Omel'chenko, S.I.

1978-01-01

Radiation-chemical hardening of phenol formaldehyde oligomers of the resol type has been studied in the presence of furfural and diallylphthalate diluents. The samples have been hardened on an electron accelerator at an electron energy of 1.0-1.1 MeV and a dose rate of 2-3 Mrad/s. The kinetics of hardening has been studied on the yield of gel fraction within the range of absorbed doses from 7 to 400 Mrad. Radiation-chemical hardening of the studied compositions is activated with sensitizers, namely, amines, metal chlorides, and heterocyclic derivatives of metals. Furfural and diallylphthalate compositions are suitable for forming glass-fibre plastic items by the wet method and coatings under the action of ionizing radiations

Tele-operated search robot for human detection using histogram of oriented objects

Science.gov (United States)

Cruz, Febus Reidj G.; Avendaño, Glenn O.; Manlises, Cyrel O.; Avellanosa, James Jason G.; Abina, Jyacinth Camille F.; Masaquel, Albert M.; Siapno, Michael Lance O.; Chung, Wen-Yaw

2017-02-01

Disasters such as typhoons, tornadoes, and earthquakes are inevitable. Aftermaths of these disasters include the missing people. Using robots with human detection capabilities to locate the missing people, can dramatically reduce the harm and risk to those who work in such circumstances. This study aims to: design and build a tele-operated robot; implement in MATLAB an algorithm for the detection of humans; and create a database of human identification based on various positions, angles, light intensity, as well as distances from which humans will be identified. Different light intensities were made by using Photoshop to simulate smoke, dust and water drops conditions. After processing the image, the system can indicate either a human is detected or not detected. Testing with bodies covered was also conducted to test the algorithm's robustness. Based on the results, the algorithm can detect humans with full body shown. For upright and lying positions, detection can happen from 8 feet to 20 feet. For sitting position, detection can happen from 2 feet to 20 feet with slight variances in results because of different lighting conditions. The distances greater than 20 feet, no humans can be processed or false negatives can occur. For bodies covered, the algorithm can detect humans in cases made under given circumstances. On three positions, humans can be detected from 0 degrees to 180 degrees under normal, with smoke, with dust, and with water droplet conditions. This study was able to design and build a tele-operated robot with MATLAB algorithm that can detect humans with an overall precision of 88.30%, from which a database was created for human identification based on various conditions, where humans will be identified.

Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

Energy Technology Data Exchange (ETDEWEB)

Joly, L.; Andriot, C.

1995-12-31

In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs.

Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

International Nuclear Information System (INIS)

Joly, L.; Andriot, C.

1995-01-01

In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs

Open Source Radiation Hardened by Design Technology

Science.gov (United States)

Shuler, Robert

2016-01-01

The proposed technology allows use of the latest microcircuit technology with lowest power and fastest speed, with minimal delay and engineering costs, through new Radiation Hardened by Design (RHBD) techniques that do not require extensive process characterization, technique evaluation and re-design at each Moore's Law generation. The separation of critical node groups is explicitly parameterized so it can be increased as microcircuit technologies shrink. The technology will be open access to radiation tolerant circuit vendors. INNOVATION: This technology would enhance computation intensive applications such as autonomy, robotics, advanced sensor and tracking processes, as well as low power applications such as wireless sensor networks. OUTCOME / RESULTS: 1) Simulation analysis indicates feasibility. 2)Compact voting latch 65 nanometer test chip designed and submitted for fabrication -7/2016. INFUSION FOR SPACE / EARTH: This technology may be used in any digital integrated circuit in which a high level of resistance to Single Event Upsets is desired, and has the greatest benefit outside low earth orbit where cosmic rays are numerous.

Radiation-hardened control system

International Nuclear Information System (INIS)

Vandermolen, R.I.; Smith, S.F.; Emery, M.S.

1993-01-01

A radiation-hardened bit-slice control system with associated input/output circuits was developed to prove that programmable circuits could be constructed to successfully implement intelligent functions in a highly radioactive environment. The goal for this effort was to design and test a programmable control system that could withstand a minimum total dose of 10 7 rads (gamma). The Radiation Hardened Control System (RHCS) was tested in operation at a dose rate that ranged up to 135 krad/h, with an average total dose of 10.75 Mrads. Further testing beyond the required 10 7 rads was also conducted. RHCS performed properly through the target dose of 10 7 rads, and sporadic intermittent failures in some programmable logic devices were noted after ∼ 13 Mrads

Radiation-hardened bulk Si-gate CMOS microprocessor family

International Nuclear Information System (INIS)

Stricker, R.E.; Dingwall, A.G.F.; Cohen, S.; Adams, J.R.; Slemmer, W.C.

1979-01-01

RCA and Sandia Laboratories jointly developed a radiation-hardened bulk Si-gate CMOS technology which is used to fabricate the CDP-1800 series microprocessor family. Total dose hardness of 1 x 10 6 rads (Si) and transient upset hardness of 5 x 10 8 rads (Si)/sec with no latch up at any transient level was achieved. Radiation-hardened parts manufactured to date include the CDP-1802 microprocessor, the CDP-1834 ROM, the CDP-1852 8-bit I/O port, the CDP-1856 N-bit 1 of 8 decoder, and the TCC-244 256 x 4 Static RAM. The paper is divided into three parts. In the first section, the basic fundamentals of the non-hardened C 2 L technology used for the CDP-1800 series microprocessor parts is discussed along with the primary reasons for hardening this technology. The second section discusses the major changes in the fabrication sequence that are required to produce radiation-hardened devices. The final section details the electrical performance characteristics of the hardened devices as well as the effects of radiation on device performance. Also included in this section is a discussion of the TCC-244 256 x 4 Static RAM designed jointly by RCA and Sandia Laboratories for this application

Thermomechanical properties of radiation hardened oligoesteracrylates

International Nuclear Information System (INIS)

Lomonosova, N.V.; Chikin, Yu.A.

1984-01-01

Thermomechanical properties of radiation hardened oligoesteracrylates are studied by the methods of isothermal heating and thermal mechanics. Films of dimethacrylate of ethylene glycol, triethylene glycol (TGM-3), tetraethylene glycol, tridecaethylene glycol and TGM-3 mixture with methyl methacrylate hardened by different doses (5-150 kGy) using Co 60 installation with a dose rate of 2x10 -3 kGy/s served as a subject of the research. During oligoesteracrylate hargening a space network is formed, chain sections between lattice points of which are in a stressed state. Maximum of deformation is observed at 210-220 deg C on thermomechanical curves of samples hardened by doses > 5 kGy, which form and intensity is dependent on an absorbed dose. Presence of a high-temperature maximum on diaqrams of isometric heating of spatially cross-linked oligoesteracrylates is discovered. High thermal stability of three-dimensional network of radiation hardened oligoesteracrylates provides satisfactory tensile properties (40% of initial strength) in sample testing an elevated temperatures (200-250 deg C)

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

Science.gov (United States)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

Radiation hardening coating material

International Nuclear Information System (INIS)

McDonald, W.H.; Prucnal, P.J.; DeMajistre, Robert.

1977-01-01

This invention concerns a radiation hardening coating material. First a resin is prepared by reaction of bisphenol diglycidylic ether with acrylic or methacrylic acids. Then the reactive solvent is prepared by reaction of acrylic or methacrylic acids with epichlorhydrine or epibromhydrine. Then a solution consisting of the resin dissolved in the reactive solvent is prepared. A substrate (wood, paper, polyesters, polyamines etc.) is coated with this composition and exposed to ionizing radiations (electron beams) or ultraviolet radiations [fr

Radiation hardening of semiconductor parts

International Nuclear Information System (INIS)

Anon.

1993-01-01

This chapter is an overview of total-ionizing-dose and single-event hardening techniques and should be used as a guide to a range of research publications. It should be stressed that there is no clear and simple route to a radiation-tolerant silicon integrated circuit. What works for one fabrication process may not work for another, and there are many complex interactions within individual processes and designs. The authors have attempted to highlight the most important factors and those process changes which should bring improved hardness. The main point is that radiation-hardening as a procedure must be approached in a methodical fashion and with a good understanding of the response mechanisms involved

Radiation response of two Harris semiconductor radiation hardened 1k CMOS RAMs

International Nuclear Information System (INIS)

Abare, W.E.; Huffman, D.D.; Moffett, G.E.

1982-01-01

This paper describes the testing of two types 1K CMOS static RAMs in various transient and steady state ionizing radiation environments. Type HM 6551R (256x4 bits) and type HM 6508R (1024x1 bit) RAMs were evaluated. The RAMs are radiation hardened versions of Harris' commercial RAMs. A brief description of the radiation hardened process is presented

Novel circuits for radiation hardened memories

International Nuclear Information System (INIS)

Haraszti, T.P.; Mento, R.P.; Moyer, N.E.; Grant, W.M.

1992-01-01

This paper reports on implementation of large storage semiconductor memories which combine radiation hardness with high packing density, operational speed, and low power dissipation and require both hardened circuit and hardened process technologies. Novel circuits, including orthogonal shuffle type of write-read arrays, error correction by weighted bidirectional codes and associative iterative repair circuits, are proposed for significant improvements of SRAMs' immunity against the effects of total dose and cosmic particle impacts. The implementation of the proposed circuit resulted in fault-tolerant 40-Mbit and 10-Mbit monolithic memories featuring a data rate of 120 MHz and power dissipation of 880 mW. These experimental serial-parallel memories were fabricated with a nonhardened standard CMOS processing technology, yet provided a total dose hardness of 1 Mrad and a projected SEU rate of 1 x 10 - 12 error/bit/day. Using radiation hardened processing improvements by factors of 10 to 100 are predicted in both total dose hardness and SEU rate

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...

Image-guided neurosurgery. Global concept of a surgical tele-assistance using obstacle detection robotics

International Nuclear Information System (INIS)

Desgeorges, M.; Bellegou, N.; Faillot, Th.; Cordoliani, Y.S.; Dutertre, G.; Blondet, E.; Soultrait, F. de; Boissy, J.M.

2000-01-01

Surgical tele-assistance significantly increases accuracy of surgical gestures, especially in the case of brain tumor neurosurgery. The robotic device is tele-operated through a microscope and the surgeon's gestures are guided by real-time overlaying of the X-ray imagery in the microscope. During the device's progression inside the brain, the focus is ensured by the microscope auto-focus feature. The surgeon can thus constantly check his position on the field workstation. Obstacles to avoid or dangerous areas can be previewed in the operation field. This system is routinely used for 5 years in the neurosurgery division of the Val de Grace hospital. More than 400 brain surgery operations have been done using it. An adaptation is used for rachis surgery. Other military hospitals begin to be equipped with similar systems. It will be possible to link them for data transfer. When it will be operational, such a network it will show what could be, in the future, a medical/surgical remote-assistance system designed to take care of wounded/critical conditions people, including assistance to surgical gestures. (authors)

The development of Windows based control system for the tele-robotics

International Nuclear Information System (INIS)

Kim, Byung Soo; Kim, Seung Ho; Seo, Yong Chil; Kim, Ki Ho; Hwang, Suk Yeoung; Kim, Chang Hoi; Jung, Seung Ho; Lee, Young Kwang

1998-03-01

The WSCS (Windows-based Supervisory Control System) has been developed for the efficient control of the mobile robot in the hazardous area, such as reactor surroundings of HPWR (Heavy Pressurized Water Reactor). The WSCS is basically computer program which consists windows menu-program, socket-based communication program, force reflection joystick program, and OpenGL-based 3D graphic program. Also, the WSCS includes the force control algorithm of a master control device ( in this case, joystick) for the enhanced operability. To evaluate the effectiveness of the designed WSCS and the force reflection control algorithm, a series of experiments has been made in such a way that human operators command the desired motion of robot by manipulating the joystick in the virtual environment. As a result, it was proven that the designed WSCS is very easy-to-use and effective. Also, the developed force reflection algorithm is more efficient than that of general tele-operation, even though there are some difference in human dexterity. In near future, the WSCS will be applied in the next version of KAEROT. (author). 11 refs., 14 tabs., 1 fig

Radiation-hardened optoelectronic components: detectors

International Nuclear Information System (INIS)

Wiczer, J.J.

1986-01-01

In this talk, we will survey recent research in the area of radiation hardened optical detectors. We have studied conventional silicon photodiode structures, special radiation hardened silicon photodiodes, and special double heterojunction AlGaAs/GaAs photodiodes in neutron, gamma, pulsed x-ray and charged particle environments. We will present results of our work and summarize other research in this area. Our studies have shown that detectors can be made to function acceptably after exposures to neutron fluences of 10 15 n/cm 2 , total dose gamma exposures of 10 8 rad (Si), and flash x-ray environments of 10 8 rad/sec (Si). We will describe detector structures that can operate through these conditions, pre-rad and post-rad operational characteristics, and experimental conditions that produced these results. 23 refs., 10 figs., 1 tab

The development of radiation hardened robot for nuclear facility - Development of embedded controller for hydraulic robot

Energy Technology Data Exchange (ETDEWEB)

Kim, Byung Kook; Kim, Jae Kwon [Korea Advanced Institute of Science and Technology, Taejon (Korea)

2000-04-01

We designed and implemented a reliable hierarchical control system for hydraulic robots for nuclear power plant maintenance. In hazardous environments such as nuclear power plants, robot systems or automated equipment should be used instead of human being for maintenance and repair. Such robot should guarantee high reliability in hazardous environments such as high radiation or high temperature. The overall system is composed of three hierarchical subsystems: i) supervisory controller in safe zone for operator interaction with monitoring and commanding and graphic user interface, ii) master controller in semi-hazardous zone for control function, and iii) slave controller in hazardous zone for sensing and actuation. These subsystems are connected with suitable communication channels: a) master-slave communication channel implemented with CAN (Control Area Network) and b) supervisory-master communication with Ethernet. The master and the slave controllers construct a feedback closed-loop control system. In order to improve reliability, the slave controller is duplicated using cold-standby scheme, and master-slave communication channel is also duplicated. The overall system is implemented harmonically, and we obtained fast control interval of 1msec, which is sufficient for high-performance real-time control. 12 refs., 58 figs., 13 tabs. (Author)

Radiation hardening of metals irradiated by heavy ions

International Nuclear Information System (INIS)

Didyk, A.Yu.; Skuratov, V.A.; Mikhajlova, N.Yu.; Regel', V.R.

1988-01-01

The damage dose dependence in the 10 -4 -10 -2 dpa region of radiation hardening of Al, V, Ni, Cu irradiated by xenon ions with 124 MeV energy is investigated using the microhardness technique and transmission electron microscope. It is shown that the pure metals radiation hardening is stimulated for defects clusters with the typical size less than 5 nm, as in the case of neutron and the light charge ion irradiation

Towards a Location-based Service for Early Mental Health Interventions in Disaster Response Using Minimalistic Tele-operated Android Robots Technology

Science.gov (United States)

Vahidi, H.; Mobasheri, A.; Alimardani, M.; Guan, Q.; Bakillah, M.

2014-04-01

Providing early mental health services during disaster is a great challenge in the disaster response phase. Lack of access to adequate mental-health professionals in the early stages of large-scale disasters dramatically influences the trend of a successful mental health aid. In this paper, a conceptual framework has been suggested for adopting cellphone-type tele-operated android robots in the early stages of disasters for providing the early mental health services for disaster survivors by developing a locationbased and participatory approach. The techniques of enabling GI-services in a Peer-to-Peer (P2P) environment were studied to overcome the limitations of current centralized services. Therefore, the aim of this research study is to add more flexibility and autonomy to GI web services (WMS, WFS, WPS, etc.) and alleviate to some degree the inherent limitations of these centralized systems. A P2P system Architecture is presented for the location-based service using minimalistic tele-operated android robots, and some key techniques of implementing this service using BestPeer were studied for developing this framework.

Exploration of a radiation hardening stabilized voltage power supply

International Nuclear Information System (INIS)

Xie Zeyuan; Xu Xianguo

2014-01-01

This paper mainly introduces the design method of radiation hardening stabilized voltage power supply that makes use of commercial radiation resistant electronic devices and the test results of radiation performance of the power supply and devices are presented in detail. The experiment results show that the hardened power supply can normally work until 1000 Gy (Si) total dose and 1 × 10 14 n/cm 2 neutron radiation, and it doesn't latchup at about 1 × l0 9 Gy (Si)/s gamma transient dose rate. (authors)

The Development of radiation hardened tele-robot system - Development of teleoperating technology using a universal master

Energy Technology Data Exchange (ETDEWEB)

Choi, Yong Je; Yang, Hyun Suk [Yonsei University, Seoul (Korea)

1999-04-01

A force-reflecting universal master for a teleoperating system has been designed and constructed, which can be used as an effective command input device for teleoperated robots. This report presents a full detail of the mechanism design and experiments related to the development of the force-reflecting masters. A real time virtual graphics display system which can be used as a powerful tool to predict any potential dangers and also to prevent an accident in advance has been developed and interfaced with the master. In order to transmit the force information of the slave to the operator effectively, the force-reflecting algorithm has been suggested and tested on the teleoperating system. The various master-slave systems have been tested in order to develop an efficient control algorithm for a teleoperating system with a force-reflecting master. A compliant device with the force/torque sensor capability has been also developed, which can be used as a passive position/force hybrid control device and as a sensor acquiring valid contact information of a slave with an environment. Experimental results showed that the developed teleoperating technology can be applied to a teleoperator system which interacts with the real environment. 21 refs., 103 figs., 2 tabs. (Author)

Radiation-hardened micro-electronics for nuclear instrumentation

International Nuclear Information System (INIS)

Van Uffelen, M.

2007-01-01

The successful development and deployment of future fission and thermonuclear fusion reactors depends to a large extent on the advances of different enabling technologies. Not only the materials need to be custom engineered but also the instrumentation, the electronics and the communication equipment need to support operation in this harsh environment, with expected radiation levels during maintenance up to several MGy. Indeed, there are yet no commercially available electronic devices available off-the-shelf which demonstrated a satisfying operation at these extremely high radiation levels. The main goal of this task is to identify commercially available radiation tolerant technologies, and to design dedicated and integrated electronic circuits, using radiation hardening techniques, both at the topological and architectural level. Within a stepwise approach, we first design circuits with discrete components and look for an equivalent integrated technology. This will enable us to develop innovative instrumentation and communication tools for the next generation of nuclear reactors, where both radiation hardening and miniaturization play a dominant role

BUSFET -- A radiation-hardened SOI transistor

International Nuclear Information System (INIS)

Schwank, J.R.; Shaneyfelt, M.R.; Draper, B.L.; Dodd, P.E.

1999-01-01

The total-dose hardness of SOI technology is limited by radiation-induced charge trapping in gate, field, and SOI buried oxides. Charge trapping in the buried oxide can lead to back-channel leakage and makes hardening SOI transistors more challenging than hardening bulk-silicon transistors. Two avenues for hardening the back-channel are (1) to use specially prepared SOI buried oxides that reduce the net amount of trapped positive charge or (2) to design transistors that are less sensitive to the effects of trapped charge in the buried oxide. In this work, the authors propose a partially-depleted SOI transistor structure for mitigating the effects of trapped charge in the buried oxide on radiation hardness. They call this structure the BUSFET--Body Under Source FET. The BUSFET utilizes a shallow source and a deep drain. As a result, the silicon depletion region at the back channel caused by radiation-induced charge trapping in the buried oxide does not form a conducting path between source and drain. Thus, the BUSFET structure design can significantly reduce radiation-induced back-channel leakage without using specially prepared buried oxides. Total dose hardness is achieved without degrading the intrinsic SEU or dose rate hardness of SOI technology. The effectiveness of the BUSFET structure for reducing total-dose back-channel leakage depends on several variables, including the top silicon film thickness and doping concentration, and the depth of the source. 3-D simulations show that for a body doping concentration of 10 18 cm -3 , a drain bias of 3 V, and a source depth of 90 nm, a silicon film thickness of 180 nm is sufficient to almost completely eliminate radiation-induced back-channel leakage. However, for a doping concentration of 3 x 10 17 cm -3 , a thicker silicon film (300 nm) must be used

Immersive Virtual Reality with Applications to Tele-Operation and Training

Science.gov (United States)

2016-03-07

reviewed journals : Number of Papers published in non peer-reviewed journals : Final Report: Immersive Virtual Reality with Applications to Tele-Operation... Immersive Virtual Reality with Applications to Tele-Operation and Training The proposed project aims to develop a fundamental framework for...establishing an immersive virtual reality environment for robust and scalable human robotics interaction in a cooperative intelligent architecture at the

Radiation hardening and embrittlement of some refractory metals and alloys

International Nuclear Information System (INIS)

Fabritsiev, S.; Pokrovskyb

2007-01-01

Tungsten is proposed for application in the ITER divertor and limiter as plasma facing material. The tungsten operation temperature in the ITER divertor is relatively high. Hence, the ductile properties of tungsten will be controlled by the low temperature radiation embrittlement. The mechanism of radiation hardening and embrittlement under neutron irradiation at low temperature is well studied for FCC metals, in particular for copper. At the same time, low-temperature radiation hardening of BCC materials, in particular for refractory metals, is less studied. This study presents the results of investigation into radiation hardening and embrittlement of pure metals: W, Mo and Nb, and W-Re and Ta-4W alloys. The materials were in the annealed conditions. The specimens were irradiated in the SM-2 reactor to doses of 10 -4 -10 -1 dpa at 80 C and then tested for tension at 80 C. The study of the stress-strain curves of unirradiated specimens revealed a yield drop for W, Mo, Nb, Ta-4W, W-Re. After the yield drop some metals (Mo,Nb) retain their capability for strain hardening and demonstrate a high elongation (20-50%). Radiation hardening is maximum in Mo (∝400MPa) and minimum in Nb (∝100 MPa). In this case the dependence slope for Nb is similar to that for pure copper irradiated in SM-2 under the same conditions. Ii and Ta-4W have a higher slope. Measurement of electrical resistivity of irradiated specimens showed that for all materials it is increased monotonously with an increase in the irradiation dose. A minimum gain in electrical resistivity with a dose was observed for Nb (∝3% at 0.1 dpa). As for Mo it was essentially higher, i.e. ∝ 30%. The gain was maximum for W-Re alloy. Comparison of radiation hardening dose dependencies obtained in this study with the data for FCC metals (Cu) showed that in spite of the quantitative difference the qualitative behavior of these two classes of metals is similar. (orig.)

Estimation of radiation hardening in ferritic steels using the cluster dynamics models

Energy Technology Data Exchange (ETDEWEB)

Kwon, Jun Hyun; Kim, Whung Whoe; Hong, Jun Hwa [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

2005-07-01

Evolution of microstructure under irradiation brings about the mechanical property changes of materials, of which the major concern is radiation hardening in this work. Radiation hardening is generally expressed in terms of an increase in yield strength as a function of radiation dose and temperature. Cluster dynamics model for radiation hardening has been developed to describe the evolution of point defects clusters (PDCs) and copperrich precipitates (CRPs). While the mathematical models developed by Stoller focus on the evolution of PDCs in ferritic steels under neutron irradiation, we slightly modify the model by including the CRP growth and estimate the magnitude of hardening induced by PDC and CRP. The model is then used to calculate the changes in yield strength of RPV steels. The calculation results are compared to measured yield strength values, obtained from surveillance testing of PWR vessel steels in France.

Radiation effects on radiation-hardened KU and KS-4V optical fibres

International Nuclear Information System (INIS)

Ivanov, A.A.; Tugarinov, S.N.; Kaschuck, Y.A.; Krasilnikov, A.V.; Bender, S.E.

1999-01-01

The aim of this work was to test the un-pretreated and the hardened (H 2 -loaded and pre-irradiated) KS-4V and KU optical fibres in reactor environment by in-situ measurements of both the radiation-induced loss and the luminescence in the visible spectral region. Both the radio-luminescent and the transmission spectra were in-situ detected during irradiation by charge-coupled-device (CCD) linear detector in the visible spectral region of 400 to 700 nm. The radiation induced loss spectra at the fast neutron fluence of 2*10 6 n/cm 2 shows the hardened, H 2 -loading and pre-irradiating effects in the both KU and KS-4V fibres. KU un-pretreated fibre shows a big radiation absorption band of non-bridging oxygen centered at the wavelength of 630 nm. It appears that the KS-4V hardened fibre has a specific point in the loss spectrum in the vicinity of 460 nm. Other measurements were performed, particularly after reactor shutdown and at 3 different neutron fluences with constant neutron flux after restarting

Radiation Hardened 10BASE-T Ethernet Physical Layer (PHY)

Science.gov (United States)

Lin, Michael R. (Inventor); Petrick, David J. (Inventor); Ballou, Kevin M. (Inventor); Espinosa, Daniel C. (Inventor); James, Edward F. (Inventor); Kliesner, Matthew A. (Inventor)

2017-01-01

Embodiments may provide a radiation hardened 10BASE-T Ethernet interface circuit suitable for space flight and in compliance with the IEEE 802.3 standard for Ethernet. The various embodiments may provide a 10BASE-T Ethernet interface circuit, comprising a field programmable gate array (FPGA), a transmitter circuit connected to the FPGA, a receiver circuit connected to the FPGA, and a transformer connected to the transmitter circuit and the receiver circuit. In the various embodiments, the FPGA, transmitter circuit, receiver circuit, and transformer may be radiation hardened.

Radiation hardening of smart electronics

International Nuclear Information System (INIS)

Mayo, C.W.; Cain, V.R.; Marks, K.A.; Millward, D.G.

1991-02-01

Microprocessor based ''smart'' pressure, level, and flow transmitters were tested to determine the radiation hardness of this class of electronic instrumentation for use in reactor building applications. Commercial grade Complementary Metal Oxide Semiconductor (CMOS) integrated circuits used in these transmitters were found to fail at total gamma dose levels between 2500 and 10,000 rad. This results in an unacceptably short lifetime in many reactor building radiation environments. Radiation hardened integrated circuits can, in general, provide satisfactory service life for normal reactor operations when not restricted to the extremely low power budget imposed by standard 4--20 mA two-wire instrument loops. The design of these circuits will require attention to vendor radiation hardness specifications, dose rates, process control with respect to radiation hardness factors, and non-volatile programmable memory technology. 3 refs., 2 figs

A mobile robot for remote inspection of radioactive waste

International Nuclear Information System (INIS)

Suh, Y. C.; Kim, C. H.; Cho, J. W.; Choi, Y. S.; Kim, S. H.

2004-01-01

Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation. This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident

Design optimization of radiation-hardened CMOS integrated circuits

International Nuclear Information System (INIS)

1975-01-01

Ionizing-radiation-induced threshold voltage shifts in CMOS integrated circuits will drastically degrade circuit performance unless the design parameters related to the fabrication process are properly chosen. To formulate an approach to CMOS design optimization, experimentally observed analytical relationships showing strong dependences between threshold voltage shifts and silicon dioxide thickness are utilized. These measurements were made using radiation-hardened aluminum-gate CMOS inverter circuits and have been corroborated by independent data taken from MOS capacitor structures. Knowledge of these relationships allows one to define ranges of acceptable CMOS design parameters based upon radiation-hardening capabilities and post-irradiation performance specifications. Furthermore, they permit actual design optimization of CMOS integrated circuits which results in optimum pre- and post-irradiation performance with respect to speed, noise margins, and quiescent power consumption. Theoretical and experimental results of these procedures, the applications of which can mean the difference between failure and success of a CMOS integrated circuit in a radiation environment, are presented

BUSFET - A Novel Radiation-Hardened SOI Transistor

International Nuclear Information System (INIS)

Schwank, J.R.; Shaneyfelt, M.R.; Draper, B.L.; Dodd, P.E.

1999-01-01

The total-dose hardness of SOI technology is limited by radiation-induced charge trapping in gate, field, and SOI buried oxides. Charge trapping in the buried oxide can lead to back-channel leakage and makes hardening SOI transistors more challenging than hardening bulk-silicon transistors. Two avenues for hardening the back-channel are (1) to use specially prepared SOI buried oxides that reduce the net amount of trapped positive charge or (2) to design transistors that are less sensitive to the effects of trapped charge in the buried oxide. In this work, we propose a new partially-depleted SOI transistor structure that we call the BUSFET--Body Under Source FET. The BUSFET utilizes a shallow source and a deep drain. As a result, the silicon depletion region at the back channel caused by radiation-induced charge trapping in the buried oxide does not form a conducting path between source and drain. Thus, the BUSFET structure design can significantly reduce radiation-induced back-channel leakage without using specially prepared buried oxides. Total dose hardness is achieved without degrading the intrinsic SEU and dose rate hardness of SOI technology. The effectiveness of the BUSFET structure for reducing total-dose back-channel leakage depends on several variables, including the top silicon film thickness and doping concentration and the depth of the source. 3-D simulations show that for a doping concentration of 10 18 cm -3 and a source depth of 90 nm, a silicon film thickness of 180 nm is sufficient to almost completely eliminate radiation-induced back-channel leakage. However, for a doping concentration of 3x10 17 cm -3 , a thicker silicon film (300 nm) must be used

Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

International Nuclear Information System (INIS)

Joly, L.; Andriot, C.

1995-01-01

Hybrid force-position control aims at controlling position and force in separate directions. It is particularly useful to perform certain robotic tasks. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs

Non-destructive screening method for radiation hardened performance of large scale integration

International Nuclear Information System (INIS)

Zhou Dong; Xi Shanbin; Guo Qi; Ren Diyuan; Li Yudong; Sun Jing; Wen Lin

2013-01-01

The space radiation environment could induce radiation damage on the electronic devices. As the performance of commercial devices is generally superior to that of radiation hardened devices, it is necessary to screen out the devices with good radiation hardened performance from the commercial devices and applying these devices to space systems could improve the reliability of the systems. Combining the mathematical regression analysis with the different physical stressing experiments, we investigated the non-destructive screening method for radiation hardened performance of the integrated circuit. The relationship between the change of typical parameters and the radiation performance of the circuit was discussed. The irradiation-sensitive parameters were confirmed. The pluralistic linear regression equation toward the prediction of the radiation performance was established. Finally, the regression equations under stress conditions were verified by practical irradiation. The results show that the reliability and accuracy of the non-destructive screening method can be elevated by combining the mathematical regression analysis with the practical stressing experiment. (authors)

Coatings hardenable by ionizing radiation and their applications

International Nuclear Information System (INIS)

Aronoff, E.J.; Labana, S.S.

1976-01-01

The invention deals with the production of a coating medium which can be hardened by ionizing radiation. The composition includes tetravinyl compounds containing no free hydroxyl groups which were obtained by the conversion of di-epoxides with acryl or methacryl acid via the intermediary step of a divinyl ester condensation product. The intermediary product is converted with acryloyl or methacryloyl halides. The mass still contains non-polymerisable solvent (such as tolual, xylol), pigments and fillers. It is of advantage if the di-epoxide has a molecular weight of 140 to 500. Furthermore, coatings are to be made of this coating medium which are hardened by ionizing radiation at temperatures between 20 0 C and 70 0 C. 19 examples. (HK) [de

Radiation hardening of optical fibers and fiber sensors for space applications: recent advances

Science.gov (United States)

Girard, S.; Ouerdane, Y.; Pinsard, E.; Laurent, A.; Ladaci, A.; Robin, T.; Cadier, B.; Mescia, L.; Boukenter, A.

2017-11-01

In these ICSO proceedings, we review recent advances from our group concerning the radiation hardening of optical fiber and fiber-based sensors for space applications and compare their benefits to state-of-the-art results. We focus on the various approaches we developed to enhance the radiation tolerance of two classes of optical fibers doped with rare-earths: the erbium (Er)-doped ones and the ytterbium/erbium (Er/Yb)-doped ones. As a first approach, we work at the component level, optimizing the fiber structure and composition to reduce their intrinsically high radiation sensitivities. For the Erbium-doped fibers, this has been achieved using a new structure for the fiber that is called Hole-Assisted Carbon Coated (HACC) optical fibers whereas for the Er/Ybdoped optical fibers, their hardening was successfully achieved adding to the fiber, the Cerium element, that prevents the formation of the radiation-induced point defects responsible for the radiation induced attenuation in the infrared part of the spectrum. These fibers are used as part of more complex systems like amplifiers (Erbium-doped Fiber Amplifier, EDFA or Yb-EDFA) or source (Erbium-doped Fiber Source, EDFS or Yb- EDFS), we discuss the impact of using radiation-hardened fibers on the system radiation vulnerability and demonstrate the resistance of these systems to radiation constraints associated with today and future space missions. Finally, we will discuss another radiation hardening approach build in our group and based on a hardening-by-system strategy in which the amplifier is optimized during its elaboration for its future mission considering the radiation effects and not in-lab.

Formulating the strength factor α for improved predictability of radiation hardening

Energy Technology Data Exchange (ETDEWEB)

Tan, L., E-mail: tanl@ornl.gov; Busby, J.T.

2015-10-15

Analytical equations were developed to calculate the strength factors of precipitates, Frank loops, and cavities in austenitic alloys, which strongly depend on barrier type, size, geometry and density, as well as temperature. Calculated strength factors were successfully used to estimate radiation hardening using the broadly employed dispersed barrier-hardening model, leading to good agreement with experimentally measured hardening in neutron-irradiated type 304 and 316 stainless steel variants. The formulated strength factor provides a route for more reliable hardening predictions and can be easily incorporated into component simulations and design.

Virtual Reality, 3D Stereo Visualization, and Applications in Robotics

DEFF Research Database (Denmark)

Livatino, Salvatore

2006-01-01

, while little can be found about the advantages of stereoscopic visualization in mobile robot tele-guide applications. This work investigates stereoscopic robot tele-guide under different conditions, including typical navigation scenarios and the use of synthetic and real images. This work also...

Radiation-hardened I2L 8*8 multiplier circuit

International Nuclear Information System (INIS)

Doyle, B.R.; Kreps, S.A.; Van Vonno, N.W.; Lake, G.W.

1979-01-01

Development of improved Substrate Fed I 2 L (SFL) processing has been combined with geometry and fanout constraints to design a radiation hardened LSI 8.8 Multiplier. This study describes details of the process and circuit design and gives resultant electrical and radiation test performance

A Novel Radiation Hardened CAM

CERN Document Server

Shojaii, Seyed Ruhollah; The ATLAS collaboration

2018-01-01

This poster describes an innovative Content Addressable Memory cell with radiation hardened (RH-CAM) architecture. The RH-CAM is designed in a commercial 28 nm CMOS technology. The circuit has been simulated in worst-case conditions, and the effects due to single particles are analyzed injecting a fault current into a circuit node. The proposed architecture can perform on-time pattern recognition tasks in harsh environments, such as very front-end electronics in hadron colliders and in space applications.

An intelligent inspection and survey robot. Volume 2

Energy Technology Data Exchange (ETDEWEB)

NONE

1995-12-15

Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified.

An intelligent inspection and survey robot. Volume 2

International Nuclear Information System (INIS)

1995-01-01

Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified

Field testing of a remote controlled robotic tele-echo system in an ambulance using broadband mobile communication technology.

Science.gov (United States)

Takeuchi, Ryohei; Harada, Hiroshi; Masuda, Kohji; Ota, Gen-ichiro; Yokoi, Masaki; Teramura, Nobuyasu; Saito, Tomoyuki

2008-06-01

We report the testing of a mobile Robotic Tele-echo system that was placed in an ambulance and successfully transmitted clear real time echo imaging of a patient's abdomen to the destination hospital from where this device was being remotely operated. Two-way communication between the paramedics in this vehicle and a doctor standing by at the hospital was undertaken. The robot was equipped with an ultrasound probe which was remotely controlled by the clinician at the hospital and ultrasound images of the patient were transmitted wirelessly. The quality of the ultrasound images that were transmitted over the public mobile telephone networks and those transmitted over the Multimedia Wireless Access Network (a private networks) were compared. The transmission rate over the public networks and the private networks was approximately 256 Kbps, 3 Mbps respectively. Our results indicate that ultrasound images of far higher definition could be obtained through the private networks.

Overview of remote handling technologies developed for inspection and maintenance of spent fuel management facilities in France

Energy Technology Data Exchange (ETDEWEB)

Desbats, Philippe [CEA - Direction de la Recherche Technologique / LIST, BP 6 - 92265, Fontenay-aux-Roses cedex (France); Piolain, Gerard [COGEMA-HAG/DMCO, AREVA NC SA, 2, rue Paul Dautier, BP 4, 78 141 Velizy Cedex (France)

2006-07-01

In the facilities of the end of the nuclear fuel cycle, like spent fuel storage pools, reprocessing plants, Plutonium-based fuel manufacturing plants or waste temporary storage units, materials handling must be carried out remotely, taking into account the nuclear radiating environment. In addition to the automation requirement, robotics equipment in the nuclear industry must be substituted to human operators in order to respect the ALARA principle. More over, remote handling technologies aim to improve the working conditions, as well as the quality of the work achieved by the operators. Ten years ago, COGEMA (AREVA Group) and CEA (French Atomic Energy Agency) started an ambitious R and D program in robotics and remote handling technologies applied to COGEMA spent fuel management facilities in France, with the aim to cover the requirements of the different plant life cycle steps. The paper gives an overview of the important developments that have been carried out by CEA and then transferred to the COGEMA industrial group. The range includes the next generation of servo-manipulators, long range inspection tools and carriers, nuclear versions of industrial robots, radiation hardened electronic systems, interactive environment modeling tools, as well as force-feedback master-slave generic control software for tele-operation systems. Some applications of this development are presented in the paper: - rad-hard electronic modules for robotic equipment which are used by COGEMA in high radiating environment; - long reach articulated carrier for inspection of spent full management blind cells; - new electrical force feedback master/slave system to improve the tele-operation of standard tele-manipulators; - generic control software for tele-manipulators. The results of the robotic program carried out by COGEMA and CEA have been very valuable for the introduction of new technologies inside nuclear industry. Innovative products and sub-systems can be integrated now in a large

[Robotics in general surgery: personal experience, critical analysis and prospectives].

Science.gov (United States)

Fracastoro, Gerolamo; Borzellino, Giuseppe; Castelli, Annalisa; Fiorini, Paolo

2005-01-01

Today mini invasive surgery has the chance to be enhanced with sophisticated informative systems (Computer Assisted Surgery, CAS) like robotics, tele-mentoring and tele-presence. ZEUS and da Vinci, present in more than 120 Centres in the world, have been used in many fields of surgery and have been tested in some general surgical procedures. Since the end of 2003, we have performed 70 experimental procedures and 24 operations of general surgery with ZEUS robotic system, after having properly trained 3 surgeons and the operating room staff. Apart from the robot set-up, the mean operative time of the robotic operations was similar to the laparoscopic ones; no complications due to robotic technique occurred. The Authors report benefits and disadvantages related to robots' utilization, problems still to be solved and the possibility to make use of them with tele-surgery, training and virtual surgery.

Design considerations for a radiation hardened nonvolatile memory

International Nuclear Information System (INIS)

Murray, J.R.

1993-01-01

Sub-optimal design practices can reduce the radiation hardness of a circuit even though it is fabricated in a radiation hardened process. This is especially true for a nonvolatile memory, as compared to a standard digital circuit, where high voltages and unusual bias conditions are required. This paper will discuss the design technique's used in the development of a 64K EEPROM (Electrically Erasable Programmable Read Only Memory) to maximize radiation hardness. The circuit radiation test results will be reviewed in order to provide validation of the techniques

Radiation dose effects, hardening of electronic components

International Nuclear Information System (INIS)

Dupont-Nivet, E.

1991-01-01

This course reviews the mechanism of interaction between ionizing radiation and a silicon oxide type dielectric, in particular the effect of electron-hole pairs creation in the material. Then effects of cumulated dose on electronic components and especially in MOS technology are examined. Finally methods hardening of these components are exposed. 93 refs

Radiation effects in semiconductors: technologies for hardened integrated circuits

International Nuclear Information System (INIS)

Charlot, J.M.

1983-09-01

Various technologies are used to manufacture integrated circuits for electronic systems. But for specific applications, including those with radiation environment, it is necessary to choose an appropriate technologie or to improve a specific one in order to reach a definite hardening level. The aim of this paper is to present the main effects induced by radiation (neutrons and gamma rays) into the basic semiconductor devices, to explain some physical degradation mechanisms and to propose solutions for hardened integrated circuit fabrication. The analysis involves essentially the monolithic structure of the integrated circuits and the isolation technology of active elements. In conclusion, the advantages of EPIC and SOS technologies are described and the potentialities of new technologies (GaAs and SOI) are presented

Radiation effects in semiconductors: technologies for hardened integrated circuits

International Nuclear Information System (INIS)

Charlot, J.M.

1984-01-01

Various technologies are used to manufacture integrated circuits for electronic systems. But for specific applications, including those with radiation environment, it is necessary to choose an appropriate technology or to improve a specific one in order to reach a definite hardening level. The aim of this paper is to present the main effects induced by radiation (neutrons and gamma rays) into the basic semiconductor devices, to explain some physical degradation mechanisms and to propose solutions for hardened integrated circuit fabrication. The analysis involves essentially the monolithic structure of the integrated circuits and the isolation technology of active elements. In conclusion, the advantages of EPIC and SOS technologies are described and the potentialities of new technologies (GaAs and SOI) are presented. (author)

A Radiation Hardened Housekeeping Slave Node (RH-HKSN) ASIC

Data.gov (United States)

National Aeronautics and Space Administration — This projects seeks to continue the development of the Radiation Hardened Housekeeping Slave Node (RH-HKSN) ASIC. The effort has taken parallel paths by implementing...

Radiation-hardened nonvolatile MNOS RAM

International Nuclear Information System (INIS)

Wrobel, T.F.; Dodson, W.H.; Hash, G.L.; Jones, R.V.; Nasby, R.D.; Olson, R.J.

1983-01-01

A radiation hardened nonvolatile MNOS RAM is being developed at Sandia National Laboratories. The memory organization is 128 x 8 bits and utilizes two p-channel MNOS transistors per memory cell. The peripheral circuitry is constructed with CMOS metal gate and is processed with standard Sandia rad-hard processing techniques. The devices have memory retention after a dose-rate exposure of 1E12 rad(Si)/s, are functional after total dose exposure of 1E6 rad(Si), and are dose-rate upset resistant to levels of 7E8 rad(Si)/s

Technologies Enabling Custom Radiation-Hardened Component Development, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Two primary paths are available for the creation of a Rad-Hard ASIC. The first approach is to use a radiation hardened process such as existing Rad-Hard foundries....

Radiation Hardened Ethernet PHY and Switch Fabric, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Innoflight will develop a new family of radiation hardened (up to 3 Mrad(Si)), fault-tolerant, high data-rate (up to 8 Gbps), low power Gigabit Ethernet PHY and...

Secure environment for real-time tele-collaboration on virtual simulation of radiation treatment planning.

Science.gov (United States)

Ntasis, Efthymios; Maniatis, Theofanis A; Nikita, Konstantina S

2003-01-01

A secure framework is described for real-time tele-collaboration on Virtual Simulation procedure of Radiation Treatment Planning. An integrated approach is followed clustering the security issues faced by the system into organizational issues, security issues over the LAN and security issues over the LAN-to-LAN connection. The design and the implementation of the security services are performed according to the identified security requirements, along with the need for real time communication between the collaborating health care professionals. A detailed description of the implementation is given, presenting a solution, which can directly be tailored to other tele-collaboration services in the field of health care. The pilot study of the proposed security components proves the feasibility of the secure environment, and the consistency with the high performance demands of the application.

Radiation-Hardened Memristor-based Memory for Extreme Environments, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — NASA space exploration missions require radiation-hardened memory technologies that can survive and operate over a wide temperature range. Memristors...

Improvement of the operation of wheels mobile robot TRASMAR2; Mejora del funcionamiento del robot movil de ruedas TRASMAR2

Energy Technology Data Exchange (ETDEWEB)

Guerra C, D. A.; Tovar M, R. [Instituto Tecnologico de San Luis Potosi, Av. Tecnologico s/n, Col. UPA Soledad de Graciano Sanchez, 78437 San Luis Potosi (Mexico); Gonzalez M, J. L.; Segovia de los Rios, A., E-mail: deniwar@gmail.com [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

2013-10-15

In the Instituto Nacional de Investigaciones Nucleares (ININ), personnel have been working in the development of wheels mobile robots for the surveillance and supervision of contaminated areas, and for the radioactive material transport. One of these achievements is the wheels mobile robot denominated TRASMAR2, which is sought that works in the tele operated form using net technologies, in particular, using a Web page by means of the client-servant technology. For this, diverse circuits and control programs have been development with the purpose that the robot carries out the movements that are required, being considered the use of sensors to avoid collisions. The different programs have been implemented in different micro controllers, and although the robot was working, is necessary to optimize and to concentrate these programs on a single micro controller. In this work are presented the analysis of the previously implemented programs, as the realized changes, including new programs required to improve the robot operation. As complement, was development and implemented an alternative proposal of the robot's tele operation by means of a Web page using Lab view, which is described in the work. With this proposal tele operate the robot was achieved, although its application is evaluating due to the resources that is consumes. (author)

Radiation-hardened CMOS/SOS LSI circuits

International Nuclear Information System (INIS)

Aubuchon, K.G.; Peterson, H.T.; Shumake, D.P.

1976-01-01

The recently developed technology for building radiation-hardened CMOS/SOS devices has now been applied to the fabrication of LSI circuits. This paper describes and presents results on three different circuits: an 8-bit adder/subtractor (Al gate), a 256-bit shift register (Si gate), and a polycode generator (Al gate). The 256-bit shift register shows very little degradation after 1 x 10 6 rads (Si), with an increase from 1.9V to 2.9V in minimum operating voltage, a decrease of about 20% in maximum frequency, and little or no change in quiescent current. The p-channel thresholds increase from -0.9V to -1.3V, while the n-channel thresholds decrease from 1.05 to 0.23V, and the n-channel leakage remains below 1nA/mil. Excellent hardening results were also obtained on the polycode generator circuit. Ten circuits were irradiated to 1 x 10 6 rads (Si), and all continued to function well, with an increase in minimum power supply voltage from 2.85V to 5.85V and an increase in quiescent current by a factor of about 2. Similar hardening results were obtained on the 8-bit adder, with the minimum power supply voltage increasing from 2.2V to 4.6V and the add time increasing from 270 to 350 nsec after 1 x 10 6 rads (Si). These results show that large CMOS/SOS circuits can be hardened to above 1 x 10 6 rads (Si) with either the Si gate or Al gate technology. The paper also discusses the relative advantages of the Si gate versus the Al gate technology

Principles and techniques of radiation hardening. Volume 2. Transient radiation effects in electronics (TREE)

International Nuclear Information System (INIS)

Rudie, N.J.

1976-01-01

The three-volume book is intended to serve as a review of the effects of thermonuclear explosion induced radiation (x-rays, gamma rays, and beta particles) and the resulting electromagnetic pulse (EMP). Volume 2 deals with the following topics: radiation effects on quartz crystals, tantalum capacitors, bipolar semiconductor devices and integrated circuits, field effect transistors, and miscellaneous electronic devices; hardening electronic systems to photon and neutron radiation; nuclear radiation source and/or effects simulation techniques; and radiation dosimetry

Configurable Radiation Hardened High Speed Isolated Interface ASIC, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — NVE Corporation will design and build an innovative, low cost, flexible, configurable, radiation hardened, galvanically isolated, interface ASIC chip set that will...

Radiation-hardened CMOS integrated circuits

International Nuclear Information System (INIS)

Pikor, A.; Reiss, E.M.

1980-01-01

Substantial effort has been directed at radiation-hardening CMOS integrated circuits using various oxide processes. While most of these integrated circuits have been successful in demonstrating megarad hardness, further investigations have shown that the 'wet-oxide process' is most compatible with the RCA CD4000 Series process. This article describes advances in the wet-oxide process that have resulted in multimegarad hardness and yield to MIL-M-38510 screening requirements. The implementation of these advances into volume manufacturing is geared towards supplying devices for aerospace requirements such as the Defense Meterological Satellite program (DMSP) and the Global Positioning Satellite (GPS). (author)

TRASMAR 2: improved tele operated mobile robot for the radioactive material transport

International Nuclear Information System (INIS)

Segovia de los Rios, A.; Zamora S, C.A.; Garduno G, M.

2007-01-01

In the National Institute of Nuclear Research of Mexico (ININ), a new robot version for the radioactive material transport was developed trying to diminish the radiation quantity to which the ININ personnel is exposed taking it away by this way of the radioactive substance. The robot is operated by means of a remote control, for that which two data transmission modules by radiofrequency are used. As much the remote control as the vehicle control system were implemented with the help of micro controllers. Presently document the main characteristics of this mobile robot are explained, which is a more economic and functional version that it predecessor. (Author)

3D Stereo Visualization for Mobile Robot Tele-Guide

DEFF Research Database (Denmark)

Livatino, Salvatore

2006-01-01

The use of 3D stereoscopic visualization may provide a user with higher comprehension of remote environments in tele-operation when compared to 2D viewing. In particular, a higher perception of environment depth characteristics, spatial localization, remote ambient layout, as well as faster system...

Space Qualified, Radiation Hardened, Dense Monolithic Flash Memory, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Radiation hardened nonvolatile memories for space is still primarily confined to EEPROM. There is high density effective or cost effective NVM solution available to...

An Innovative Radiation Hardened CAM Architecture

CERN Document Server

Shojaii, Seyed Ruhollah; The ATLAS collaboration

2018-01-01

This article describes an innovative Content Addressable Memory (CAM) cell with radiation hardened (RH) architecture. The RH-CAM is designed in a commercial 28 nm CMOS technology. The circuit has been simulated in worst-case conditions, and the effects due to single particles have been analyzed by injecting a current pulse into a circuit node. The proposed architecture is suitable for on-time pattern recognition tasks in harsh environments, such as front-end electronics in hadron colliders and in space applications.

Optimized radiation-hardened erbium doped fiber amplifiers for long space missions

Science.gov (United States)

Ladaci, A.; Girard, S.; Mescia, L.; Robin, T.; Laurent, A.; Cadier, B.; Boutillier, M.; Ouerdane, Y.; Boukenter, A.

2017-04-01

In this work, we developed and exploited simulation tools to optimize the performances of rare earth doped fiber amplifiers (REDFAs) for space missions. To describe these systems, a state-of-the-art model based on the rate equations and the particle swarm optimization technique is developed in which we also consider the main radiation effect on REDFA: the radiation induced attenuation (RIA). After the validation of this tool set by confrontation between theoretical and experimental results, we investigate how the deleterious radiation effects on the amplifier performance can be mitigated following adequate strategies to conceive the REDFA architecture. The tool set was validated by comparing the calculated Erbium-doped fiber amplifier (EDFA) gain degradation under X-rays at ˜300 krad(SiO2) with the corresponding experimental results. Two versions of the same fibers were used in this work, a standard optical fiber and a radiation hardened fiber, obtained by loading the previous fiber with hydrogen gas. Based on these fibers, standard and radiation hardened EDFAs were manufactured and tested in different operating configurations, and the obtained data were compared with simulation data done considering the same EDFA structure and fiber properties. This comparison reveals a good agreement between simulated gain and experimental data (vulnerability in terms of gain. The presented approach is a complementary and effective tool for hardening by device techniques and opens new perspectives for the applications of REDFAs and lasers in harsh environments.

A MGy radiation-hardened sensor instrumentation link for nuclear reactor monitoring and remote handling

Energy Technology Data Exchange (ETDEWEB)

Verbeeck, Jens; Cao, Ying [KU Leuven - KUL, Div. LRD-MAGyICS, Kasteelpark Arenberg 10, 3001 Heverlee (Belgium); Van Uffelen, Marco; Mont Casellas, Laura; Damiani, Carlo; Morales, Emilio Ruiz; Santana, Roberto Ranz [Fusion for Energy - F4E, c/Josep,n deg. 2, Torres Diagonal Litoral, Ed. B3, 08019 Barcelona (Spain); Meek, Richard; Haist, Bernhard [Oxford Technologies Ltd. OTL, 7 Nuffield Way, Abingdon OX14 1RL (United Kingdom); De Cock, Wouter; Vermeeren, Ludo [SCK-CEN, Boeretang 200, 2400 Mol (Belgium); Steyaert, Michiel [KU Leuven, ESAT-MICAS, KasteelparkArenberg 10, 3001 Heverlee (Belgium); Leroux, Paul [KU Leuven, ESAT-MICAS, KasteelparkArenberg 10, 3001 Heverlee (Belgium)

2015-07-01

Decommissioning, dismantling and remote handling applications in nuclear facilities all require robotic solutions that are able to survive in radiation environments. Recently raised safety, radiation hardness and cost efficiency demands from both the nuclear regulatory and the society impose severe challenges in traditional methods. For example, in case of the dismantling of the Fukushima sites, solutions that survive accumulated doses higher than 1 MGy are mandatory. To allow remote operation of these tools in nuclear environments, electronics were used to be shielded with several centimeters of lead or even completely banned in these solutions. However, shielding electronics always leads to bulky and heavy solutions, which reduces the flexibility of robotic tools. It also requires longer repair time and produces extra waste further in a dismantling or decommissioning cycle. In addition, often in current reactor designs, due to size restrictions and the need to inspect very tight areas there are limitations to the use of shielding. A MGy radiation-hardened sensor instrumentation link developed by MAGyICS provides a solution to build a flexible, easy removable and small I and C module with MGy radiation tolerance without any shielding. Hereby it removes all these pains to implement electronics in robotic tools. The demonstrated solution in this poster is developed for ITER Remote Handling equipments operating in high radiation environments (>1 MGy) in and around the Tokamak. In order to obtain adequately accurate instrumentation and control information, as well as to ease the umbilical management, there is a need of front-end electronics that will have to be located close to those actuators and sensors on the remote handling tool. In particular, for diverter remote handling, it is estimated that these components will face gamma radiation up to 300 Gy/h (in-vessel) and a total dose of 1 MGy. The radiation-hardened sensor instrumentation link presented here, consists

Process for hardening synthetic resins by ionizing radiation

International Nuclear Information System (INIS)

Hesse, W.; Ritz, J.

1975-01-01

Synthetic resins containing hydroxy groups and polymerizable carbon-carbon bonds are reacted with diketenes to yield aceto ester derivatives, which when reacted with metal compounds to form chelates, and mixed with copolymerizable monomers, are capable of being hardened by unusually low radiation doses to form coatings and articles with superior properties. (E.C.B.)

The development of advanced robotic technology -The development of advanced robotics for the nuclear industry-

International Nuclear Information System (INIS)

Lee, Jong Min; Lee, Yong Bum; Kim, Woong Ki; Park, Soon Yong; Kim, Seung Ho; Kim, Chang Hoi; Hwang, Suk Yeoung; Kim, Byung Soo; Lee, Young Kwang

1994-07-01

In this year (the second year of this project), researches and development have been carried out to establish the essential key technologies applied to robot system for nuclear industry. In the area of robot vision, in order to construct stereo vision system necessary to tele-operation, stereo image acquisition camera module and stereo image displayer have been developed. Stereo matching and storing programs have been developed to analyse stereo images. According to the result of tele-operation experiment, operation efficiency has been enhanced about 20% by using the stereo vision system. In a part of object recognition, a tele-operated robot system has been constructed to evaluate the performance of the stereo vision system and to develop the vision algorithm to automate nozzle dam operation. A nuclear fuel rod character recognition system has been developed by using neural network. As a result of perfomance evaluation of the recognition system, 99% recognition rate has been achieved. In the area of sensing and intelligent control, temperature distribution has been measured by using the analysis of thermal image histogram and the inspection algorithm has been developed to determine of the state be normal or abnormal, and the fuzzy controller has been developed to control the compact mobile robot designed for path moving on block-typed path. (Author)

The capability of pulsed laser radiation for cutting band saws hardening

Directory of Open Access Journals (Sweden)

Marinin Evgeny

2017-01-01

Full Text Available The article deals with the possibilities of pulsed laser radiation for hardening the band saws. The regimes of pulsed laser hardening the band saws of 1 mm thick made of tool steel 9CrV are grounded theoretically and experimentally tested. Selected and justified modes of treatment harden in the autohardening mode without additional heat removal. The results of the experimental research of microhardness are presented and formed as a result of processing of the microstructure. Selected modes increase the microhardness of the surface to 8500 MPa and form ultra highly dispersed structure in the surface layer characterized by high resistance to abrasion.

Space Qualified, Radiation Hardened, Dense Monolithic Flash Memory, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — Space Micro proposes to build a radiation hardened by design (RHBD) flash memory, using a modified version of our RH-eDRAM Memory Controller to solve all the single...

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

Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality.

Science.gov (United States)

Damholdt, Malene F; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions

Attitudinal change in elderly citizens towards social robots: the role of personality traits and beliefs about robot functionality.

Directory of Open Access Journals (Sweden)

Malene Flensborg Damholdt

2015-11-01

Full Text Available Attitudes towards robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes towards robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i the information provided about robot functionality, (ii the number of encounters, (iii personality type. Fourteen elderly residents at a rehabilitation centre participated. Pre-encounter attitudes towards robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid during their lunch (c. 30 min. for up to three days. Half of the participants were informed that the robot was tele-operated (IC whilst the other half were naïve to its functioning (UC. Post-encounter assessments of attitudes towards robots and anthropomorphic thinking were undertaken to assess change. Attitudes towards robots were assessed with a new generic 35-item questionnaire (Attitudes towards social robots scale: ASOR-5, offering a differentiated conceptualization of the conditions for social interaction.There was no significant difference between the IC and UC groups in attitude change towards robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r=.619 and to psychological relatedness (r=.581 whilst Neuroticism correlated negatively (r=-.582 with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes towards robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance

Vision-Based Robot Following Using PID Control

OpenAIRE

Chandra Sekhar Pati; Rahul Kala

2017-01-01

Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...

Radiation Hardened Electronics Destined For Severe Nuclear Reactor Environments

Energy Technology Data Exchange (ETDEWEB)

Holbert, Keith E. [Arizona State Univ., Tempe, AZ (United States); Clark, Lawrence T. [Arizona State Univ., Tempe, AZ (United States)

2016-02-19

Post nuclear accident conditions represent a harsh environment for electronics. The full station blackout experience at Fukushima shows the necessity for emergency sensing capabilities in a radiation-enhanced environment. This NEET (Nuclear Energy Enabling Technologies) research project developed radiation hardened by design (RHBD) electronics using commercially available technology that employs commercial off-the-shelf (COTS) devices and present generation circuit fabrication techniques to improve the total ionizing dose (TID) hardness of electronics. Such technology not only has applicability to severe accident conditions but also to facilities throughout the nuclear fuel cycle in which radiation tolerance is required. For example, with TID tolerance to megarads of dose, electronics could be deployed for long-term monitoring, inspection and decontamination missions. The present work has taken a two-pronged approach, specifically, development of both board and application-specific integrated circuit (ASIC) level RHBD techniques. The former path has focused on TID testing of representative microcontroller ICs with embedded flash (eFlash) memory, as well as standalone flash devices that utilize the same fabrication technologies. The standalone flash devices are less complicated, allowing better understanding of the TID response of the crucial circuits. Our TID experiments utilize biased components that are in-situ tested, and in full operation during irradiation. A potential pitfall in the qualification of memory circuits is the lack of rigorous testing of the possible memory states. For this reason, we employ test patterns that include all ones, all zeros, a checkerboard of zeros and ones, an inverse checkerboard, and random data. With experimental evidence of improved radiation response for unbiased versus biased conditions, a demonstration-level board using the COTS devices was constructed. Through a combination of redundancy and power gating, the demonstration

Iconic Gestures for Robot Avatars, Recognition and Integration with Speech

Science.gov (United States)

Bremner, Paul; Leonards, Ute

2016-01-01

Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realized remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances. PMID:26925010

Iconic Gestures for Robot Avatars, Recognition and Integration with Speech

Directory of Open Access Journals (Sweden)

Paul Adam Bremner

2016-02-01

Full Text Available Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realised remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances.

Practical design for robot operating in radiation condition

International Nuclear Information System (INIS)

Oomichi, Takeo; Isozaki, Yoshifumi

2002-01-01

It is proposed systematic design for radiation resistance robot based on irradiation test and estimating damage lifetime by reliable technology. Reducing design time and cost, key device IC is classified to non-exchange, no use and use after radiation test by analyzing robot function and IC function. Since the damage lifetime verified normal distribution under radiation test of IC, the proposed design method is effective for practical radiation resistance robot. (author)

Radiation hardening techniques for rare-earth based optical fibers and amplifiers

International Nuclear Information System (INIS)

Girard, Sylvain; Marcandella, Claude; Vivona, Marilena; Prudenzano, Luciano Mescia F.; Laurent, Arnaud; Robin, Thierry; Cadier, Benoit; Pinsard, Emmanuel; Ouerdane, Youcef; Boukenter, Aziz; Cannas, Marco; Boscaino, Roberto

2012-01-01

Er/Yb doped fibers and amplifiers have been shown to be very radiation sensitive, limiting their integration in space. We present an approach including successive hardening techniques to enhance their radiation tolerance. The efficiency of our approach is demonstrated by comparing the radiation responses of optical amplifiers made with same lengths of different rare-earth doped fibers and exposed to gamma-rays. Previous studies indicated that such amplifiers suffered significant degradation for doses exceeding 10 krad. Applying our techniques significantly enhances the amplifier radiation resistance, resulting in a very limited degradation up to 50 krad. Our optimization techniques concern the fiber composition, some possible pre-treatments and the interest of simulation tools used to harden by design the amplifiers. We showed that adding cerium inside the fiber phospho-silicate-based core strongly decreases the fiber radiation sensitivity compared to the standard fiber. For both fibers, a pre-treatment with hydrogen permits to enhance again the fiber resistance. Furthermore, simulations tools can also be used to improve the tolerance of the fiber amplifier by helping identifying the best amplifier configuration for operation in the radiative environment. (authors)

Improvement of the operation of wheels mobile robot TRASMAR2

International Nuclear Information System (INIS)

Guerra C, D. A.; Tovar M, R.; Gonzalez M, J. L.; Segovia de los Rios, A.

2013-10-01

In the Instituto Nacional de Investigaciones Nucleares (ININ), personnel have been working in the development of wheels mobile robots for the surveillance and supervision of contaminated areas, and for the radioactive material transport. One of these achievements is the wheels mobile robot denominated TRASMAR2, which is sought that works in the tele operated form using net technologies, in particular, using a Web page by means of the client-servant technology. For this, diverse circuits and control programs have been development with the purpose that the robot carries out the movements that are required, being considered the use of sensors to avoid collisions. The different programs have been implemented in different micro controllers, and although the robot was working, is necessary to optimize and to concentrate these programs on a single micro controller. In this work are presented the analysis of the previously implemented programs, as the realized changes, including new programs required to improve the robot operation. As complement, was development and implemented an alternative proposal of the robot's tele operation by means of a Web page using Lab view, which is described in the work. With this proposal tele operate the robot was achieved, although its application is evaluating due to the resources that is consumes. (author)

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

A Study of Accuracy and Time Delay for Bilateral Master-Slave Industrial Robotic Arm Manipulator System

Directory of Open Access Journals (Sweden)

Mansor Nuratiqa Natrah

2018-01-01

Full Text Available Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD, PID.

Radiation Effects and Hardening Techniques for Spacecraft Microelectronics

Science.gov (United States)

Gambles, J. W.; Maki, G. K.

2002-01-01

The natural radiation from the Van Allen belts, solar flares, and cosmic rays found outside of the protection of the earth's atmosphere can produce deleterious effects on microelectronics used in space systems. Historically civil space agencies and the commercial satellite industry have been able to utilize components produced in special radiation hardened fabrication process foundries that were developed during the 1970s and 1980s under sponsorship of the Departments of Defense (DoD) and Energy (DoE). In the post--cold war world the DoD and DoE push to advance the rad--hard processes has waned. Today the available rad--hard components lag two-plus technology node generations behind state- of-the-art commercial technologies. As a result space craft designers face a large performance gap when trying to utilize available rad--hard components. Compounding the performance gap problems, rad--hard components are becoming increasingly harder to get. Faced with the economic pitfalls associated with low demand versus the ever increasing investment required for integrated circuit manufacturing equipment most sources of rad--hard parts have simply exited this market in recent years, leaving only two domestic US suppliers of digital rad--hard components. This paper summarizes the radiation induced mechanisms that can cause digital microelectronics to fail in space, techniques that can be applied to mitigate these failure mechanisms, and ground based testing used to validate radiation hardness/tolerance. The radiation hardening techniques can be broken down into two classes, Hardness By Process (HBP) and Hardness By Design (HBD). Fortunately many HBD techniques can be applied to commercial fabrication processes providing space craft designer with radiation tolerant Application Specific Integrated Circuits (ASICs) that can bridge the performance gap between the special HBP foundries and the commercial state-of-the-art performance.

Tele-ICU "myth busters".

Science.gov (United States)

Venditti, Angelo; Ronk, Chanda; Kopenhaver, Tracey; Fetterman, Susan

2012-01-01

Tele-intensive care unit (ICU) technology has been proven to bridge the gap between available resources and quality care for many health care systems across the country. Tele-ICUs allow the standardization of care and provide a second set of eyes traditionally not available in the ICU. A growing body of literature supports the use of tele-ICUs based on improved outcomes and reduction in errors. To date, the literature has not effectively outlined the limitations of this technology related to response to changes in patient care, interventions, and interaction with the care team. This information can potentially have a profound impact on service expectations. Some misconceptions about tele-ICU technology include the following: tele-ICU is "watching" 24 hours a day, 7 days a week; tele-ICU is a telemetry unit; tele-ICU is a stand-alone crisis intervention tool; tele-ICU decreases staffing at the bedside; tele-ICU clinical roles are clearly defined and understood; and tele-ICUs are not cost-effective to operate. This article outlines the purpose of tele-ICU technology, reviews outcomes, and "busts" myths about tele-ICU technology.

Radiation hardening of MOS devices by boron

International Nuclear Information System (INIS)

Danchenko, V.

1975-01-01

A novel technique is disclosed for radiation hardening of MOS devices and specifically for stabilizing the gate threshold potential at room temperature of a radiation subjected MOS field-effect device of the type having a semiconductor substrate, an insulating layer of oxide on the substrate, and a gate electrode disposed on the insulating layer. In the preferred embodiment, the novel inventive technique contemplates the introduction of boron into the insulating oxide, the boron being introduced within a layer of the oxide of about 100A to 300A thickness immediately adjacent the semiconductor-insulator interface. The concentration of boron in the oxide layer is preferably maintained on the order of 10 atoms/ cm 3 . The novel technique serves to reduce and substantially annihilate radiation induced positive gate charge accumulations, which accumulations, if not eliminated, would cause shifting of the gate threshold potential of a radiation subjected MOS device, and thus render the device unstable and/or inoperative. (auth)

TAO2000 V2 computer-assisted force feedback tele-manipulators used as maintenance and production tools at the AREVA NC-La Hague fuel recycling plant

International Nuclear Information System (INIS)

Geffard, Franck; Garrec, Philippe; Piolain, Gerard; Brudieu, Marie-Anne; Thro, Jean-Francois; Coudray, Alain; Lelann, Eric

2012-01-01

During a 15-year joint research program, French Atomic Energy Agency Interactive Robotics Laboratory (CEA LIST) and AREVA have developed several remote operation devices, also called tele-robots. Some of them are now commonly used for maintenance operations at the AREVA NC (Nuclear Cycle) La Hague reprocessing plant. Since the first maintenance operation in 2005, several other successful interventions have been realized using the industrial MA23/RX170 tele-manipulation system. Moreover, since 2010, the through-the-wall tele-robot named MT200 TAO based on the slave arm of the MSM MT200 (La Calhene TM ), has been evaluated in an active production cell at the AREVA NC La Hague fuel recycling plant. Although these evaluations are ongoing, the positive results obtained have led to an update and industrialization program. All these developments are based on the same generic control platform, called TAO2000 V2. TAO2000 V2 is the second release of the CEA LIST core software platform dedicated to computer aided force-feedback tele-operation (TAO is the French acronym for computer aided tele-operation). This paper presents all these developments resulting from the joint research program CEA LIST/AREVA. The TAO2000 V2 controller is first detailed, and then two maintenance operations using the industrial robot RX170 are presented: the removal of the nuclear fuel dissolver wheel rollers and the cleanup of the dissolver wheel inter-bucket spaces. Finally, the new MT200 TAO system and its evaluations at the AREVA NC La Hague facilities are discussed. (authors)

Sequential circuit design for radiation hardened multiple voltage integrated circuits

Science.gov (United States)

Clark, Lawrence T [Phoenix, AZ; McIver, III, John K.

2009-11-24

The present invention includes a radiation hardened sequential circuit, such as a bistable circuit, flip-flop or other suitable design that presents substantial immunity to ionizing radiation while simultaneously maintaining a low operating voltage. In one embodiment, the circuit includes a plurality of logic elements that operate on relatively low voltage, and a master and slave latches each having storage elements that operate on a relatively high voltage.

Tele-operated service robots for household and care

NARCIS (Netherlands)

Osch, van M.P.W.J.; Bera, D.; Koks, Y.; Hee, van K.M.; Bronswijk, van J.E.M.H.; Maas, G.J.; Gassel, van F.J.M.

2012-01-01

Purpose: Service robots are a relatively new branch of robotics after the successful industry robots and the experimental humanoids. Service robots are supposed to perform tasks that normally are done by humans in particular daily life activities. However they do not have to do it in the same way as

Microhardness technique for determination of radiation hardening in austenitic stainless steel using

International Nuclear Information System (INIS)

Hofman, A.

1995-01-01

The use of microhardness technique to determine the radiation hardening has been studied. Microhardness measurements have been conducted on austenitic stainless steel 0H18N10T irradiated up to 2·10 23 nm -2 . It was determined that the increase in microhardness varies directly with the measured increase in the 0,2% offret yield strength and has been found that microhardness technique may be an effective tool to measurements of radiation induced hardening. Based on the results and Cahoon's relation that σ 0,2 (MPa)=3,27HV(0,1) n method for evaluating the yield stress σ 0,2 by microhardness technique is analyzed. 14 refs., 3 figs., 3 tabs

Characterization of Radiation Hardened Bipolar Linear Devices for High Total Dose Missions

Science.gov (United States)

McClure, Steven S.; Harris, Richard D.; Rax, Bernard G.; Thorbourn, Dennis O.

2012-01-01

Radiation hardened linear devices are characterized for performance in combined total dose and displacement damage environments for a mission scenario with a high radiation level. Performance at low and high dose rate for both biased and unbiased conditions is compared and the impact to hardness assurance methodology is discussed.

Tele-AAC Resolution

Directory of Open Access Journals (Sweden)

Kate Anderson

2012-12-01

Full Text Available Approximately 1.3% of all people, or about 4 million Americans, cannot rely on their natural speech to meet their daily communication needs. Telepractice offers a potentially cost-effective service delivery mechanism to provide clinical AAC services at a distance to the benefit of underserved populations in the United States and worldwide.  Tele-AAC is a unique cross-disciplinary clinical service delivery model that requires expertise in both telepractice and augmentative and alternative communication (AAC systems.  The Tele-AAC Working Group of the 2012 ISAAC Research Symposium therefore drafted a resolution underscoring the importance of identifying and characterizing the unique opportunities and constraints of Tele-AAC in all aspects of service delivery. These include, but are not limited to: needs assessments; implementation planning; device/system procurement, set-up and training; quality assurance, client progress monitoring, and follow-up service delivery. Tele-AAC, like other telepractice applications, requires adherence to the ASHA Code of Ethics and other policy documents, and state, federal, and international laws, as well as a competent technological infrastructure. The Working Group recommends that institutions of higher education and professional organizations provide training in Tele-AAC service provision. In addition, research and development are needed to create validity measures across Tele-AAC practices (i.e., assessment, implementation, and consultation; determine the communication competence levels achieved  by Tele-AAC users; discern stakeholders’  perceptions of Tele-AAC services (e.g., acceptability and viability; maximize Tele-AAC’s capacity to engage multiple team members in AAC assessment and ongoing service; identify the limitations and barriers of Tele-AAC provision; and develop potential solutions. 

Development of a K3A robot for deployment in radioactive environments

International Nuclear Information System (INIS)

Sias, F.R. Jr.

1996-01-01

Radioactive materials make up a significant part of the hazardous-material inventory of the United States Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. To use a mobile robot in the vicinity of high-level gamma radiation requires a special design. Since materials and electronic circuits can withstand some radiation without failure, the simplest approach would be simply to use an unmodified commercial mobile robot in the radioactive environment but remove it before failure occurs. Unpowered backup is another method of extending system lifetime in an ionizing radiation environment. When the primary system fails or degrades sufficiently, the backup system can be switched in to maintain system operation. By careful design and production-lot testing, systems can be designed to meet moderate doses of radiation; however, randomly-selected off- the-shelf commercial parts cannot be guaranteed to meet a specified total-dose tolerance. We can define the Basic Radiation-Hardened System to be a teleoperated K3A transport capable of deploying a radiation-hardened video camera for initial entry and inspection applications. The electronics in the K3A mobile base has three essential modules: MA-2 Motor Amplifier Circuit, DC-I Drive Control Computer, and DC/DC Converter for powering the electronics. Design of the system will be discussed

Process controls for radiation hardened aluminum gate bulk silicon CMOS

International Nuclear Information System (INIS)

Gregory, B.L.

1975-01-01

Optimized dry oxides have recently yielded notable improvements in CMOS radiation-hardness. By following the proper procedures and recipes, it is now possible to produce devices which will function satisfactorily after exposure to a total ionizing dose in excess of 10 6 RADS (Si). This paper is concerned with the controls required on processing parameters once the optimized process is defined. In this process, the pre-irradiation electrical parameters must be closely controlled to insure that devices will function after irradiation. In particular, the specifications on n- and p-channel threshold voltages require tight control of fixed oxide charge, surface-state density, oxide thickness, and substrate and p-well surface concentrations. In order to achieve the above level of radiation hardness, certain processing procedures and parameters must also be closely controlled. Higher levels of cleanliness are required in the hardened process than are commonly required for commercial CMOS since, for hardened dry oxides, no impurity gettering can be employed during or after oxidation. Without such gettering, an unclean oxide is unacceptable due to bias-temperature instability. Correct pre-oxidation cleaning, residual surface damage removal, proper oxidation and annealing temperatures and times, and the correct metal sintering cycle are all important in determining device hardness. In a reproducible, hardened process, each of these processing steps must be closely controlled. (U.S.)

A COTS-based single board radiation-hardened computer for space applications

International Nuclear Information System (INIS)

Stewart, S.; Hillman, R.; Layton, P.; Krawzsenek, D.

1999-01-01

There is great community interest in the ability to use COTS (Commercial-Off-The-Shelf) technology in radiation environments. Space Electronics, Inc. has developed a high performance COTS-based radiation hardened computer. COTS approaches were selected for both hardware and software. Through parts testing, selection and packaging, all requirements have been met without parts or process development. Reliability, total ionizing dose and single event performance are attractive. The characteristics, performance and radiation resistance of the single board computer will be presented. (authors)

Radiation hardening of CMOS-based circuitry in SMART transmitters

International Nuclear Information System (INIS)

Loescher, D.H.

1993-02-01

Process control transmitters that incorporate digital signal processing could be used advantageously in nuclear power plants; however, because such transmitters are too sensitive to radiation, they are not used. The Electric Power Research Institute sponsored work at Sandia National Laboratories under EPRI contract RP2614-58 to determine why SMART transmitters fail when exposed to radiation and to design and demonstrate SMART transmitter circuits that could tolerate radiation. The term ''SMART'' denotes transmitters that contain digital logic. Tests showed that transmitter failure was caused by failure of the complementary metal oxide semiconductors (CMOS)-integrated circuits which are used extensively in commercial transmitters. Radiation-hardened replacements were not available for the radiation-sensitive CMOS circuits. A conceptual design showed that a radiation-tolerant transmitter could be constructed. A prototype for an analog-to-digital converter subsection worked satisfactorily after a total dose of 30 megarads(Si). Encouraging results were obtained from preliminary bench-top tests on a dc-to-dc converter for the power supply subsection

Simulation of Hamming Coding and Decoding for Microcontroller Radiation Hardening

OpenAIRE

Rehab I. Abdul Rahman; Mazhar B. Tayel

2015-01-01

This paper presents a method of hardening the 8051 micro-controller, able to assure reliable operation in the presence of bit flips caused by radiation. Aiming at avoiding such faults in the 8051 micro-controller, Hamming code protection was used in its SRAM memory and registers. A VHDL code has been used for this hamming code protection.

Total dose and dose rate radiation characterization of EPI-CMOS radiation hardened memory and microprocessor devices

International Nuclear Information System (INIS)

Gingerich, B.L.; Hermsen, J.M.; Lee, J.C.; Schroeder, J.E.

1984-01-01

The process, circuit discription, and total dose radiation characteristics are presented for two second generation hardened 4K EPI-CMOS RAMs and a first generation 80C85 microprocessor. Total dose radiation performance is presented to 10M rad-Si and effects of biasing and operating conditions are discussed. The dose rate sensitivity of the 4K RAMs is also presented along with single event upset (SEU) test data

Image-guided neurosurgery. Global concept of a surgical tele-assistance using obstacle detection robotics; Neurochirurgie guidee par l'image. Concept global d'une tele-assistance chirurgicale a l'aide d'une robotique d'empechement

Energy Technology Data Exchange (ETDEWEB)

Desgeorges, M.; Bellegou, N.; Faillot, Th.; Cordoliani, Y.S.; Dutertre, G.; Blondet, E.; Soultrait, F. de; Boissy, J.M. [Hopital d' Instruction des Armees du Val-de-Grace, 75 - Paris (France)

2000-12-01

Surgical tele-assistance significantly increases accuracy of surgical gestures, especially in the case of brain tumor neurosurgery. The robotic device is tele-operated through a microscope and the surgeon's gestures are guided by real-time overlaying of the X-ray imagery in the microscope. During the device's progression inside the brain, the focus is ensured by the microscope auto-focus feature. The surgeon can thus constantly check his position on the field workstation. Obstacles to avoid or dangerous areas can be previewed in the operation field. This system is routinely used for 5 years in the neurosurgery division of the Val de Grace hospital. More than 400 brain surgery operations have been done using it. An adaptation is used for rachis surgery. Other military hospitals begin to be equipped with similar systems. It will be possible to link them for data transfer. When it will be operational, such a network it will show what could be, in the future, a medical/surgical remote-assistance system designed to take care of wounded/critical conditions people, including assistance to surgical gestures. (authors)

Reliability and radiation tolerance of robots for nuclear applications

Energy Technology Data Exchange (ETDEWEB)

Lauridsen, K [Risoe National Lab. (Denmark); Decreton, M [SCK.CEN (Belgium); Seifert, C C [Siemens AG (Germany); Sharp, R [AEA Technology (United Kingdom)

1996-10-01

The reliability of a robot for nuclear applications will be affected by environmental factors such as dust, water, vibrations, heat, and, in particular, ionising radiation. The present report describes the work carried out in a project addressing the reliability and radiation tolerance of such robots. A widely representative range of components and materials has been radiation tested and the test results have been collated in a database along with data provided by the participants from earlier work and data acquired from other sources. A radiation effects guide has been written for the use by designers of electronic equipment for robots. A generic reliability model has been set up together with generic failure strategies, forming the basis for specific reliability modelling carried out in other projects. Modelling tools have been examined and developed for the prediction of the performance of electronic circuits subjected to radiation. Reports have been produced dealing with the prediction and detection of upcoming failures in electronic systems. Operational experience from the use of robots in radiation work in various contexts has been compiled in a report, and another report has been written on cost/benefit considerations about the use of robots. Also the possible impact of robots on the safety of the surrounding plant has been considered and reported. (au) 16 ills., 236 refs.

Reliability and radiation tolerance of robots for nuclear applications

International Nuclear Information System (INIS)

Lauridsen, K.; Decreton, M.; Seifert, C.C.; Sharp, R.

1996-10-01

The reliability of a robot for nuclear applications will be affected by environmental factors such as dust, water, vibrations, heat, and, in particular, ionising radiation. The present report describes the work carried out in a project addressing the reliability and radiation tolerance of such robots. A widely representative range of components and materials has been radiation tested and the test results have been collated in a database along with data provided by the participants from earlier work and data acquired from other sources. A radiation effects guide has been written for the use by designers of electronic equipment for robots. A generic reliability model has been set up together with generic failure strategies, forming the basis for specific reliability modelling carried out in other projects. Modelling tools have been examined and developed for the prediction of the performance of electronic circuits subjected to radiation. Reports have been produced dealing with the prediction and detection of upcoming failures in electronic systems. Operational experience from the use of robots in radiation work in various contexts has been compiled in a report, and another report has been written on cost/benefit considerations about the use of robots. Also the possible impact of robots on the safety of the surrounding plant has been considered and reported. (au) 16 ills., 236 refs

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)

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Tele-education in South Africa.

Science.gov (United States)

Mars, Maurice

2014-01-01

Telemedicine includes the use of information and communication technology for education in the health sector, tele-education. Sub-Saharan Africa has an extreme shortage of health professionals and as a result, doctors to teach doctors and students. Tele-education has the potential to provide access to education both formal and continuing medical education. While the uptake of telemedicine in Africa is low, there are a number of successful and sustained tele-education programs. The aims of this study were (i) to review the literature on tele-education in South Africa, (ii) describe tele-education activities at the University of KwaZulu-Natal (UKZ-N) in South Africa, and (iii) review the development of these programs with respect to current thinking on eHealth project implementation. A literature review of tele-education in South Africa was undertaken. The development of the tele-education services at UKZ-N from 2001 to present is described. The approaches taken are compared with current teaching on eHealth implementation and a retrospective design-reality gap analysis is made. Tele-education has been in use in South Africa since the 1970s. Several forms of tele-education are in place at the medical schools and in some Provincial Departments of Health (DOH). Despite initial attempts by the National DOH, there are no national initiatives in tele-education. At UKZ-N, a tele-education service has been running since 2001 and appears to be sustainable and reaching maturity, with over 1,400 h of videoconferenced education offered per year. The service has expanded to offer videoconferenced education into Africa using different ways of delivering tele-education. Tele-education has been used in different forms for many years in the health sector in South Africa. There is little hard evidence of its educational merit or economic worth. What it apparent is that it improves access to education and training in resource constrained settings. The development of local and

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

High temperature, radiation hardened electronics for application to nuclear power plants

International Nuclear Information System (INIS)

Gover, J.E.

1980-01-01

Electronic circuits were developed and built at Sandia for many aerospace and energy systems applications. Among recent developments were high temperature electronics for geothermal well logging and radiation hardened electronics for a variety of aerospace applications. Sandia has also been active in technology transfer to commercial industry in both of these areas

Advanced Tele-operation

International Nuclear Information System (INIS)

Decreton, M.

1998-01-01

Maintenance, repair, and dismantling operations in nuclear facilities have to be performed remotely when high radiation doses exclude hands-on operation, but also to minimize contamination risks and occupational doses to the operators. Computer-aided and sensor-based tele-operation enhances safety, reliability, and performance by helping the operator in difficult tasks with poor remote environmental perception. The objectives of work in this domain are to increase the scientific knowledge of the studied phenomena, to improve the interpretation of data, to improve the piloting og experimental devices during irradiation, to reveal and to understand possible unexpected phenomena occurring during irradiation. This scientific report describes the achievements for 1997 in the area of radiation tolerance for of remote-sensing, optical fibres and optical fibre sensors

Attitudinal Change in Elderly Citizens Toward Social Robots

DEFF Research Database (Denmark)

Damholdt, Malene Flensborg; Nørskov, Marco; Yamazaki, Ryuji

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three...... relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may...

Tele-rehabilitation using in-house wearable ankle rehabilitation robot.

Science.gov (United States)

Jamwal, Prashant K; Hussain, Shahid; Mir-Nasiri, Nazim; Ghayesh, Mergen H; Xie, Sheng Q

2018-01-01

This article explores wide-ranging potential of the wearable ankle robot for in-house rehabilitation. The presented robot has been conceptualized following a brief analysis of the existing technologies, systems, and solutions for in-house physical ankle rehabilitation. Configuration design analysis and component selection for ankle robot have been discussed as part of the conceptual design. The complexities of human robot interaction are closely encountered while maneuvering a rehabilitation robot. We present a fuzzy logic-based controller to perform the required robot-assisted ankle rehabilitation treatment. Designs of visual haptic interfaces have also been discussed, which will make the treatment interesting, and the subject will be motivated to exert more and regain lost functions rapidly. The complex nature of web-based communication between user and remotely sitting physiotherapy staff has also been discussed. A high-level software architecture appended with robot ensures user-friendly operations. This software is made up of three important components: patient-related database, graphical user interface (GUI), and a library of exercises creating virtual reality-specifically developed for ankle rehabilitation.

Evaluation method of radiation stability of hardened cement paste with chemical additives

Energy Technology Data Exchange (ETDEWEB)

Medvedev, Vyacheslav; Pustovgar, Andrey [National Research Univ. ' Moscow State Univ. of Civil Engineering' (MSUCE), Moscow (Russian Federation); National Research Univ. ' Moscow State Univ. of Civil Engineering' (MSUCE), Moscow (Russian Federation). Scientific Research Inst. of Constructional Materials and Technologies; Denisov, Alexander; Soloviev, Vitaly [National Research Univ. ' Moscow State Univ. of Civil Engineering' (MSUCE), Moscow (Russian Federation)

2013-07-01

The influence of additives on the radiation resistance of the concrete will occur through the influence of radiation changes of hardened cement paste on radiation changes of concrete and can be quite significant. The test sequence was produced according to the modified method. The samples were prepared in the form of prisms with the following dimensions: 10 mm x 10 mm, 30 mm long. Measurement series were produced after each heating and cooling sequence. Then the difference between the values before and after heating was calculated. (orig.)

Radiation-hardened MRAM-based LUT for non-volatile FPGA soft error mitigation with multi-node upset tolerance

Science.gov (United States)

Zand, Ramtin; DeMara, Ronald F.

2017-12-01

In this paper, we have developed a radiation-hardened non-volatile lookup table (LUT) circuit utilizing spin Hall effect (SHE)-magnetic random access memory (MRAM) devices. The design is motivated by modeling the effect of radiation particles striking hybrid complementary metal oxide semiconductor/spin based circuits, and the resistive behavior of SHE-MRAM devices via established and precise physics equations. The models developed are leveraged in the SPICE circuit simulator to verify the functionality of the proposed design. The proposed hardening technique is based on using feedback transistors, as well as increasing the radiation capacity of the sensitive nodes. Simulation results show that our proposed LUT circuit can achieve multiple node upset (MNU) tolerance with more than 38% and 60% power-delay product improvement as well as 26% and 50% reduction in device count compared to the previous energy-efficient radiation-hardened LUT designs. Finally, we have performed a process variation analysis showing that the MNU immunity of our proposed circuit is realized at the cost of increased susceptibility to transistor and MRAM variations compared to an unprotected LUT design.

Radiation effects on microelectronics

International Nuclear Information System (INIS)

Gover, J.E.

1987-01-01

Applications of radiation-hardened microelectronics in nuclear power systems include (a) light water reactor (LWR) containment building, postaccident instrumentation that can operate through the beta and gamma radiation released in a design basis loss-of-coolant accident; (b) advanced LWR instrumentation and control systems employing distributed digital integrated circuit (IC) technology to achieve a high degree of artificial intelligence and thereby reduce the probability of operator error under accident conditions; (c) instrumentation, command, control and communication systems for space nuclear power applications that must operate during the neutron and gamma-ray core leakage environments as well as the background electron, proton, and heavy charged particle environments of space; and (d) robotics systems designed for the described functions. Advanced microelectronics offer advantages in cost and reliability over alternative approaches to instrumentation and control. No semiconductor technology is hard to all classes of radiation effects phenomena. As the effects have become better understood, however, significant progress has been made in hardening IC technology. Application of hardened microelectronics to nuclear power systems has lagged military applications because of the limited market potential of hardened instruments and numerous institutional impediments

Radiation hardenable impregnating agents for the consolidating conservation of wooden objects

International Nuclear Information System (INIS)

Schaudy, R.

1985-01-01

Radiation hardenable impregnating agents offer some advantages over the conventional agents. At the author's institution objects up to 110 cm length can be impregnated for conservation. More than 200 monomers and resins have been investigated. The procedure of impregnation is outlined and some kinds of wooden objects conserved in this way listed. (G.W.)

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

Science.gov (United States)

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

Science.gov (United States)

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

Influence of oxygen impurity atoms on defect clusters and radiation hardening in neutron-irradiated vanadium

International Nuclear Information System (INIS)

Bajaj, R.; Wechsler, M.S.

1975-01-01

Single crystal TEM samples and polycrystalline tensile samples of vanadium containing 60-640 wt ppm oxygen were irradiated at about 100 0 C to about 1.3 x 10 19 neutrons/cm 2 (E greater than 1 MeV) and post-irradiation annealed up to 800 0 C. The defect cluster density increased and the average size decreased with increasing oxygen concentration. Higher oxygen concentrations caused the radiation hardening and radiation-anneal hardening to increase. The observations are consistent with the nucleation of defect clusters by small oxygen or oxygen-point defect complexes and the trapping of oxygen at defect clusters upon post-irradiation annealing

Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

CERN Document Server

Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

Radiation-hardened gate-around n-MOSFET structure for radiation-tolerant application-specific integrated circuits

International Nuclear Information System (INIS)

Lee, Min Su; Lee, Hee Chul

2012-01-01

To overcome the total ionizing dose effect on an n-type metal-oxide-semiconductor field-effect transistor (n-MOSFET), we designed a radiation-hardened gate-around n-MOSFET structure and evaluated it through a radiation-exposure experiment. Each test device was fabricated in a commercial 0.35-micron complementary metal-oxide-semiconductor (CMOS) process. The fabricated devices were evaluated under a total dose of 1 Mrad (Si) at a dose rate of 250 krad/h to obtain very high reliability for space electronics. The experimental results showed that the gate-around n-MOSFET structure had very good performance against 1 Mrad (Si) of gamma radiation, while the conventional n-MOSFET experienced a considerable amount of radiation-induced leakage current. Furthermore, a source follower designed with the gate-around transistor worked properly at 1 Mrad (Si) of gamma radiation while a source follower designed with the conventional n-MOSFET lost its functionality.

Toward the art of robotic-assisted vitreoretinal surgery

Directory of Open Access Journals (Sweden)

Amir Molaei

2017-01-01

Full Text Available New technological progress in robotics has brought many beneficial clinical applications. Currently, computer integrated robotic surgery has gained clinical acceptance for several surgical procedures. Robotically assisted eye surgery is envisaged as a promising solution to overcome the shortcomings inherent to conventional surgical procedures as in vitreoretinal surgeries. Robotics by its high precision and fine mechanical control can improve dexterity, cancel tremor, and allow highly precise remote surgical capability, delicate vitreoretinal manipulation capabilities. Combined with magnified three-dimensional imaging of the surgical site, it can enhance surgical precision. Tele-manipulation can provide the ability for tele-surgery or haptic feedback of forces generated by the manipulation of intraocular tissues. It presents new solutions for some sight-threatening conditions such as retinal vein cannulation where, due to physiological limitations of the surgeon's hand, the procedure cannot be adequately performed. In this paper, we provide an overview of the research and advances in robotically assisted vitreoretinal eye surgery. Additionally the barriers to the integration of this method in the field of ocular surgery are summarized. Finally, we discuss the possible applications of the method in the area of vitreoretinal surgery.

Principles and techniques of radiation hardening. Volume 3. Electromagnetic pulse (EMP) and system generated EMP

International Nuclear Information System (INIS)

Rudie, N.J.

1976-01-01

The three-volume book is intended to serve as a review of the effects of thermonuclear explosion induced radiation (x-rays, gamma rays, and beta particles) and the resulting electromagnetic pulse (EMP). Volume 3 deals with the following topics: selected fundamentals of electromagnetic theory; EMP induced currents on antennas and cables; the EMP response of electronics; EMP hardening; EMP testing; injection currents; internal electromagnetic pulse (IEMP); replacement currents; and system generated electromagnetic pulse (SGEMP) hardening

Study on radiation damage of electron and γ-rays and mechanism of nuclear hardening

International Nuclear Information System (INIS)

Jing Tao

2001-01-01

Radiation damage effects of electrons and γ-rays are presented. The damage defects are studied by experimental methods. On the basis of these studies the damage mechanism and nuclear hardening techniques are studied

Design and implementation of a programming circuit in radiation-hardened FPGA

International Nuclear Information System (INIS)

Wu Lihua; Han Xiaowei; Zhao Yan; Liu Zhongli; Yu Fang; Chen, Stanley L.

2011-01-01

We present a novel programming circuit used in our radiation-hardened field programmable gate array (FPGA) chip. This circuit provides the ability to write user-defined configuration data into an FPGA and then read it back. The proposed circuit adopts the direct-access programming point scheme instead of the typical long token shift register chain. It not only saves area but also provides more flexible configuration operations. By configuring the proposed partial configuration control register, our smallest configuration section can be conveniently configured as a single data and a flexible partial configuration can be easily implemented. The hierarchical simulation scheme, optimization of the critical path and the elaborate layout plan make this circuit work well. Also, the radiation hardened by design programming point is introduced. This circuit has been implemented in a static random access memory (SRAM)-based FPGA fabricated by a 0.5 μm partial-depletion silicon-on-insulator CMOS process. The function test results of the fabricated chip indicate that this programming circuit successfully realizes the desired functions in the configuration and read-back. Moreover, the radiation test results indicate that the programming circuit has total dose tolerance of 1 x 10 5 rad(Si), dose rate survivability of 1.5 x 10 11 rad(Si)/s and neutron fluence immunity of 1 x 10 14 n/cm 2 .

Design and implementation of a programming circuit in radiation-hardened FPGA

Science.gov (United States)

Lihua, Wu; Xiaowei, Han; Yan, Zhao; Zhongli, Liu; Fang, Yu; Chen, Stanley L.

2011-08-01

We present a novel programming circuit used in our radiation-hardened field programmable gate array (FPGA) chip. This circuit provides the ability to write user-defined configuration data into an FPGA and then read it back. The proposed circuit adopts the direct-access programming point scheme instead of the typical long token shift register chain. It not only saves area but also provides more flexible configuration operations. By configuring the proposed partial configuration control register, our smallest configuration section can be conveniently configured as a single data and a flexible partial configuration can be easily implemented. The hierarchical simulation scheme, optimization of the critical path and the elaborate layout plan make this circuit work well. Also, the radiation hardened by design programming point is introduced. This circuit has been implemented in a static random access memory (SRAM)-based FPGA fabricated by a 0.5 μm partial-depletion silicon-on-insulator CMOS process. The function test results of the fabricated chip indicate that this programming circuit successfully realizes the desired functions in the configuration and read-back. Moreover, the radiation test results indicate that the programming circuit has total dose tolerance of 1 × 105 rad(Si), dose rate survivability of 1.5 × 1011 rad(Si)/s and neutron fluence immunity of 1 × 1014 n/cm2.

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

Radiation hardening and irradiation testing of in-cell electronics for MA23/APM

International Nuclear Information System (INIS)

Friant, A.

1988-09-01

We relate briefly the radiation hardening method used to guarantee a gamma resistance of 10 Mrad for the whole electronic equipment associated with the slave arm of MA23 M servomanipulator which will be set up in cell 404 in Marcoule (APM). We describe the radiation testing of electronic devices and of the various subsystems designed by the D. LETI groups involved in the MA23/APM project

Radiation Effects and Component Hardening testing program at the Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Draper, J.V.; Weil, B.S.; Chesser, J.B.

1993-01-01

This paper describes Phase II of the Radiation Effects and Component Hardening (REACH) testing program, performed as part of the joint collaborative agreement between the United States Department of Energy (USDOE) and the Power Reactor and Nuclear Fuel Development Corporation (PNC) of Japan, Components and materials were submitted to 10 5 R/hr gamma radiation fields for 10,000 hr, producing accumulated doses of 10 9 R; most performed as expected

Radiation-hardened optically reconfigurable gate array exploiting holographic memory characteristics

Science.gov (United States)

Seto, Daisaku; Watanabe, Minoru

2015-09-01

In this paper, we present a proposal for a radiation-hardened optically reconfigurable gate array (ORGA). The ORGA is a type of field programmable gate array (FPGA). The ORGA configuration can be executed by the exploitation of holographic memory characteristics even if 20% of the configuration data are damaged. Moreover, the optoelectronic technology enables the high-speed reconfiguration of the programmable gate array. Such a high-speed reconfiguration can increase the radiation tolerance of its programmable gate array to 9.3 × 104 times higher than that of current FPGAs. Through experimentation, this study clarified the configuration dependability using the impulse-noise emulation and high-speed configuration capabilities of the ORGA with corrupt configuration contexts. Moreover, the radiation tolerance of the programmable gate array was confirmed theoretically through probabilistic calculation.

The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

Energy Technology Data Exchange (ETDEWEB)

Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

1999-04-01

This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

A radiation-hardened SOI-based FPGA

International Nuclear Information System (INIS)

Han Xiaowei; Wu Lihua; Zhao Yan; Li Yan; Zhang Qianli; Chen Liang; Zhang Guoquan; Li Jianzhong; Yang Bo; Gao Jiantou; Wang Jian; Li Ming; Liu Guizhai; Zhang Feng; Guo Xufeng; Chen, Stanley L.; Liu Zhongli; Yu Fang; Zhao Kai

2011-01-01

A radiation-hardened SRAM-based field programmable gate array VS1000 is designed and fabricated with a 0.5 μm partial-depletion silicon-on-insulator logic process at the CETC 58th Institute. The new logic cell (LC), with a multi-mode based on 3-input look-up-table (LUT), increases logic density about 12% compared to a traditional 4-input LUT The logic block (LB), consisting of 2 LCs, can be used in two functional modes: LUT mode and distributed read access memory mode. The hierarchical routing channel block and switch block can significantly improve the flexibility and routability of the routing resource. The VS1000 uses a CQFP208 package and contains 392 reconfigurable LCs, 112 reconfigurable user I/Os and IEEE 1149.1 compatible with boundary-scan logic for testing and programming. The function test results indicate that the hardware and software cooperate successfully and the VS1000 works correctly. Moreover, the radiation test results indicate that the VS1000 chip has total dose tolerance of 100 krad(Si), a dose rate survivability of 1.5 x 10 11 rad(Si)/s and a neutron fluence immunity of 1 x 10 14 n/cm 2 . (semiconductor integrated circuits)

TRASMAR 2: improved tele operated mobile robot for the radioactive material transport; TRASMAR 2: Robot movil teleoperado mejorado para el transporte de material radiactivo

Energy Technology Data Exchange (ETDEWEB)

Segovia de los Rios, A. [ININ, 52750 La Marquesa, Estado de Mexico (Mexico); Zamora S, C.A.; Garduno G, M. [Instituto Tecnologico de Toluca, 52140 Metepec, Estado de Mexico (Mexico)]. e-mail: asegovia@nuclear.inin.mx

2007-07-01

In the National Institute of Nuclear Research of Mexico (ININ), a new robot version for the radioactive material transport was developed trying to diminish the radiation quantity to which the ININ personnel is exposed taking it away by this way of the radioactive substance. The robot is operated by means of a remote control, for that which two data transmission modules by radiofrequency are used. As much the remote control as the vehicle control system were implemented with the help of micro controllers. Presently document the main characteristics of this mobile robot are explained, which is a more economic and functional version that it predecessor. (Author)

Robotic radiation survey and analysis system for radiation waste casks

International Nuclear Information System (INIS)

Thunborg, S.

1987-01-01

Sandia National Laboratories (SNL) and the Hanford Engineering Development Laboratories have been involved in the development of remote systems technology concepts for handling defense high-level waste (DHLW) shipping casks at the waste repository. This effort was demonstrated the feasibility of using this technology for handling DHLW casks. These investigations have also shown that cask design can have a major effect on the feasibility of remote cask handling. Consequently, SNL has initiated a program to determine cask features necessary for robotic remote handling at the waste repository. The initial cask handling task selected for detailed investigation was the robotic radiation survey and analysis (RRSAS) task. In addition to determining the design features required for robotic cask handling, the RRSAS project contributes to the definition of techniques for random selection of swipe locations, the definition of robotic swipe parameters, force control techniques for robotic swipes, machine vision techniques for the location of objects in 3-D, repository robotic systems requirements, and repository data management system needs

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)

Using a novel spectroscopic reflectometer to optimize a radiation-hardened submicron silicon-on-sapphire CMOS process

International Nuclear Information System (INIS)

Do, N.T.; Zawaideh, E.; Vu, T.Q.; Warren, G.; Mead, D.; Do, N.T.; Li, G.P.; Tsai, C.S.

1999-01-01

A radiation-hardened sub-micron silicon-on-sapphire CMOS process is monitored and optimized using a novel optical technique based on spectroscopic reflectometry. Quantitative measurements of the crystal quality, surface roughness, and device radiation hardness show excellent correlation between this technique and the Atomic Force Microscopy. (authors)

A Radiation Hardened by Design CMOS ASIC for Thermopile Readouts

Science.gov (United States)

Quilligan, G.; Aslam, S.; DuMonthier, J.

2012-01-01

A radiation hardened by design (RHBD) mixed-signal application specific integrated circuit (ASIC) has been designed for a thermopile readout for operation in the harsh Jovian orbital environment. The multi-channel digitizer (MCD) ASIC includes 18 low noise amplifier channels which have tunable gain/filtering coefficients, a 16-bit sigma-delta analog-digital converter (SDADC) and an on-chip controller. The 18 channels, SDADC and controller were designed to operate with immunity to single event latchup (SEL) and to at least 10 Mrad total ionizing dose (TID). The ASIC also contains a radiation tolerant 16-bit 20 MHz Nyquist ADC for general purpose instrumentation digitizer needs. The ASIC is currently undergoing fabrication in a commercial 180 nm CMOS process. Although this ASIC was designed specifically for the harsh radiation environment of the NASA led JEO mission it is suitable for integration into instrumentation payloads 011 the ESA JUICE mission where the radiation hardness requirements are slightly less stringent.

Radiation-Hardened Circuitry Using Mask-Programmable Analog Arrays. Final Report

Energy Technology Data Exchange (ETDEWEB)

Britton, Jr., Charles L. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Ericson, Milton Nance [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Bobrek, Miljko [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Blalock, Benjamin [Univ. of Tennessee, Knoxville, TN (United States)

2015-12-01

As the recent accident at Fukushima Daiichi so vividly demonstrated, telerobotic technologies capable of withstanding high radiation environments need to be readily available to enable operations, repair, and recovery under severe accident scenarios where human entry is extremely dangerous or not possible. Telerobotic technologies that enable remote operation in high dose rate environments have undergone revolutionary improvement over the past few decades. However, much of this technology cannot be employed in nuclear power environments due the radiation sensitivity of the electronics and the organic insulator materials currently in use. This is the final report of the activities involving the NEET 2 project Radiation Hardened Circuitry Using Mask-Programmable Analog Arrays. We present a detailed functional block diagram of the proposed data acquisition system, the thought process leading to technical decisions, the implemented system, and the tested results from the systems. This system will be capable of monitoring at least three parameters of importance to nuclear reactor monitoring: temperature, radiation level, and pressure.

Study of interaction among silicon, lithium, oxygen and radiation-induced defects for radiation-hardened solar cells

Science.gov (United States)

Berman, P. A.

1973-01-01

In order to improve reliability and the useful lifetime of solar cell arrays for space use, a program was undertaken to develop radiation-hardened lithium-doped silicon solar cells. These cells were shown to be significantly more resistant to degradation by ionized particles than the presently used n-p nonlithium-doped silicon solar cells. The results of various analyses performed to develop a more complete understanding of the physics of the interaction among lithium, silicon, oxygen, and radiation-induced defects are presented. A discussion is given of those portions of the previous model of radiation damage annealing which were found to be in error and those portions which were upheld by these extensive investigations.

Challenges in hardening technologies using shallow-trench isolation

International Nuclear Information System (INIS)

Shaneyfelt, M.R.; Dodd, P.E.; Draper, B.L.; Flores, R.S.

1998-02-01

Challenges related to radiation hardening CMOS technologies with shallow-trench isolation are explored. Results show that trench hardening can be more difficult than simply replacing the trench isolation oxide with a hardened field oxide

A radiation-hardened 1K-bit dielectrically isolated random access memory

International Nuclear Information System (INIS)

Sandors, T.J.; Boarman, J.W.; Kasten, A.J.; Wood, G.M.

1982-01-01

Dielectric Isolation has been used for many years as the bipolar technology for latch-up free, radiation hardened integrated circuits in strategic systems. The state-of-the-art up to this point has been the manufacture of MSI functions containing a maximum of several hundred isolated components. This paper discusses a 1024 Bit Random Access Memory chip containing over 4000 dielectrically isolated components which has been designed for strategic radiation environments. The process utilized and the circuit design of the 1024 Bit RAM have been previously discussed. The techniques used are similar to those employed for the MX digital integrated circuits except for specific items required to make this a true LSI technology. These techniques, along with electrical and radiation data for the RAM, are presented

Process for hardening an alkyd resin composition using ionizing radiation. [electron beams, gamma radiation

Energy Technology Data Exchange (ETDEWEB)

Watanabe, T; Murata, K; Maruyama, T

1969-11-27

In an alkyd resin composition having free hydroxide radicals and containing a conjugated unsaturated fatty acid and/or oil as a component thereof, a process for hardening an alkyd resin composition comprises the steps of dissolving into a vinyl monomer, the product obtained by the semi-esterification reaction of said hydroxide radicals with acid anhydrides having polymerizable radicals and hardening by ionizing radiation to provide a coating with a high degree of cross-linking, with favorable properties such as toughness, hardness, chemical resistance and resistance to weather and with the feasibility of being applied as the ground and finish coat on metals, wood, paper, outdoor construction or the like. Any kind of ionization radiation, particularly accelerated electron beams, ..gamma.. radiation can be used at 50/sup 0/C to -5/sup 0/C for a few seconds or minutes, permitting continuous operation. In one example, 384 parts of phthalic anhydride, 115 parts of pentaerythritol, 233 parts of trimethylol ethane, 288 parts of tung fatty acid and 49 parts of para-tertiary-butyl benzoic acid are mixed and heated with 60 parts of xylene to an acid value of 12. In addition, 271 parts of maleic anhydride and 0.6 parts of hydroquinone are admixed with the content and heated to terminate the reaction. 100 parts of a 50% stylene solution of this alkyd resin are mixed with 1 part of a 60% toluene solution of cobalt naphthenate, and then coated on a glass plate and irradiated with high energy electron beams of 300 kV with a dose of 5 Mrad for 1 sec.

Robotics research at Electrotechnical Laboratory-R and D program for advanced robot technology

Energy Technology Data Exchange (ETDEWEB)

Wakamatsu, S; Akahori, H; Shirai, Y; Kakikura, M

1983-01-01

The purposes of this paper are both to introduce the outline of robotics researches at Electrotechnical Laboratory and to describe the relation between those researches and the national project so called robotics for critical work. The authors first describe the robotics researches and related topics historically which have been continued from the latter half of 1960s as a part of researches on artificial intelligence at Electrotechnical Laboratory. Secondly, they mention the present aspects of our researches, its relation with past results, and changes of basic concepts on robotics systems. Finally, as an extension of our researches, they propose some approaches to establish the following techniques which make very important roles for the success of the national project; (1) manipulation techniques, (2) sensor techniques, (3) autonomous robot control techniques, (4) advanced tele-operation techniques and, (5) system totalizing techniques. 15 references.

Effect of Pigment Colouring on Physico-mechanical Properties of Hardened Cement Paste and Response of Colour Intensity to UV Radiation

International Nuclear Information System (INIS)

Khattab, M.M.; Abdel-Rahman, H.A.; Hassan, M.S.

2010-01-01

In this work, different ratios of pigment colour was mixed with cement paste during mixing. The pigment colour used was Phthalocyanine Green. The effect of pigment colouring on hardened cement paste (HCP) was characterized in terms of compressive strength, IR spectroscopic analysis and X-ray diffraction. In addition, the effect of UV radiation on the colour strength of hardened cement paste/pigment colour composites was investigated. The results indicated that the increase in the ratio of pigment colour was accompanied with a slight decrease in the values of compressive strength. The exposure of the coloured hardened cement paste to UV radiation for long lengths of time causes a little effect on the colour intensity

Radiation-hardened microwave communications system

International Nuclear Information System (INIS)

Smith, S.F.; Crutcher, R.I.; Vandermolen, R.I.

1990-01-01

The consolidated fuel reprocessing program (CFRP) at the Oak Ridge National Laboratory (ORNL) has been developing signal transmission techniques and equipment to improve the efficiency of remote handling operations for nuclear applications. These efforts have been largely directed toward the goals of (a) remotely controlling bilateral force-reflecting servomanipulators for dexterous manipulation-based operations in remote maintenance tasks and (b) providing television viewing of the work site. In September 1987, developmental microwave transceiving hardware operating with dish antennas was demonstrated in the advanced integrated maintenance system (AIMS) facility at ORNL, successfully implementing both high-quality one-way television transmissions and simultaneous bidirectional digital control data transmissions with very low error rates. Initial test results based on digital transmission at a 1.0-Mbaud data rate indicated that the error rates of the microwave system were comparable to those of a hardwired system. During these test intervals, complex manipulator operations were performed, and the AIMS transporter was moved repeatedly without adverse effects on data integrity. Results of these tests have been factored into subsequent phases of the development program, with an ultimate goal of designing a fully radiation-hardened microwave signal transmission system for use in nuclear facilities

Radiation hardening at 77 K in Zn and Cu single crystals at low doses

International Nuclear Information System (INIS)

Gonzalez, H.C.; Bisogni, E.A.

1980-01-01

There is controversy about radiation hardening phenomenon and its additivity with other hardening mechanisms. The purpose of this work is to contribute to the understanding of this subject, through measurements made in Zn and Cu single crystals. Post-irradiation measurements of yield stress of Zn, made on different single crystals, show a direct proportionality to the 0.5 power of the dose. It is determined that for a dose greater than 3.7 x 10 16 neutrons cm -2 s -1 there is always cleavage. The maximum critical resolved shear stress measured is about 8.82 MPa. In order to study additivity it is necessary to lower experimental errors. A micro tensile machine is designed to operate in the CNEA facility RA1 in a bath of liquid N 2 . Experimental measurements of yield stress with dose are carried out in-situ on the same single crystals. Experimental results on Cu and Zn show that radiation induced yield stress increases with a 0.5 power law. It must be taken into account that the definition of radiation induced yield stress stands for radiation created obstacles operating alone. The radiation induced yield stress adds algebraically to the athermal component of the initial yield stress but is not exactly additive to the other thermally activated mechanisms. A gradual transition from one to the other type of obstacles is observed. (author)

Application of emission CT on nano-robot radiation imaging tracing and isotope sign in nano-robot

International Nuclear Information System (INIS)

Wang Xuewu; Cheng Jianping; Kang Kejun

2000-01-01

Nano-technology has been a scientific and technical frontier with major trends foreseen in several disciplines. Nano-robot is the most remarkable imagination of the application of nano-technology. And it should be concerned of tracing technology along with nano-robot. The character of nano-robot is deeply analyzed, the development status of emission CT is integrated, and the application of emission CT on nano-robot radiation imaging tracing is discussed. The isotope sign of nano-robot is especially calculated and analyzed

Thin film silicon on silicon nitride for radiation hardened dielectrically isolated MISFET's

International Nuclear Information System (INIS)

Neamen, D.; Shedd, W.; Buchanan, B.

1975-01-01

The permanent ionizing radiation effects resulting from charge trapping in a silicon nitride isolation dielectric have been determined for a total ionizing dose up to 10 7 rads (Si). Junction FET's, whose active channel region is directly adjacent to the silicon-silicon nitride interface, were used to measure the effects of the radiation induced charge trapping in the Si 3 N 4 isolation dielectric. The JFET saturation current and channel conductance versus junction gate voltage and substrate voltage were characterized as a function of the total ionizing radiation dose. The experimental results on the Si 3 N 4 are compared to results on similar devices with SiO 2 dielectric isolation. The ramifications of using the silicon nitride for fabricating radiation hardened dielectrically isolated MIS devices are discussed

A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

Science.gov (United States)

Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

2002-07-01

Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

Remote radiation mapping and preliminary intervention using collaborating (European and Russian) mobile robots

International Nuclear Information System (INIS)

Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.

1996-12-01

The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)

General impact of robotics and automation in radiation environments

International Nuclear Information System (INIS)

Meghdari, A.; Salehi, M.

1993-01-01

Robotics and automation systems in nuclear environments require special design considerations. This paper presents an overview of selected robotic systems already designed and developed for use in nuclear applications at some U.S. laboratories. It will further emphasize on tasks identification, operational constraints, special considerations in materials selection, and a general guideline for robotic systems design in radiation environments. (author). 5 refs, 5 figs

Tele-transmission of EEG recordings.

Science.gov (United States)

Lemesle, M; Kubis, N; Sauleau, P; N'Guyen The Tich, S; Touzery-de Villepin, A

2015-03-01

EEG recordings can be sent for remote interpretation. This article aims to define the tele-EEG procedures and technical guidelines. Tele-EEG is a complete medical act that needs to be carried out with the same quality requirements as a local one in terms of indications, formulation of the medical request and medical interpretation. It adheres to the same quality requirements for its human resources and materials. It must be part of a medical organization (technical and medical network) and follow all rules and guidelines of good medical practices. The financial model of this organization must include costs related to performing the EEG recording, operating and maintenance of the tele-EEG network and medical fees of the physician interpreting the EEG recording. Implementing this organization must be detailed in a convention between all parties involved: physicians, management of the healthcare structure, and the company providing the tele-EEG service. This convention will set rules for network operation and finance, and also the continuous training of all staff members. The tele-EEG system must respect all rules for safety and confidentiality, and ensure the traceability and storing of all requests and reports. Under these conditions, tele-EEG can optimize the use of human resources and competencies in its zone of utilization and enhance the organization of care management. Copyright © 2015. Published by Elsevier SAS.

Enhancing Tele-robotics with Immersive Virtual Reality

Science.gov (United States)

2017-11-03

The spheres displayed in the virtual environment represent the real-world readings from the robot in real-time from its LRF and sonar sensors. In...Inc., is comprised of an advanced graphics rendering engine, sound engine, and physics and animation engines. This game engine is capable of delivering

Tele consultation and tele follow up of thyroid cancer patients: A pilot study

International Nuclear Information System (INIS)

Pradhan, P.K.; Das, B.K.; Mohanty, B.N.; Mishra, S.K.

2005-01-01

Full text: Radioiodine therapy is an essential component of thyroid cancer management and these patients require life long follow up at timed interval. Though radioiodine therapy is a well established adjuvant treatment for well differentiated thyroid cancer, still the acceptance by the surgical colleagues and patients is not uniform. In addition, this facility is not available in the eastern part of the country. Therefore, such patients are required to travel more than 1500 K.M. to avail this treatment and subsequent follow up at our Institution. The existing telemedicine facility between SGPGIMS, Lucknow and SCB Medical College, Cuttack provided the opportunity to utilise the system for tele-consultation and tele follow up of thyroid cancer patients. The rationale of this ongoing study is to evaluate the suitability of telemedicine for tele consultation prior to radioiodine therapy and tele follow up following radioiodine therapy of patients with well differentiated thyroid cancer. Thirty patients (10 new cases and 20 follow up cases) were included in this study. New cases were studied on the basis of case history inputs by the operating surgeon and direct patient consultation to find out their suitability for high dose radioiodine therapy. At the same time pre-therapy instructions as well as details of admission were finalised. Follow up of patients (20 in number) were discussed and examined on live along with operating surgeon with respect to compliance of thyroxine suppression therapy, local recurrence and need for further high dose radioiodine therapy. Each time, at least one surgeon and nuclear physician were involved during live evaluation of patients which was done with VSAT, broad band of 256 Kbps band width provided by ISRO, Bangalore, India and case history, radiological and nuclear medicine images were already transmitted prior to live evaluation. All ten new cases were found to be suitable for high dose radioiodine therapy. The appointment dates for

A virtual reality-based method of decreasing transmission time of visual feedback for a tele-operative robotic catheter operating system.

Science.gov (United States)

Guo, Jin; Guo, Shuxiang; Tamiya, Takashi; Hirata, Hideyuki; Ishihara, Hidenori

2016-03-01

An Internet-based tele-operative robotic catheter operating system was designed for vascular interventional surgery, to afford unskilled surgeons the opportunity to learn basic catheter/guidewire skills, while allowing experienced physicians to perform surgeries cooperatively. Remote surgical procedures, limited by variable transmission times for visual feedback, have been associated with deterioration in operability and vascular wall damage during surgery. At the patient's location, the catheter shape/position was detected in real time and converted into three-dimensional coordinates in a world coordinate system. At the operation location, the catheter shape was reconstructed in a virtual-reality environment, based on the coordinates received. The data volume reduction significantly reduced visual feedback transmission times. Remote transmission experiments, conducted over inter-country distances, demonstrated the improved performance of the proposed prototype. The maximum error for the catheter shape reconstruction was 0.93 mm and the transmission time was reduced considerably. The results were positive and demonstrate the feasibility of remote surgery using conventional network infrastructures. Copyright © 2015 John Wiley & Sons, Ltd.

Radiation Hardened NULL Convention Logic Asynchronous Circuit Design

Directory of Open Access Journals (Sweden)

Liang Zhou

2015-10-01

Full Text Available This paper proposes a radiation hardened NULL Convention Logic (NCL architecture that can recover from a single event latchup (SEL or single event upset (SEU fault without deadlock or any data loss. The proposed architecture is analytically proved to be SEL resistant, and by extension, proved to be SEU resistant. The SEL/SEU resistant version of a 3-stage full-word pipelined NCL 4 × 4 unsigned multiplier was implemented using the IBM cmrf8sf 130 nm 1.2 V process at the transistor level and simulated exhaustively with SEL fault injection to validate the proposed architectures. Compared with the original version, the SEL/SEU resilient version has 1.31× speed overhead, 2.74× area overhead, and 2.79× energy per operation overhead.

Robotics Strategy White Paper

Science.gov (United States)

2009-03-19

Cargo packaging and pallet assembly. Use of robotics tools to support palletization falls under the supply functional area which tasks the Army to...system. 17 At first glance, remote tele-operated surgery capability appears to already exist in civilian hospitals (i.e., DaVinci Machine: http... tool free maintenance and anticipatory sustainment and improved distribution. The UJTL tasks suggest nominal improvements in the maintenance area

Architecture and performance of radiation-hardened 64-bit SOS/MNOS memory

International Nuclear Information System (INIS)

Kliment, D.C.; Ronen, R.S.; Nielsen, R.L.; Seymour, R.N.; Splinter, M.R.

1976-01-01

This paper discusses the circuit architecture and performance of a nonvolatile 64-bit MNOS memory fabricated on silicon on sapphire (SOS). The circuit is a test vehicle designed to demonstrate the feasibility of a high-performance, high-density, radiation-hardened MNOS/SOS memory. The array is organized as 16 words by 4 bits and is fully decoded. It utilizes a two-(MNOS) transistor-per-bit cell and differential sensing scheme and is realized in PMOS static resistor load logic. The circuit was fabricated and tested as both a fast write random access memory (RAM) and an electrically alterable read only memory (EAROM) to demonstrate design and process flexibility. Discrete device parameters such as retention, circuit electrical characteristics, and tolerance to total dose and transient radiation are presented

Design and construction of tank robot for detection and searching of radiation sources

International Nuclear Information System (INIS)

Rio Isman; Djiwo Harsono; Adi Abimanyu

2016-01-01

Developments of robotics technology can be implemented for searching the lost radiation source. Radiation source lost case allows the radiation dose exceeding NBD received by radiation worker when security precautions are taken. This research propose a robot tank that can help in detection and searching radiation sources. The robot consists of a micro controller board Arduino Mega 2560, XBee Pro S radio frequency modules, Gaps receiver U-B lox Neo-Mn-0-01, a servo motor and two DC motors. In this research, the amount of radiation is calculated in 0-5 volt analog voltage that is simulated using a potentiometer and then converted to a digital voltage value (0-1023) using ADC 10 bit Arduino Mega 2560. Results of the research show that the robot has a size of 28.7 cm x 24.8 cm x 11 cm, able to move forward with a speed of 0.477 m/s and are capable to rotate in 24 angles. Data transmission can be performed wireless up to 113 m in an open area without any changes of format and length of the data. Robot capable to rotate and move towards the angle which has the largest voltage readings so can predict the location of the radiation source. (author)

Hardening device, by inserts, of electronic component against radiation

International Nuclear Information System (INIS)

Val, C.

1987-01-01

The hardening device includes at least two materials, one with high atomic number with respect to the other. One of these materials is set as inserts in a layer of the other material. The hardening device is then made by stacking of such layers, the insert density varying from one layer to the other, making thus vary the atomic number resulting from the hardening device along its thickness, following a predefined law [fr

Development of a self-maintenance radiation-tolerant robot

International Nuclear Information System (INIS)

Shimomura, Y.; Takahashi, H.; Tsuboi, Y.; Komatsu, K.

2004-01-01

The purpose of this research is to develop robot which dose not lose the function in radiation fields, and is able to get self-diagnosis and self-repair in the case of failure. The fundamental operation element and operational process algorithm are discussed. Utilizations of gas-micro electronics, which is easy to handle in comparison with vacuum field and to amplify with high speed by use of electron avalanche, are planed. The fundamental researches on radiation-tolerant robot which is not destructed by cosmic ray fields are carried out. The action of basic logic elements is ascertained. Self-repair type logic operations are considered. The self-repair type logic needs for to diagnosis abnormality of elements intellectually and repair by itself. Module failure diagnosis and repair plan technique based on qualitative inference are placed on the center of self-repair type logic. Self-maintenance robot can be actualized by modularization and divergence processing of diagnosis. (M. Suetake)

Remote Sensing of Radiation Dose Rate by Customizing an Autonomous Robot

International Nuclear Information System (INIS)

Kobayashi, T; Nakahara, M; Morisato, K; Takashina, T; Kanematsu, H

2012-01-01

Distribution of radiation dose was measured by customizing an autonomous cleaning robot 'Roomba' and a scintillation counter. The robot was used as a vehicle carrying the scintillation survey meter, and was additionally equipped with an H8 micro computer to remote-control the vehicle and to send measured data. The data obtained were arranged with position data, and then the distribution map of the radiation dose rate was produced. Manual, programmed and autonomous driving tests were conducted, and all performances were verified. That is, for each operational mode, the measurements both with moving and with discrete moving were tried in and outside of a room. Consequently, it has been confirmed that remote sensing of radiation dose rate is possible by customizing a robot on market.

Harwell hardens Staeubli Puma

International Nuclear Information System (INIS)

Watson, C.J.H.

1992-01-01

The Remote Handling and Robotics Department at Harwell, has argued that it ought to be possible to combine all the advantages of the industrial robot - its off-the-shelf availability, low cost and high reliability - with the specific requirements of the nuclear industry, by subjecting an industrial robot to a programme of ''nuclear engineering''. After a careful evaluation, they selected the Staubli Unimation Puma 760 robot as the first candidate for this programme. Three years, and several Pound 100,000s later, they have launched on the market the world's first Nuclear Engineered Advanced Telerobot, or NEATER, as it is called. The device is manufactured by Staubli Unimation, to the same mechanical and QA standards as a standard PUMA, but with all the non-metallic components replaced by radiation tolerant materials. These were chosen by Harwell, after extensive radiation testing and design work, to ensure that the whole robot can tolerate up to 100 MRads - i.e. the highest radiation dose that a robot is likely to experience in a normal nuclear facility. It is controlled, like a normal PUMA, by a VAL 2 industrial robot controller, but this is ''front-ended'' by the Harwell Telerobotic Controller, a PC-based controller, which takes human commands from mechanical ''Input Device'' and translates these into VAL commands, which can then be interpreted by the VAL 2 controller in the normal way. (Author)

Hand-held medical robots.

Science.gov (United States)

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

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

Radiation hardening revisited: Role of intracascade clustering

DEFF Research Database (Denmark)

Singh, B.N.; Foreman, A.J.E.; Trinkaus, H.

1997-01-01

be explained in terms of conventional dispersed-barrier hardening because (a) the grown-in dislocations are not free, and (b) irradiation-induced defect clusters are not rigid indestructible Orowan obstacles. A new model called 'cascade-induced source hardening' is presented where glissile loops produced...... directly in cascades are envisaged to decorate the grown-in dislocations so that they cannot act as dislocation sources. The upper yield stress is related to the breakaway stress which is necessary to pull the dislocation away from the clusters/loops decorating it. The magnitude of the breakaway stress has...

A software communication tool for the tele-ICU.

Science.gov (United States)

Pimintel, Denise M; Wei, Shang Heng; Odor, Alberto

2013-01-01

The Tele Intensive Care Unit (tele-ICU) supports a high volume, high acuity population of patients. There is a high-volume of incoming and outgoing calls, especially during the evening and night hours, through the tele-ICU hubs. The tele-ICU clinicians must be able to communicate effectively to team members in order to support the care of complex and critically ill patients while supporting and maintaining a standard to improve time to intervention. This study describes a software communication tool that will improve the time to intervention, over the paper-driven communication format presently used in the tele-ICU. The software provides a multi-relational database of message instances to mine information for evaluation and quality improvement for all entities that touch the tele-ICU. The software design incorporates years of critical care and software design experience combined with new skills acquired in an applied Health Informatics program. This software tool will function in the tele-ICU environment and perform as a front-end application that gathers, routes, and displays internal communication messages for intervention by priority and provider.

Why semiconductors must be hardened when used in space

International Nuclear Information System (INIS)

Winokur, P.S.

2000-01-01

The natural space radiation environment presents a great challenge to present and future satellite systems with significant assets in space. Defining requirements for such systems demands knowledge about the space radiation environment and its effects on electronics and optoelectronics technologies, as well as suitable risk assessment of the uncertainties involved. For mission of high radiation levels, radiation-hardened integrated circuits will be required to preform critical mission functions. The most successful systems in space will be those that are best able to blend standard commercial electronics with custom radiation-hardened electronics in a mix that is suitable for the system of interest

A low cost tele-imaging platform for developing countries

Directory of Open Access Journals (Sweden)

Kokou eADAMBOUNOU

2014-09-01

Full Text Available Purpose: To design a low cost tele-imaging method allowing real time tele-ultrasound expertise, delayed tele-ultrasound diagnosis and tele-radiology between remote peripherals hospitals and clinics (patient centres and university hospital centres (expert centre.Materials and Methods: A system of communication via internet (IP camera and remote access software enabling transfer of ultrasound videos and images between two centres, allows a real time tele-radiology expertise in the presence of a junior sonographer or radiologist at the patient centre. In the absence of a sonographer or radiologist at the patient centre, a 3D reconstruction program allows a delayed tele-ultrasound diagnosis with images acquired by a lay operator (e.g. midwife, nurse, technician. The system was tested both with high and low bandwidth. The system can further accommodate non-ultrasound tele-radiology (conventional radiography, mammography and computer tomography for example. The system was tested on 50 patients between CHR Tsevie in Togo (40km from Lomé-Togo and 4500km from Tours-France and CHU Campus at Lomé and CHU Trousseau in Tours.Results: A real time tele-expertise was successfully performed with a delay of approximately 1.5 seconds with an internet bandwidth of around 1Mbps (IP Camera and 512kbps (remote access software. A delayed tele-ultrasound diagnosis was also performed with satisfactory results. The transmission of radiological images from the patient centre to the expert centre was of adequate quality. Delayed tele-ultrasound and tele-radiology was possible even in the presence of a low bandwidth internet connection. Conclusion: This tele-imaging method, requiring nothing by readily available and inexpensive technology and equipment, offers a major opportunity for telemedicine in developing countries.

Tele-periodontics - Oral health care at a grass root level.

Science.gov (United States)

Avula, Haritha

2015-01-01

A new concept of tele-periodontics, which merges the innovative technology of telecommunications and the field of periodontics, is proposed. This new field of tele-periodontics will have an infinite potential where access to a specialist will be provided at a grass root level, enhancing effective delivery of therapy and information to the rural and under privileged areas. It would allow the specialist and the patient to interact either by video conferencing (real time) or through supportive information (store and forward) over geographic distances. Different probabilities of tele-periodontics such as tele consultation, tele training, tele education and tele support are also discussed in this paper.

Radiation hardened high efficiency silicon space solar cell

International Nuclear Information System (INIS)

Garboushian, V.; Yoon, S.; Turner, J.

1993-01-01

A silicon solar cell with AMO 19% Beginning of Life (BOL) efficiency is reported. The cell has demonstrated equal or better radiation resistance when compared to conventional silicon space solar cells. Conventional silicon space solar cell performance is generally ∼ 14% at BOL. The Radiation Hardened High Efficiency Silicon (RHHES) cell is thinned for high specific power (watts/kilogram). The RHHES space cell provides compatibility with automatic surface mounting technology. The cells can be easily combined to provide desired power levels and voltages. The RHHES space cell is more resistant to mechanical damage due to micrometeorites. Micro-meteorites which impinge upon conventional cells can crack the cell which, in turn, may cause string failure. The RHHES, operating in the same environment, can continue to function with a similar crack. The RHHES cell allows for very efficient thermal management which is essential for space cells generating higher specific power levels. The cell eliminates the need for electrical insulation layers which would otherwise increase the thermal resistance for conventional space panels. The RHHES cell can be applied to a space concentrator panel system without abandoning any of the attributes discussed. The power handling capability of the RHHES cell is approximately five times more than conventional space concentrator solar cells

Application of Robotics in Decommissioning and Decontamination - 12536

Energy Technology Data Exchange (ETDEWEB)

Banford, Anthony; Kuo, Jeffrey A. [National Nuclear Laboratory, Risley, Warrington (United Kingdom); Bowen, R.A. [National Nuclear Laboratory, Sellafield, Cumbria (United Kingdom); Szilagyi, Andrew; Kirk, Paula [U.S. Department of Energy, Washington, D.C. (United States)

2012-07-01

Decommissioning and dismantling of nuclear facilities is a significant challenge worldwide and one which is growing in size as more plants reach the end of their operational lives. The strategy chosen for individual projects varies from the hands-on approach with significant manual intervention using traditional demolition equipment at one extreme to bespoke highly engineered robotic solutions at the other. The degree of manual intervention is limited by the hazards and risks involved, and in some plants are unacceptable. Robotic remote engineering is often viewed as more expensive and less reliable than manual approaches, with significant lead times and capital expenditure. However, advances in robotics and automation in other industries offer potential benefits for future decommissioning activities, with the high probability of reducing worker exposure and other safety risks as well as reducing the schedule and costs required to complete these activities. Some nuclear decommissioning tasks and facility environments are so hazardous that they can only be accomplished by exclusive use of robotic and remote intervention. Less hazardous tasks can be accomplished by manual intervention and the use of PPE. However, PPE greatly decreases worker productivity and still exposes the worker to both risk and dose making remote operation preferable to achieve ALARP. Before remote operations can be widely accepted and deployed, there are some economic and technological challenges that must be addressed. These challenges will require long term investment commitments in order for technology to be: - Specifically developed for nuclear applications; - At a sufficient TRL for practical deployment; - Readily available as a COTS. Tremendous opportunities exist to reduce cost and schedule and improve safety in D and D activities through the use of robotic and/or tele-operated systems. - Increasing the level of remote intervention reduces the risk and dose to an operator. Better

Radiation hardening: study of production velocity and post-irradiation recovery of defect clusters produced by neutron irradiation at 77 K

International Nuclear Information System (INIS)

Gonzalez, Hector C.; Miralles, Monica T.

1999-01-01

This work includes three basic studies using radiation hardening of Cu single crystals irradiated at 77 K in the RA-1-reactor of CNEA: 1) The initial of a production curve of defect clusters originated during radiation until 5.2 x 10 20 n m 2 . The shape of the curve is compared with those obtained from measurement of resistivity increased (Δρ) with neutronic doses (φt) and the acceptance of the linear dependency of Δρ with Frenkel Pairs concentration (PFs); 2) The isochronal hardening recovery in the temperature interval of stage V (T > 450 K). The existence of the sub-stages Vb (∼ 550 K) and Vc (∼ 587 K), determined for the first time from hardening measurements, are shown and compared with results obtained by other techniques; 3) Isothermal recoveries performed in the temperature interval of the sub-stage Vc to determine phenomenologically the apparent activation energy of the sub-stage. The value obtained was in agreement with the energy for Cu vacancies auto diffusion. (author)

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.

Paint and binding material to be hardened by ionizing radiations

International Nuclear Information System (INIS)

Johnson, O.B.; Labana, S.S.

1976-01-01

The invention concerns a paint binding material which can be hardened due to the effect of ionising radiation, consisting of a dispersion of a) an ethylene unsaturated material in b) at least one vinyl monomer. Component (a) is a reaction product of graded rubber particles (0.1 - 4 μm) and an ethylene unsaturated component with a reactive epoxy-, hydroxy- or carbonyl-group, which is connected to the rubber by ester or urethane links. The rubber particles have a core of cross linked elastomer acrylic polymers, an outer shell of reactive groups and an intermediate layer made from the core monomer and the shell. 157 examples explain the manufacturing process. The paint is suitable for covering articles which will later be subject to distortion. (UWI) [de

Efficient, radiation-hardened, 800-keV neutral beam injection system

International Nuclear Information System (INIS)

Anderson, O.A.; Cooper, W.S.; Goldberg, D.A.; Ruby, L.; Soroka, L.; Fink, J.H.

1982-10-01

Recent advances and new concepts in negative ion generation, transport, acceleration, and neutrailzation make it appear likely that an efficient, radiation-hardened neutral beam injection system could be developed in time for the proposed FED-A tokamak. These new developments include the operation of steady-state H - ion sources at over 5 A per meter of source length, the concept of using strong-focussing electrostatic structures for low-gradient dc acceleration of high-current sheet beams of negative ions and the transport of these beams around corners, and the development of powerful oxygen-iodine chemical lasers which will make possible the efficient conversion of the negative ions to neutrals using a photodetachment scheme in which the ion beam passes through the laser cavity

The French A.E.C. nuclear robotic program

International Nuclear Information System (INIS)

Foult, T.

1991-01-01

The new French nuclear robotic program launched by the CEA was started at the beginning of 1988 for the duration of two years and with the total subsidy of about 130 million French franc. This program includes the following four steps: the definition of model missions dedicated to inspection and intervention in nuclear environment, the system analysis to define the systems, functions and specifications required to perform these model missions, the technological development required to achieve these systems, and the design of demonstration models with the partial integration of the above developments. The whole program including these four steps is called SYROCO (modular SYstem for RObots COoperating in radioactive environment). The repair of leak in a pipe in a reprocessing cell, the model mission in a PWR nuclear power plant, autonomous load bearing mobile robots, squirrel concept light modular carrier concept, radiation hardening, mechanic, perception of environment, communication, control and simulation and the demonstration models are described. SHERPA project, perception management, force controlled manipulator, squirrel project, light modular carrier, processes and NAB model mission simulation are particularly mentioned

Radiological Protection and Quality Assurance in Health Sciences: Tele-Education for continued Postgraduate Training

International Nuclear Information System (INIS)

Alcaraz, M.; Chico, P.; Armero, D.; Saura Iniesta, A. M.; Vicente, V.

2003-01-01

The establishment of an inter departmental project, financed by the Spanish Ministry of Education, has made possible the development to specific didactic materials on Radiological Protection and Quality Assurance in Medical Radiodiagnostic Practices. These have been published as a manual and practical notebook. This material constitutes the grounding work for the first continuous tele-education training course via Internet that Spanish professionals exposed to ionising radiation are following. Interactive multimedia training and tele-education may become one of the alternatives that allow health science professionals to receive continuous training, provided that adequate content and aims had been established during undergraduate training. (Author) 18 refs

Impact of robotics and a suspended lead suit on physician radiation exposure during percutaneous coronary intervention

Energy Technology Data Exchange (ETDEWEB)

Madder, Ryan D., E-mail: ryan.madder@spectrumhealth.org; VanOosterhout, Stacie; Mulder, Abbey; Elmore, Matthew; Campbell, Jessica; Borgman, Andrew; Parker, Jessica; Wohns, David

2017-04-15

Background: Reports of left-sided brain malignancies among interventional cardiologists have heightened concerns regarding physician radiation exposure. This study evaluated the impact of a suspended lead suit and robotic system on physician radiation exposure during percutaneous coronary intervention (PCI). Methods: Real-time radiation exposure data were prospectively collected from dosimeters worn by operating physicians at the head- and chest-level during consecutive PCI cases. Exposures were compared in three study groups: 1) manual PCI performed with traditional lead apparel; 2) manual PCI performed using suspended lead; and 3) robotic PCI performed in combination with suspended lead. Results: Among 336 cases (86.6% manual, 13.4% robotic) performed over 30 weeks, use of suspended lead during manual PCI was associated with significantly less radiation exposure to the chest and head of operating physicians than traditional lead apparel (chest: 0.0 [0.1] μSv vs 0.4 [4.0] μSv, p < 0.001; head: 0.5 [1.9] μSv vs 14.9 [51.5] μSv, p < 0.001). Chest-level radiation exposure during robotic PCI performed in combination with suspended lead was 0.0 [0.0] μSv, which was significantly less chest exposure than manual PCI performed with traditional lead (p < 0.001) or suspended lead (p = 0.046). In robotic PCI the median head-level exposure was 0.1 [0.2] μSv, which was 99.3% less than manual PCI performed with traditional lead (p < 0.001) and 80.0% less than manual PCI performed with suspended lead (p < 0.001). Conclusions: Utilization of suspended lead and robotics were observed to result in significantly less radiation exposure to the chest and head of operating physicians during PCI. - Highlights: • Use of suspended lead during manual PCI reduced cranial radiation among operators by 97%. • Robotic PCI reduced cranial radiation among operators by 99%. • Suspended lead and robotics together achieved the lowest levels of radiation exposure.

Impact of robotics and a suspended lead suit on physician radiation exposure during percutaneous coronary intervention

International Nuclear Information System (INIS)

Madder, Ryan D.; VanOosterhout, Stacie; Mulder, Abbey; Elmore, Matthew; Campbell, Jessica; Borgman, Andrew; Parker, Jessica; Wohns, David

2017-01-01

Background: Reports of left-sided brain malignancies among interventional cardiologists have heightened concerns regarding physician radiation exposure. This study evaluated the impact of a suspended lead suit and robotic system on physician radiation exposure during percutaneous coronary intervention (PCI). Methods: Real-time radiation exposure data were prospectively collected from dosimeters worn by operating physicians at the head- and chest-level during consecutive PCI cases. Exposures were compared in three study groups: 1) manual PCI performed with traditional lead apparel; 2) manual PCI performed using suspended lead; and 3) robotic PCI performed in combination with suspended lead. Results: Among 336 cases (86.6% manual, 13.4% robotic) performed over 30 weeks, use of suspended lead during manual PCI was associated with significantly less radiation exposure to the chest and head of operating physicians than traditional lead apparel (chest: 0.0 [0.1] μSv vs 0.4 [4.0] μSv, p < 0.001; head: 0.5 [1.9] μSv vs 14.9 [51.5] μSv, p < 0.001). Chest-level radiation exposure during robotic PCI performed in combination with suspended lead was 0.0 [0.0] μSv, which was significantly less chest exposure than manual PCI performed with traditional lead (p < 0.001) or suspended lead (p = 0.046). In robotic PCI the median head-level exposure was 0.1 [0.2] μSv, which was 99.3% less than manual PCI performed with traditional lead (p < 0.001) and 80.0% less than manual PCI performed with suspended lead (p < 0.001). Conclusions: Utilization of suspended lead and robotics were observed to result in significantly less radiation exposure to the chest and head of operating physicians during PCI. - Highlights: • Use of suspended lead during manual PCI reduced cranial radiation among operators by 97%. • Robotic PCI reduced cranial radiation among operators by 99%. • Suspended lead and robotics together achieved the lowest levels of radiation exposure.

[Haptic tracking control for minimally invasive robotic surgery].

Science.gov (United States)

Xu, Zhaohong; Song, Chengli; Wu, Wenwu

2012-06-01

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

Attitudes of COPD patients towards tele-rehabilitation

DEFF Research Database (Denmark)

Dinesen, Birthe; Huniche, Lotte; Toft, Egon

2013-01-01

about their tele-rehabilitation: indifference, learning as part of situations in everyday life, feeling of security and motivation for performing physical training. The patients express the view that they circulate between these attitudes depending on their physical and emotional state as they perform......The aim of this paper is to describe patients’ attitudes towards tele-rehabilitation in the Danish TELEKAT (for Telehomecare, Chronic Patients and the Integrated Healthcare System) project, in order to better understand patients’ behavior when performing tele-rehabilitation activities in home...

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

Energy Technology Data Exchange (ETDEWEB)

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

2009-10-15

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

Tele-centres as a way of achieving universal access

DEFF Research Database (Denmark)

Falch, Morten; Anyimadu, Amos

2003-01-01

The success of tele-centres in Ghana is discussed. The tele-centres offer a low cost opportunity to empower local communities in developed and developing countries to meet the challenges of the information society. The tele-centres can also contribute more directly to the supply of non-commercial...

TeleAbilitation

DEFF Research Database (Denmark)

Brooks, Anthony Lewis

2013-01-01

This chapter presents the TeleAbilitation concept and describes the potential of contemporary video game gesture controllers in rehabilitation and therapy via their online connectivity. It reflects on the author’s previous work focusing on ability rather than on impairment. A novel sensor-based p...

The development of robot application technology in nuclear facilities

International Nuclear Information System (INIS)

Lee, Jong Min; Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Young; Sohn, Surg Won; Lee, Yong Bum; Kim, Woong Ki

1991-01-01

The project of this study is intended to develop the application technology for autonomous robotic systems operated in hostile environments where human access is prohibited. The mobile robot, named as KAEROT, has been designed by adopting the controller of multiprocessor of distributed system architecture in order to get flexibility. 2 driving wheel assembles and 1 steering mechanism has been adopted and each of them is made of planetary wheel which is composed of a couple of star-like arms with 3 wheels. The 6 D.O.F of manipulator is controlled by CCD camera mounted on the elbow and base, to provide wide view of the working area for tele-operation. The off-line programming system is being developed for checking robot constraint violations within workspace prior to execution of robot programming. (Author)

Outer navigation of a inspection robot by means of feedback of global guidance; Navegacion exterior de un robot de inspeccion mediante retroalimentacion de la orientacion global

Energy Technology Data Exchange (ETDEWEB)

Segovia de los R, A.; Bucio V, F. [ININ, 52750 La Marquesa, Estado de Mexico (Mexico); Garduno G, M. [Instituto Tecnologico de Toluca, Av. Instituto Tecnologico s/n, Metepec, Estado de Mexico 52140 (Mexico)]. e-mail: asegovia@nuclear.inin.mx

2008-07-01

The objective of this article is the presentation of an inspection system to mobile robot navigating in exteriors by means of the employment of a feedback of instantaneous guidance with respect to a global reference throughout moment of the displacement. The robot evolves obeying the commands coming from the one tele operator which indicates the diverse addresses by means of the operation console that the robot should take using for it information provided by an electronic compass. The mobile robot employee in the experimentations is a Pioneer 3-AT, which counts with a sensor series required to obtain an operation of more autonomy. The electronic compass offers geographical information coded in a format SPI, reason for which a micro controller ({mu}C) economic of general use has been an employee for to transfer the information to the format RS-232, originally used by the Pioneer 3-AT. The orientation information received by the robot by means of their serial port RS-232 secondary it is forwarded to the computer hostess in the one which a program Java is used to generate the commands for the robot navigation control and to deploy one graphic interface user utilized to receive the order of the operator. This research is part of an ambitious project in which it is tried to count on an inspection system and monitoring of sites in which risks of high radiation levels could exist, thus a navigation systems in exteriors could be very useful. The complete system will count besides the own sensors of the robot, with certain numbers of agree sensors to the variables that are desired to monitor. The resulting values of such measurements will be visualized in real time in the graphic interface user, thanks to a bidirectional wireless communication among the station of operation and the mobile robot. (Author)

The use of microhardness tests to determine the radiation hardening of austenitic stainless steel; Zastosowanie pomiarow mikrotwardosci dla okreslenia umocnienia radiacyjnego stali austenitycznej napromienionej neutronami

Energy Technology Data Exchange (ETDEWEB)

Hofman, A.; Kochanski, T.; Malczyk, A.

1994-12-31

The use of microhardness technique to determine the radiation hardening has been studied. Microhardness measurements have been conducted on austenitic stainless steel OH18N1OT irradiated up to 2x10{sup 19} ncm{sup -2}. It was determined that the increase in microhardness varies directly with the measured increase in the 0.2% offset yield strength and has been found that microhardness technique may be an effective tool to measurements of radiation induced hardening. (author). 18 refs, 3 figs, 3 tabs.

Superconducting (radiation hardened) magnets for mirror fusion devices

International Nuclear Information System (INIS)

Henning, C.D.; Dalder, E.N.C.; Miller, J.R.; Perkins, J.R.

1983-01-01

Superconducting magnets for mirror fusion have evolved considerably since the Baseball II magnet in 1970. Recently, the Mirror Fusion Test Facility (MFTF-B) yin-yang has been tested to a full field of 7.7 T with radial dimensions representative of a full scale reactor. Now the emphasis has turned to the manufacture of very high field solenoids (choke coils) that are placed between the tandem mirror central cell and the yin-yang anchor-plug set. For MFTF-B the choke coil field reaches 12 T, while in future devices like the MFTF-Upgrade, Fusion Power Demonstration and Mirror Advanced Reactor Study (MARS) reactor the fields are doubled. Besides developing high fields, the magnets must be radiation hardened. Otherwise, thick neutron shields increase the magnet size to an unacceptable weight and cost. Neutron fluences in superconducting magnets must be increased by an order of magnitude or more. Insulators must withstand 10 10 to 10 11 rads, while magnet stability must be retained after the copper has been exposed to fluence above 10 19 neutrons/cm 2

BUSFET - A Novel Radiation-Hardened SOI Transistor

International Nuclear Information System (INIS)

Dodd, P.E.; Draper, B.L.; Schwank, J.R.; Shaneyfelt, M.R.

1999-01-01

A partially-depleted SOI transistor structure has been designed that does not require the use of specially-processed hardened buried oxides for total-dose hardness and maintains the intrinsic SEU and dose rate hardness advantages of SOI technology

Radiation Hardening and Verification Procedure for Compact Flip-Flop Design

Energy Technology Data Exchange (ETDEWEB)

Kwon, Inyong; Sung, Seung Hwan [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

For radiation-related applications applying electronic devices in nuclear, space, medicine, and scientific experiment, single event transients (SETs) and single event upsets (SEUs) are become primary concern since they can cause malfunctions in a system by affecting the signal transition and flipping digital bits. The D flip-flop as a register is generally used in digital circuits that require data stability and high speed. For many years, radiation-hardened-by-design (RHBD) circuits have been gradually developed from traditional circuit architectures. One of common methods is to exploit redundancy in an important circuit block to preserve the correct signal. This technique uses a voting process to have a correct output when other duplicated systems fail due to a single event effect (SEE) including SET and SEU. For instance, B. Olson applied the redundancy technique, formally referred the triple modular redundancy (TMR). Other researchers use various error detection and correction (EDAC) algorithms including redundant bits in the storage circuits to detect and correct errors at the system level. practical experiments at radiation exposure facilities. Korea Atomic Energy Research Institute (KAERI) operates a laboratory with high energy radioactive isotope, {sup 60}Co in Jeongeup, Korea. The facility can provide various experiments requiring experimental environment changes by controlling radiation activity and radiated energy. The future direction on RHBD circuits would be integration with the digital DFF presented in this paper and analog front-end units such as OP-amp for charge sensitive or shaping amplifier. Analog-to-digital converters (ADCs) are also major components necessarily imbedded in the most of sensor related electronics. Thus RHBD techniques are inevitably required to protect these circuits from SEE; specifically, SEUs for digital logics and SETs for analog signals. Since most ADCs consist of both analog and digital circuits in their architectures

Vision-Based Robot Following Using PID Control

Directory of Open Access Journals (Sweden)

Chandra Sekhar Pati

2017-06-01

Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.

Investigation of epitaxial silicon layers as a material for radiation hardened silicon detectors

International Nuclear Information System (INIS)

Li, Z.; Eremin, V.; Ilyashenko, I.; Ivanov, A.; Verbitskaya, E.

1997-12-01

Epitaxial grown thick layers (≥ 100 micrometers) of high resistivity silicon (Epi-Si) have been investigated as a possible candidate of radiation hardened material for detectors for high-energy physics. As grown Epi-Si layers contain high concentration (up to 2 x 10 12 cm -3 ) of deep levels compared with that in standard high resistivity bulk Si. After irradiation of test diodes by protons (E p = 24 GeV) with a fluence of 1.5 x 10 11 cm -2 , no additional radiation induced deep traps have been detected. A reasonable explanation is that there is a sink of primary radiation induced defects (interstitial and vacancies), possibly by as-grown defects, in epitaxial layers. The ''sinking'' process, however, becomes non-effective at high radiation fluences (10 14 cm -2 ) due to saturation of epitaxial defects by high concentration of radiation induced ones. As a result, at neutron fluence of 1 x 10 14 cm -2 the deep level spectrum corresponds to well-known spectrum of radiation induced defects in high resistivity bulk Si. The net effective concentration in the space charge region equals to 3 x 10 12 cm -3 after 3 months of room temperature storage and reveals similar annealing behavior for epitaxial as compared to bulk silicon

Bauru School of Dentistry Tele-Health League: an educational strategy applied to research, teaching and extension among applications in tele-health.

Science.gov (United States)

Silva, Andressa Sharllene Carneiro da; Rizzante, Fabio Antonio Piola; Picolini, Mirela Machado; Campos, Karis de; Corrêa, Camila de Castro; Franco, Elen Caroline; Pardo-Fanton, Cássia de Souza; Blasca, Wanderléia Quinhoneiro; Berretin-Felix, Giédre

2011-01-01

Tele-health is more than an innovative alternative; it is an excellent tool that enables access to health and education in health, making it possible to minimize distances, optimize time and reduce costs. Based on these advantages, some Brazilian Universities have used these actions in strategies of education, research and extension, aiming at the application of Tele-health in Brazil. In that way, the Bauru School of Dentistry - University of São Paulo (FOB-USP) has applied the use of information and communication technologies in health by means of a "Tele-Health League" (TL), in order to diagnose, prevent and treat diseases, in addition to educate the population and health services. The present study aims to introduce the characteristics of the Tele-Health League of FOB-USP, as well as the development of its projects. The Tele-Health League consisted as a Diffusion Course approved by the Provost of Culture and Academic Extension of the University of São Paulo. It is composed as a large group enclosing professoriate coordinator, academician principal, contributing professors and league members, those, diversified between undergraduates students, graduated, health employees, technology and information areas. The participant members are evaluated by the presence frequency (minimum of 85%), and by the performance of tests and paperwork about the theoretical content provided. In four years of activities, the TLFOB-USP obtained a high satisfaction index (90%), an increased number of vacancies due to the interest to become a member, more commitment of the professors of the University and the accomplishment of association with other Brazilian leagues. It is emphasized that the approval percentage of the course results in approval from approximately half of its members. Also, it is important to identify and repair the causes related to the quitting of some members. The results showed that the TLFOB-USP members, adjoining to the professor's participants, develop projects

Bauru School of Dentistry Tele-Health League: an educational strategy applied to research, teaching and extension among applications in tele-health

Directory of Open Access Journals (Sweden)

Andressa Sharllene Carneiro da Silva

2011-12-01

Full Text Available Tele-health is more than an innovative alternative; it is an excellent tool that enables access to health and education in health, making it possible to minimize distances, optimize time and reduce costs. Based on these advantages, some Brazilian Universities have used these actions in strategies of education, research and extension, aiming at the application of Tele-health in Brazil. In that way, the Bauru School of Dentistry - University of São Paulo (FOB-USP has applied the use of information and communication technologies in health by means of a "Tele-Health League" (TL, in order to diagnose, prevent and treat diseases, in addition to educate the population and health services. Objective: The present study aims to introduce the characteristics of the Tele-Health League of FOB-USP, as well as the development of its projects. Material and Methods: The Tele-Health League consisted as a Diffusion Course approved by the Provost of Culture and Academic Extension of the University of São Paulo. It is composed as a large group enclosing professoriate coordinator, academician principal, contributing professors and league members, those, diversified between undergraduates students, graduated, health employees, technology and information areas. The participant members are evaluated by the presence frequency (minimum of 85%, and by the performance of tests and paperwork about the theoretical content provided. Results: In four years of activities, the TLFOB-USP obtained a high satisfaction index (90%, an increased number of vacancies due to the interest to become a member, more commitment of the professors of the University and the accomplishment of association with other Brazilian leagues. It is emphasized that the approval percentage of the course results in approval from approximately half of its members. Also, it is important to identify and repair the causes related to the quitting of some members. Conclusions: The results showed that the TLFOB

DEVELOPMENT AND RESEARCH OF ULTRASONIC OSCILLATORY SYSTEM FOR HARDENING OF SPRING PLATE BILLETS

Directory of Open Access Journals (Sweden)

V. A. Tomilo

2015-01-01

Full Text Available Various schemes of ultrasonic oscillatory system are developed: with a «force nonsensitive» support, with a «force sensitive» support, with the deforming steel balls in bulk. Results of the ultrasonic treatment showed that hardening of a surface of the samples took place when the vibration amplitude of a radiator exceeds a certain level. The level of hardening increases with increase in amplitude of fluctuations of a radiator. Higher level of hardening is registered when the surface is treated by steel balls.

Tele-Operated Echography and Remote Guidance for Performing Tele-Echography on Geographically Isolated Patients

Directory of Open Access Journals (Sweden)

Philippe Arbeille

2016-06-01

Full Text Available Objective: To evaluate the performance of three tele-echography systems for routine use in isolated medical centers. Methods: Three systems were used for deep (abdomen, pelvis, fetal and superficial (muscle, thyroid, carotid artery examinations: (a a robotic arm (RA holding an echographic probe; (b an echograph with a motorized probe (MP; and (c remote guidance (RG where the patient site operator performed the examination assisted by an expert via videoconference. All systems were tested in the same medical center located 60 km away from the university hospital. Results: A total of 340 remote echography examinations were performed (41% RA and MP, 59% RG. MP and RA allowed full control of the probe orientation by the expert, and provided diagnoses in 97% of cases. The use of RG was sufficient for superficial vessel examinations and provided diagnoses in 98% of cases but was not suited for deep or superficial organs. Assessment of superficial organs was best accomplished using the MP. Discussion: Both teleoperated systems provided control of the probe orientation by the expert necessary for obtaining appropriate views of deep organs but the MP was much more ergonomic and easier to use than the RA. RG was appropriate for superficial vessels while the MP was better for superficial volumic organs.

Empowering Patients with COPD Using Tele-Homecare Technology

DEFF Research Database (Denmark)

Huniche, Lotte

2010-01-01

Abstract. This paper describes how a tele-rehabilitation program using home tele-monitoring empowers patients with COPD. The paper is based on findings from an ongoing research and innovation project, called “Telehomecare, chronic patients and the integrated healthcare system” (the TELEKAT project......) that employs triple interventions related to patients, professionals, and the organisation of care. The ways COPD patients utilize home tele-monitoring in the TELEKAT project points to the relevance of empowerment, as rooted in ideologies of social action, and focusing on the improvement of both personal...

Outer navigation of a inspection robot by means of feedback of global guidance

International Nuclear Information System (INIS)

Segovia de los R, A.; Bucio V, F.; Garduno G, M.

2008-01-01

The objective of this article is the presentation of an inspection system to mobile robot navigating in exteriors by means of the employment of a feedback of instantaneous guidance with respect to a global reference throughout moment of the displacement. The robot evolves obeying the commands coming from the one tele operator which indicates the diverse addresses by means of the operation console that the robot should take using for it information provided by an electronic compass. The mobile robot employee in the experimentations is a Pioneer 3-AT, which counts with a sensor series required to obtain an operation of more autonomy. The electronic compass offers geographical information coded in a format SPI, reason for which a micro controller (μC) economic of general use has been an employee for to transfer the information to the format RS-232, originally used by the Pioneer 3-AT. The orientation information received by the robot by means of their serial port RS-232 secondary it is forwarded to the computer hostess in the one which a program Java is used to generate the commands for the robot navigation control and to deploy one graphic interface user utilized to receive the order of the operator. This research is part of an ambitious project in which it is tried to count on an inspection system and monitoring of sites in which risks of high radiation levels could exist, thus a navigation systems in exteriors could be very useful. The complete system will count besides the own sensors of the robot, with certain numbers of agree sensors to the variables that are desired to monitor. The resulting values of such measurements will be visualized in real time in the graphic interface user, thanks to a bidirectional wireless communication among the station of operation and the mobile robot. (Author)

Radiation Hardened Structured ASIC Platform with Compensation of Delay for Temperature and Voltage Variations for Multiple Redundant Temporal Voting Latch Technology

Science.gov (United States)

Ardalan, Sasan (Inventor)

2018-01-01

The invention relates to devices and methods of maintaining the current starved delay at a constant value across variations in voltage and temperature to increase the speed of operation of the sequential logic in the radiation hardened ASIC design.

Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

Directory of Open Access Journals (Sweden)

Jose Antonio Lopez-Orozco

2013-02-01

Full Text Available This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory or with a real robot (remote laboratory, with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

Virtual and remote robotic laboratory using EJS, MATLAB and LabVIEW.

Science.gov (United States)

Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

2013-02-21

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

Development of a SG Tube Inspection/maintenance Robot

International Nuclear Information System (INIS)

Shin, Ho Cheol; Jung, Kyung Min; Choi, Chang Hwan; Kim, Seung Ho

2005-01-01

A radiation hardened robot system is developed which assists in an automatic non-destructive testing and the repair of nuclear steam generator tubes. And a control system is developed. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water chamber entering and leaving device of the manipulator and a manipulator base pose adjusting device. The kinematic analysis using the grid method was performed to search for the optimal manipulator's link parameters, and the stress analysis of the robotic system was also carried out for a structural safety verification. The robotic control system consists of a main personal computer placed near the operator and a local robotic position controller placed near the steam generator. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3- D graphic simulation function which offers a remote reality to operators and so on. The image information acquired from the camera attached to the end-effector is used to calibrate the end-effector pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. Eddy-current probe guide devices, a brushing tool, a motorized plugging tool and a U-tube internal visual inspection system have been developed. A data acquisition system was built to acquire and process the eddy-current signals, and a software program for eddy-current signal acquisition and processing. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory. The final function test was carried out at the Kori Npp type steam generator mockup in the Kori training center

Pioneer Robot Testing Program and Status

International Nuclear Information System (INIS)

Herndon, J.N.

2001-01-01

The U.S. Department of Energy (USDOE) and Ukraine established a joint program in 1997 to address the need for remotely operated systems for unstructured environments in Ukraine such as the highly hazardous conditions inside the failed Chernobyl Nuclear Power Plant (ChNPP) Unit 4, or Shelter Object. The environment inside Shelter Object is extremely hazardous due to ionizing radiation fields, high airborne contamination, and major industrial safety issues. Although Ukrainian workers have explored and mapped much of the internals of Unit 4 in the time since the accident during the morning hours of April 26, 1986, there remain areas where humans have not entered to this date. Based on the agreement between USDOE and Ukraine, the USDOE, in cooperation with the U.S. National Aeronautics and Space Administration (NASA), developed the Pioneer Robot and has provided it to the ChNPP within the framework of international technical assistance. Pioneer is capable of mobile platform movement and manipulation under teleoperated control, 3-dimensional mapping, and environmental data collection. The Pioneer is radiation hardened for conditions like those of Shelter Object. Pioneer has been evaluated on site in Ukraine for use in both the Shelter Object environment and the more general conditions of ChNPP decommissioning. This paper summarizes the results of these testing activities and describes the status and near-term activities in support of the Pioneer Robot integration into Ukraine

JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

CERN Document Server

Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

2018-01-01

High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

Hardening by means of ionising radiation

International Nuclear Information System (INIS)

Spoor, H.; Demmler, K.

1979-01-01

The polymerisable ethylic unsaturated mixture can be hardened by means of electron irradiation and used as a corrosion preventive layer. The mixture mainly consists of at least a di-olefinic unsaturated polyester, partial esters of polycarbonic acids, in particular the monoester of dicarbonic acids, with a copolymerizable C-C double bond, and mono-olefine unsaturated hydrocarbons, for example vinyl aromatics. The coatings exhibit good adhesion to the substrate, in particular to metal, and good flexibility. (DG) [de

Evaluation of modular robot system for maintenance tasks in hot cell

Energy Technology Data Exchange (ETDEWEB)

Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

2014-10-15

Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

Study of a design criterion for 316L irradiated represented by a strain hardened material

International Nuclear Information System (INIS)

Gouin, H.

1999-01-01

The aim of this study is to analyse the consequence of radiation on different structure submitted to imposed displacement loading and for damages due to plastic instability or rupture. The main consequence of radiation is a material hardening with a ductility decrease. This effect is similar to initial mechanical hardening: the mechanical properties (determined on smooth tensile specimen) evolve in the same way while irradiation or mechanical hardening increase. So in this study, radiation hardening is simulated by mechanical hardening (swaging). Tests were carried out for which two damages were considered: plastic instability and rupture. These two damages were studied with initial mechanical hardening (5 tested hammering rate 0, 15, 25, 35 and 45% on 316L stainless steel). Likewise two types of loading were studied: tensile or bending loading on specimens with or without geometrical singularities (notches). From tensile tests, two deformation criteria are proposed for prevention against the two quoted damages. Numerical study is carried out allowing to confirm hypothesis made at the time of the tensile test result interpretation and to validate the rupture criterion by applying on bending test. (author)

Study of radiation hardening in reactor pressure vessel steels

International Nuclear Information System (INIS)

Nogiwa, Kimihiro; Nishimura, Akihiko

2008-01-01

In order to investigate the dependence of hardening on copper precipitate diameter and density, in-situ transmission electron microscopy (TEM) observations during tensile tests of dislocation gliding through copper rich-precipitates in thermally aged and neutron irradiated Fe-Cu alloys were performed. The obstacle strength has been estimated from the critical bow-out angle, φ, of dislocations. The obstacle distance on the dislocation line measured from in-situ TEM observations were compared with number density and diameter measured by 3D-AP (three dimensional atom probe) and TEM observation. A comparison is made between hardening estimation based on the critical bowing angles and those obtained from conventional tensile tests. (author)

Tele-education.

Science.gov (United States)

Curran, Vernon R

2006-01-01

Tele-education has been used for many years to deliver continuing education programmes to rural health-care professionals. The main modes are audio, video and computer. Audio technologies involve the transmission of the spoken word (voice) between learners and instructors, either synchronously or asynchronously. Examples of the former include audioconferencing and short-wave radio; examples of the latter include audiotape or audiocassette. Video for distance learning, like audio, can be used in either synchronous or asynchronous fashion. Videoconferencing, or interactive television, are considered synchronous because there is the opportunity for live visual and verbal interaction between instructors and learners. Asynchronous instructional video tools include slow-scan video, interactive videodiscs and videotapes. Computer-assisted learning or instruction can be defined as any learning that is mediated by a computer and which requires no direct interaction between the user and a human instructor in order to run. It is becoming increasingly common. Examples include: the Internet and World Wide Web, email, synchronous and asynchronous computer-mediated communication applications and interactive multimedia applications on CD-ROM. Tele-education technologies have an important role to play in addressing the professional isolation which is experienced by rural and remote health-care professionals.

Evaluation of a tele-education programme in Brazil.

Science.gov (United States)

Joshi, Ashish; Novaes, Magdala A; Iyengar, Sriram; Machiavelli, Josiane L; Zhang, Jiajie; Vogler, Robert; Hsu, Chiehwen E

2011-01-01

We evaluated a tele-education programme for primary care staff in Pernambuco State, Brazil. During 2008 and 2009, tele-education sessions occurred four times each week for one hour per day. The topics included public health, child and adolescent health, mental health and nursing. After each session, participants completed an evaluation questionnaire. A total of 73 municipalities and 141 health centres participated in the programme. There were 254 tele-education sessions scheduled during the 20-month study period; of these, 224 sessions were successfully performed and 30 were cancelled. We collected 3504 responses from the satisfaction survey. There was high acceptance of the programme: 97% rated it as excellent or good.

Operation and handling of a mobile robot with tricycle structure; Operacion y maniobrabilidad de un robot movil con estructura de triciclo

Energy Technology Data Exchange (ETDEWEB)

Segovia de los Rios, J.A. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)

2003-07-01

In this article the main cares that are for the appropriate operation of a designed mobile robot and built for the transport of radioactive materials are reported. In a same way, it is shown that the maneuverability of the vehicle is adapted for its tele operation in the atmospheres for where the irradiated charge should be made circulate, using for it the controls that have been designated of a remote control of general use. (Author)

Development of radiation hardened robot for nuclear facility - Development of real-time stereo object tracking system using the optical correlator

Energy Technology Data Exchange (ETDEWEB)

Kim, Eun Soo; Lee, S. H.; Lee, J. S. [Kwangwoon University, Seoul (Korea)

2000-03-01

Object tracking, through Centroide method used in the KAERI-M1 Stereo Robot Vision System developed at Atomic Research Center, is too sensitive to target's light variation and because it has a fragility which can't reflect the surrounding background, the application in the actual condition is very limited. Also the correlation method can constitute a relatively stable object tracker in noise features but the digital calculation amount is too massive in image correlation so real time materialization is limited. So the development of Optical Correlation based on Stereo Object Tracking System using high speed optical information processing technique will put stable the real time stereo object tracking system and substantial atomic industrial stereo robot vision system to practical use. This research is about developing real time stereo object tracking algorithm using optical correlation system through the technique which can be applied to Atomic Research Center's KAERI-M1 Stereo Vision Robot which will be used in atomic facility remote operations. And revise the stereo disparity using real time optical correlation technique, and materializing the application of the stereo object tracking algorithm to KAERI-M1 Stereo Robot. 19 refs., 45 figs., 2 tabs. (Author)

Design, implementation and testing of master slave robotic surgical system

International Nuclear Information System (INIS)

Ali, S.A.

2015-01-01

The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system. (author)

Design, Implementation and Testing of Master Slave Robotic Surgical System

Directory of Open Access Journals (Sweden)

Syed Amjad Ali

2015-01-01

Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

Human-robot collaborative navigation for autonomous maintenance management of nuclear installation

International Nuclear Information System (INIS)

Nugroho, Djoko Hari

2002-01-01

Development of human and robot collaborative navigation for autonomous maintenance management of nuclear installation has been conducted. The human-robot collaborative system is performed using a switching command between autonomous navigation and manual navigation that incorporate a human intervention. The autonomous navigation path is conducted using a novel algorithm of MLG method based on Lozano-Perez s visibility graph. The MLG optimizes the shortest distance and safe constraints. While the manual navigation is performed using manual robot tele operation tools. Experiment in the MLG autonomous navigation system is conducted for six times with 3-D starting point and destination point coordinate variation. The experiment shows a good performance of autonomous robot maneuver to avoid collision with obstacle. The switching navigation is well interpreted using open or close command to RS-232C constructed using LabVIEW

Radiation hardening of oxygen-doped niobium by 14-MeV neutrons

International Nuclear Information System (INIS)

Bradley, E.R.; Jones, R.H.

1983-09-01

The flow properties of niobium containing 185 and 480 wt ppM oxygen have been studied following irradiation at 300K with T(d,n) neutrons to fluence levels ranging from 6 x 10 20 to 2 x 10 22 m -2 . Two hardening stages connected by a plateau region were observed in the niobium containing 185 wt ppM oxygen. Increasing the oxygen content by 300 wt ppM oxygen shifted the beginning of the high-fluence hardening stage from 6 x 10 21 to 1 x 10 21 m -2 , thereby eliminating the plateau region. This shift resulted in 1.5 times more hardening in the oxygen-doped niobium irradiated to fluence levels above 5 x 10 21 m -2

Evaluation on the Effect of Composition on Radiation Hardening and Embrittlement in Model FeCrAl Alloys

Energy Technology Data Exchange (ETDEWEB)

Field, Kevin G. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Briggs, Samuel A. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Edmondson, Philip [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Hu, Xunxiang [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Littrell, Kenneth C. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Howard, Richard [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Parish, Chad M. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Yamamoto, Yukinori [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

2015-09-18

This report details the findings of post-radiation mechanical testing and microstructural characterization performed on a series of model and commercial FeCrAl alloys to assist with the development of a cladding technology with enhanced accident tolerance. The samples investigated include model alloys with simple ferritic grain structure and two commercial alloys with minor solute additions. These samples were irradiated in the High Flux Isotope Reactor (HFIR) at Oak Ridge National Laboratory (ORNL) up to nominal doses of 7.0 dpa near or at Light Water Reactor (LWR) relevant temperatures (300-400 C). Characterization included a suite of techniques including small angle neutron scattering (SANS), atom probe tomography (APT), and transmission based electron microscopy techniques. Mechanical testing included tensile tests at room temperature on sub-sized tensile specimens. The goal of this work was to conduct detailed characterization and mechanical testing to begin establishing empirical and/or theoretical structure-property relationships for radiation-induced hardening and embrittlement in the FeCrAl alloy class. Development of such relationships will provide insight on the performance of FeCrAl alloys in an irradiation environment and will enable further development of the alloy class for applications within a LWR environment. A particular focus was made on establishing trends, including composition and radiation dose. The report highlights in detail the pertinent findings based on this work. This report shows that radiation hardening in the alloys is primarily composition dependent due to the phase separation in the high-Cr FeCrAl alloys. Other radiation induced/enhanced microstructural features were less dependent on composition and when observed at low number densities, were not a significant contributor to the observed mechanical responses. Pre-existing microstructure in the alloys was found to be important, with grain boundaries and pre-existing dislocation

Radiation-Hardened Circuitry Using Mask-Programmable Analog Arrays. Report 3

Energy Technology Data Exchange (ETDEWEB)

Britton, Jr, Charles L. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Shelton, Jacob H. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Ericson, Milton Nance [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Blalock, Benjamin [Univ. of Tennessee, Knoxville, TN (United States)

2015-03-01

As the recent accident at Fukushima Daiichi so vividly demonstrated, telerobotic technologies capable of withstanding high radiation environments need to be readily available to enable operations, repair, and recovery under severe accident scenarios when human entry is extremely dangerous or not possible. Telerobotic technologies that enable remote operation in high dose rate environments have undergone revolutionary improvement over the past few decades. However, much of this technology cannot be employed in nuclear power environments because of the radiation sensitivity of the electronics and the organic insulator materials currently in use. This is a report of the activities involving Task 3 of the Nuclear Energy Enabling Technologies (NEET) 2 project Radiation Hardened Circuitry Using Mask-Programmable Analog Arrays [1]. Evaluation of the performance of the system for both pre- and post-irradiation as well as operation at elevated temperature will be performed. Detailed performance of the system will be documented to ensure the design meets requirements prior to any extended evaluation. A suite of tests will be developed which will allow evaluation before and after irradiation and during temperature. Selection of the radiation exposure facilities will be determined in the early phase of the project. Radiation exposure will consist of total integrated dose (TID) up to 200 kRad or above with several intermediate doses during test. Dose rates will be in various ranges determined by the facility that will be used with a target of 30 kRad/hr. Many samples of the pre-commercial devices to be used will have been tested in previous projects to doses of at least 300 kRad and temperatures up to 125C. The complete systems will therefore be tested for performance at intermediate doses. Extended temperature testing will be performed up to the limit of the commercial sensors. The test suite performed at each test point will consist of operational testing of the three basic

Using a novel spectroscopic reflectometer to optimize a radiation-hardened submicron silicon-on-sapphire CMOS process; Utilisation d'une nouvelle reflectometrie spectroscopique pour optimiser un procede de fabrication CMOS/SOS durci aux radiations

Energy Technology Data Exchange (ETDEWEB)

Do, N.T.; Zawaideh, E.; Vu, T.Q.; Warren, G.; Mead, D. [Raytheon Systems company, Microelectronics Div., Newport Beach, California (United States); Li, G.P.; Tsai, C.S. [California Univ., School of Engineering, Newport Beach, CA (United States)

1999-07-01

A radiation-hardened sub-micron silicon-on-sapphire CMOS process is monitored and optimized using a novel optical technique based on spectroscopic reflectometry. Quantitative measurements of the crystal quality, surface roughness, and device radiation hardness show excellent correlation between this technique and the Atomic Force Microscopy. (authors)

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

Energy Technology Data Exchange (ETDEWEB)

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

1997-07-01

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

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

International Nuclear Information System (INIS)

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

1997-07-01

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

Minimalist fault-tolerance techniques for mitigating single-event effects in non-radiation-hardened microcontrollers

Science.gov (United States)

Caldwell, Douglas Wyche

Commercial microcontrollers--monolithic integrated circuits containing microprocessor, memory and various peripheral functions--such as are used in industrial, automotive and military applications, present spacecraft avionics system designers an appealing mix of higher performance and lower power together with faster system-development time and lower unit costs. However, these parts are not radiation-hardened for application in the space environment and Single-Event Effects (SEE) caused by high-energy, ionizing radiation present a significant challenge. Mitigating these effects with techniques which require minimal additional support logic, and thereby preserve the high functional density of these devices, can allow their benefits to be realized. This dissertation uses fault-tolerance to mitigate the transient errors and occasional latchups that non-hardened microcontrollers can experience in the space radiation environment. Space systems requirements and the historical use of fault-tolerant computers in spacecraft provide context. Space radiation and its effects in semiconductors define the fault environment. A reference architecture is presented which uses two or three microcontrollers with a combination of hardware and software voting techniques to mitigate SEE. A prototypical spacecraft function (an inertial measurement unit) is used to illustrate the techniques and to explore how real application requirements impact the fault-tolerance approach. Low-cost approaches which leverage features of existing commercial microcontrollers are analyzed. A high-speed serial bus is used for voting among redundant devices and a novel wire-OR output voting scheme exploits the bidirectional controls of I/O pins. A hardware testbed and prototype software were constructed to evaluate two- and three-processor configurations. Simulated Single-Event Upsets (SEUs) were injected at high rates and the response of the system monitored. The resulting statistics were used to evaluate

DMILL circuits. The hardened electronics decuples its performances

International Nuclear Information System (INIS)

Anon.

1998-01-01

Thanks to the DMILL (mixed logic-linear hardening) technology under development at the CEA, MHS, a French company specialized in the fabrication of integrated circuits now produces hardened electronic circuits ten times more resistant to radiations than its competitors. Outside the initial market (several thousands of circuits for the LHC particle accelerator of Geneva), a broad choice of applications is opened to this technology: national defense, space, civil nuclear and medical engineering, and high temperature applications. Short paper. (J.S.)

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

Science.gov (United States)

Chen, Jessie Y C

2010-08-01

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

Evaluation of the Leon3 soft-core processor within a Xilinx radiation-hardened field-programmable gate array.

Energy Technology Data Exchange (ETDEWEB)

Learn, Mark Walter

2012-01-01

The purpose of this document is to summarize the work done to evaluate the performance of the Leon3 soft-core processor in a radiation environment while instantiated in a radiation-hardened static random-access memory based field-programmable gate array. This evaluation will look at the differences between two soft-core processors: the open-source Leon3 core and the fault-tolerant Leon3 core. Radiation testing of these two cores was conducted at the Texas A&M University Cyclotron facility and Lawrence Berkeley National Laboratory. The results of these tests are included within the report along with designs intended to improve the mitigation of the open-source Leon3. The test setup used for evaluating both versions of the Leon3 is also included within this document.

Prepare the Future Robotics in Nuclear; Preparar el futuro en Robotica Nuclear

Energy Technology Data Exchange (ETDEWEB)

Sanchez de Leon, J. N.; Ferre Perez, M.

2013-07-01

The design and construction of ITER has shown the relevance of Robotics for optimal maintenance and operation of facilities. The Laboratory of Remote Handling included in the design has TechnoFusion given the opportunity to carry out a reflection on the strategy to promote robotics in the nuclear sector in Spain. And take advantage of the scientific and technological potential of Spanish research groups. This work of research and reflection has led to further international standardization activities in this field. Adopted ISO TC 85/SC 2/WG in the 24 development of a standard for Tele robotics. In Spain, para follow this work was created last January 73 inside the CTN AENOR Nuclear Industry a Working Group on Nuclear Remote Handling.

Intelligent Robot-assisted Humanitarian Search and Rescue System

Directory of Open Access Journals (Sweden)

Henry Y. K. Lau

2009-11-01

Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

Intelligent Robot-Assisted Humanitarian Search and Rescue System

Directory of Open Access Journals (Sweden)

Albert W. Y. Ko

2009-06-01

Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

Sulfates, Clouds and Radiation Brazil (SCAR-B) AERONET (AErosol RObotic NETwork) Data

Data.gov (United States)

National Aeronautics and Space Administration — SCAR_B_AERONET data are Smoke, Clouds and Radiation Brazil (SCARB) Aerosol Robotic Network (AERONET) data for aerosol characterization.Smoke/Sulfates, Clouds and...

MASCOT 6: a modern computer-assisted haptic tele-manipulator

International Nuclear Information System (INIS)

Skilton, R.; Owen, T.

2015-01-01

MASCOT is a two-armed master-slave tele-manipulator device with 7 degrees of freedom per arm. The master and slave movements are linked by force-reflecting servomechanisms, giving the operator a tactile sensation of doing the work. The slave is typically attached to a boom which transports it to the work area. The master is normally located in the control room from where the operator-controlled input actions provide the motion that the Mascot slave will replicate. MASCOT version 4.5 is currently in use at the Joint European Torus (JET) experimental nuclear fusion facility. Its role is to maintain the inside of the reactor vessel without the need for manned entry. The MASCOT-6 project, funded by EFDA, was initiated to address reliability and availability issues arising as a result of obsolete technologies. In particular, the Mascot actuators based around obsolete 2-phase AC induction motors are to be replaced with actuators based on commercial off-the-shelf (COTS) Permanent Magnet Synchronous Motors (PMSMs). As a consequence of its highly integrated, monolithic design, the entire Mascot 4.5 control system, including servo-amplifiers, controllers, control software and HMI (Human Machine Interface)needs to be redesigned. The MASCOT-6 control system is designed to maximise reliability, availability, maintainability, and inspectability (RAMI) of the system, as well as providing significant future-proofing. EtherCAT has been selected as a scalable, modular and extremely fast field-bus to provide communication between the control system and easily replaceable COTS servo drives. MASCOT-6 includes a high-level control system designed with modern software engineering practises in mind, and provides a modular, generic framework which can be extended to cater for any tele-operation or robotic system. Advanced Computer-Aided-Tele-operation features such as dynamic force compensation and load cancellation are presented. Communication between the MASCOT-6 control system and its

Virtual rapid response: the next evolution of tele-ICU.

Science.gov (United States)

Hawkins, Carrie L

2012-01-01

The first of its kind in the Veterans Affairs (VA) system, the Denver VA Medical Center's tele-intensive care unit (ICU) program is unique because it is entirely nurse driven. A nontraditional tele-ICU model, the program was tailored to meet the needs of rural veterans by using critical care nursing expertise in Denver, Colorado. An experienced CCRN-certified nurse manages the system 24 hours a day, 7 days a week, from Eastern Colorado Health Care System. The virtual ICU provides rapid response interventions through virtual technology. This tele-ICU technology allows for a "virtual handshake" by nursing staff at the start of the shift and a report on potential patient issues. Clinical relationships have been strengthened between all 5 VA facilities in the Rocky Mountain Region, increasing the likelihood of early consultation at the onset of clinical decline of a patient. In addition, the tele-ICU nurse is available for immediate nursing consultation and support, coordinates point-to-point virtual consultation between physicians at the rural sites and specialists in Denver, and assists in expediting critical care transfers. The primary objectives for the tele-ICU program include improving quality and access of care to critical care services in rural sites, reducing community fee basis costs and frequency of transfers, and increasing collaboration and collegiality among nursing and medical staff in all Region 19's medical centers.

Design of data acquisition, detection and monitoring radiation in robot tank

International Nuclear Information System (INIS)

Adhiyat Miftahudin Latif; Djiwo Harsono; Adi Abimanyu

2016-01-01

Research of radiation monitoring has been developing with needs, for example on industry. In this case, give a gap to research about radiation monitoring through data acquisition system. The purpose of this research is to produce radiation resource mapping data information that can be showed on web. The research method is processing data information that transmitting from robot tank by radio frequency. This consists of data position and voltage. Voltage information can be represented as radiation exposure. The result of this research is radiation resource mapping that showing on web. The contents of this web are data position and radiation exposure. Time computation that required from data reading to saving data on database is 1,001 second (s). (author)

Radiation Hardened Structured ASIC Platform for Rapid Chip Development for Very High Speed System on a Chip (SoC) and Complex Digital Logic Systems, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Radiation Hardened Application Specific Integrated Circuits (ASICs) provide for the highest performance, lowest power and size for Space Missions. In order to...

Operation and handling of a mobile robot with tricycle structure

International Nuclear Information System (INIS)

Segovia de los Rios, J.A.

2003-01-01

In this article the main cares that are for the appropriate operation of a designed mobile robot and built for the transport of radioactive materials are reported. In a same way, it is shown that the maneuverability of the vehicle is adapted for its tele operation in the atmospheres for where the irradiated charge should be made circulate, using for it the controls that have been designated of a remote control of general use. (Author)

Measuring tele-ICU impact: does it optimize quality outcomes for the critically ill patient?

Science.gov (United States)

Goran, Susan F

2012-04-01

To determine the relationship between tele-ICU (intensive care unit) implementations and improvement in quality measures and patient outcomes. Tele-ICUs were designed to leverage scarce critical-care experts and promised to improve patient quality. Abstracts and peer-reviewed articles were reviewed to identify the associations between tele-ICU programmes and clinical outcomes, cost savings, and customer satisfaction. Few peer-reviewed studies are available and many variables in each study limit the ability to associate study conclusions to the overall tele-ICU programme. Further research is required to explore the impact of the tele-ICU on patient/family satisfaction. Research findings are highly dependent upon the level of ICU acceptance. The tele-ICU, in collaboration with the ICU team, can be a valuable tool for the enhancement of quality goals although the ability to demonstrate cost savings is extremely complex. Studies clearly indicate that tele-ICU nursing vigilance can enhance patient safety by preventing potential patient harm. Nursing managers and leaders play a vital part in optimizing the quality role of the tele-ICU through supportive modelling and the maximization of ICU integration. © 2012 Blackwell Publishing Ltd.

Video equipment of tele dosimetry and audio

International Nuclear Information System (INIS)

Ojeda R, M.A.; Padilla C, I.

2007-01-01

To develop a work in an area with high radiation, it requires of a detailed knowledge of the surroundings work, a communication and effective vision, a near dosimetric control. In a work where the spaces variables and reduced accesses exist, noise that hinders the communication, defendant operative condition, radiation field and taking of decision, it is necessary to have tools that allow a total control of the environment to make opportune and effective decisions, there where the task is developed. Under this elementary concept, it was developed in the Laguna Verde Central a project that it allowed a mechanism, interactive of control in spaces complex; to see, to hear, to speak, to measure. This concept takes to the creation of an equipped system with closed circuit of television, wireless communication systems, tele dosimetry wireless systems, VHS and DVD recording equipment, uninterrupted energy units. The system requires of an electric power socket, and the installation of two cables by CCTV camera. The system is mobilized by a person. He puts on in operation in 5 minutes using a verification list. The concept was developed in the project denominated VETA-1, (Video Equipment of Tele dosimetry and Audio). It is objective of this work to present before the society the development of the VETA-1 tool that conclude in their first prototype in May of the present year. The VETA-1 project arises by a necessity of optimizing dose, it is an ALARA tool, with a countless applications, like it was proven in the 12 recharge stop of the Unit 1. The VETA-1 project integrate a recording system, with the primary end of analyzing in the place where the task is developed the details for an effective and opportune decision, but the resulting information is of utility for the personnel's training and the planning of future works. The VETA-1 system is an ALARA tool of quick response control. (Author)

Contribution to the study of ionizing radiation effects on bipolar technologies: application to the hardening of integrated circuits

International Nuclear Information System (INIS)

Briand, R.

2001-01-01

The use of analog integrated circuits in radiation environments raises the problem of their behaviour with respect to the different effects induced by particles and radiations. The first chapter of this thesis presents the origins of radiations and the different topologies of bipolar transistors. The effects of ionizing radiations on bipolar components, like cumulative dose, dose rates, and single events, are detailed in three distinct chapters with the same scientifical approach. The simulation of the physical degradation phenomena of the components allows to establish original electrical models coming from the understanding of the induced mechanisms. These models are used to evaluate the degradations occurring in linear analogic circuits. Common and original hardening methods are presented, some of which are applied to bipolar integrated circuit technologies. Finally, experimental laser beam test techniques are presented, which are used to reproduce the dose rate and the single events. (J.S.)

Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

Science.gov (United States)

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2013-08-01

Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

NASA's Robotics Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

Science.gov (United States)

Stecklein, Jonette

2017-01-01

NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design to actual tele-operation of the robot in simulated Mars conditions mining and collecting simulated regolith. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team's score for the competition's grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

A hardware investigation of robotic SPECT for functional and molecular imaging onboard radiation therapy systems

International Nuclear Information System (INIS)

Yan, Susu; Tough, MengHeng; Bowsher, James; Yin, Fang-Fang; Cheng, Lin

2014-01-01

Purpose: To construct a robotic SPECT system and to demonstrate its capability to image a thorax phantom on a radiation therapy flat-top couch, as a step toward onboard functional and molecular imaging in radiation therapy. Methods: A robotic SPECT imaging system was constructed utilizing a gamma camera detector (Digirad 2020tc) and a robot (KUKA KR150 L110 robot). An imaging study was performed with a phantom (PET CT Phantom TM ), which includes five spheres of 10, 13, 17, 22, and 28 mm diameters. The phantom was placed on a flat-top couch. SPECT projections were acquired either with a parallel-hole collimator or a single-pinhole collimator, both without background in the phantom and with background at 1/10th the sphere activity concentration. The imaging trajectories of parallel-hole and pinhole collimated detectors spanned 180° and 228°, respectively. The pinhole detector viewed an off-centered spherical common volume which encompassed the 28 and 22 mm spheres. The common volume for parallel-hole system was centered at the phantom which encompassed all five spheres in the phantom. The maneuverability of the robotic system was tested by navigating the detector to trace the phantom and flat-top table while avoiding collision and maintaining the closest possible proximity to the common volume. The robot base and tool coordinates were used for image reconstruction. Results: The robotic SPECT system was able to maneuver parallel-hole and pinhole collimated SPECT detectors in close proximity to the phantom, minimizing impact of the flat-top couch on detector radius of rotation. Without background, all five spheres were visible in the reconstructed parallel-hole image, while four spheres, all except the smallest one, were visible in the reconstructed pinhole image. With background, three spheres of 17, 22, and 28 mm diameters were readily observed with the parallel-hole imaging, and the targeted spheres (22 and 28 mm diameters) were readily observed in the pinhole

Arizona TeleMedicine Project.

Science.gov (United States)

Arizona Univ., Tucson. Coll. of Medicine.

Designed to provide health services for American Indians living on rurally isolated reservations, the Arizona TeleMedicine Project proposes to link Phoenix and Tucson medical centers, via a statewide telecommunications system, with the Hopi, San Carlos Apache, Papago, Navajo, and White Mountain Apache reservations. Advisory boards are being…

Course on Radiological Protection and Quality Assurance in Radiology. Tele-education course: A Possible Solution to continued Postgraduate training

International Nuclear Information System (INIS)

Alcaraz, M.; Chico, P.; Saura Iniesta, A.; Armero, D.; Vicente, V.

2004-01-01

The creation of an interdepartmental project subsidised by the Spanish Ministry of Education has made it possible to create a series of specific didactic materials on Radiological Protection and Quality Assurance in Medical Radiodiagnostic Practices, leading to the publication of a specific manual and practical notebook. As a result, this material now constitutes the working basis for those professionals exposed to ionising radiation who are following the first continuous tele-education training course in Spanish via the Internet on this subject. Interactive multimedia training and tele-education may become one of the alternatives that allow health science professionals to receive continuous training, if adequate content and aims have been established during undergraduate training. (Author) 18 refs

A brief review of cavity swelling and hardening in irradiated copper and copper alloys

International Nuclear Information System (INIS)

Zinkle, S.J.

1990-01-01

The literature on radiation-induced swelling and hardening in copper and its alloy is reviewed. Void formation does not occur during irradiation of copper unless suitable impurity atoms such as oxygen or helium are present. Void formation occurs for neutron irradiation temperatures of 180 to 550 degree C, with peak swelling occurring at ∼320 degree C for irradiation at a damage rate of 2 x 10 -7 dpa/s. The post-transient swelling rate has been measured to be ∼0.5%/dpa at temperatures near 400 degree C. Dispersion-strengthened copper has been found to be very resistant to void swelling due to the high sink density associated with the dispersion-stabilized dislocation structure. Irradiation of copper at temperatures below 400 degree C generally causes an increase in strength due to the formation of defect clusters which inhibit dislocation motion. The radiation hardening can be adequately described by Seeger's dispersed barrier model, with a barrier strength for small defect clusters of α ∼ 0.2. The radiation hardening apparently saturates for fluences greater than ∼10 24 n/m 2 during irradiation at room temperature due to a saturation of the defect cluster density. Grain boundaries can modify the hardening behavior by blocking the transmission of dislocation slip bands, leading to a radiation- modified Hall-Petch relation between yield strength and grain size. Radiation-enhanced recrystallization can lead to softening of cold-worked copper alloys at temperatures above 300 degree C

[Medical tele-imaging: a good chance for the future].

Science.gov (United States)

Bonnin, A

1999-01-01

Tele-imaging is an important part of telemedicine: it includes the transmission of medical digital images and plays a role in all fields of telemedicine, such as expertise, consultation, teaching and research. Tele-imaging has been made possible through the digitalization of medical imaging. There are two possibilities: either digitalization of conventional radiological film or direct acquisition of digital images. The transmission of medical imaging requires a high data rate so as to obtain a good quality transmission of the initial images in a reasonable delay. In order to deal with the great amount of information to be stocked and transmitted, a compression of the data, without loss of information, is usually necessary. Interactivity is very important in all these types of transmissions. These tele-transmission techniques are already used world wide, especially in Japan and in the United States, to help in therapeutic or diagnostic decisions. In France, we have been performing real time interactive tele-imaging sessions between radiology and endocrinology departments of Hotel Dieu in Montréal and Hôpital Cochin in Paris. This experimental device includes a visual-conference link between the medical teams and a real time link between two CT scanners. The CT scanner slices appear simultaneously both CT scanner screens; it is even possible to guide a CT scanner examination using remote control from the other hospital. We have successfully repeated the experiment between Cochin and a private hospital in Paris. In the case of the "Prison de la Santé", we have been using telemedicine in order to reduce problematic transfers of prison inmates. Moreover, access to doctors in the prison is sometimes difficult. The system ensures the daily transmission of X-rays, which are immediately read by radiologists at Cochin. In the past, 50 to 70 X-rays had to be read during one weekly visit. Medical tele-imaging raises certain legal, ethical and economic issues, such as

A secure and synthesis tele-ophthalmology system.

Science.gov (United States)

Wei, Zhuo; Wu, Yongdong; Deng, Robert H; Yu, Shengsheng; Yao, Haixia; Zhao, Zhigang; Ngoh, Lek Heng; Han, Lim Tock; Poh, Eugenie W T

2008-10-01

This paper describes a secure and synthesis ophthalmology telemedicine system, referred to as TeleOph. Under a Secure Socket Layer (SSL) channel, patient prerecorded data can be safely transferred via the Internet. With encrypted videoconference and white-board, the system not only supports hospital-to-clinic consultation, but also supplies hospital-tohospital joint discussion. Based on Directshow technology (Microsoft Corporation, Redmond, WA), video cameras connected to the computer by firewire can be captured and controlled to sample video data. By using TWAIN technology, the system automatically identifies networked still cameras (on fundus and slitlamp devices) and retrieves images. All the images are stored in a selected format (such as JPEG, DICOM, BMP). Besides offline-transferring prerecorded data, the system also supplies online sampling of patient data (real-time capturing from remote places). The system was deployed at Tan Tock Seng Hospital, Singapore and Ang Mo Kio, Singapore, where 100 patients were enrolled in the system for examination. TeleOph can be successfully used for patient consultation, and hospital joint discussion. Meanwhile, TeleOph can supply both offline and online sampling of patient data.

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

International Nuclear Information System (INIS)

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

1994-05-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

1994-05-01

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

The Development of a Hybrid-Type Radiation Detector with SiC for a Reactor Robot

International Nuclear Information System (INIS)

Lee, Nam Ho; Cho, Jai Wan; Kim, Seung Ho

2005-01-01

For a robot working in a harsh environment such as a nuclear reactor environment or a space environment, requirements of on-board radiation detectors are not the same as those for environments around human. SiC devices with the wide band-gap are less dependent on temperature than Si counterparts and the can be the better candidate for the high radiation environment. With this background, radiation performance of a commercial SiC detector in a Co-60 gamma-ray environment has been evaluated. In addition to the SiC detector, a MOSFET (Metal Oxide Semiconductor Field Effect Transistor) detector has been incorporated as a backup. With this MOSFET sensor the dosimeter can keep its radiation exposure history even with loss of power. It is not only a redundant feature but also a diverse feature. The dosimetry module can be attached to mobile robot for high radiation environment was developed. This module has both SiC diode and pMOSFET mentioned above. The monitoring program which receives the radiation information from them and gives out the alarm signal when the difference of the two values from them is over the preset level was constructed. Because both the SiC pulse-type detector and the MOSFET dosimeter are small and light weight, they can be easily accommodated on a small printcircuit board for a tight space on a robot arm or for a small spacecraft

O papel do escravo em Aristóteles e Hegel

OpenAIRE

Nicuia, Eurico Jorge

2009-01-01

A presente dissertação tem por objetivo analisar o papel do escravo em Aristóteles e em Hegel, tendo presente os contextos histórico-filosóficos da escravidão no primeiro capítulo; bem como a abordagem filosófica da escravidão em Aristóteles e em Hegel no segundo capítulo; finalmente, debruçar-se-á sobre o papel do escravo nos dois filósofos, no terceiro capítulo onde destacamos os seguintes: i) doméstico, o único papel descrito por Aristóteles porque o escravo não participava de outras ativi...

Communication Framework for Tele-rehabilitation Systems with QoS Guarantee

Directory of Open Access Journals (Sweden)

Dandanov Nikolay

2017-01-01

Full Text Available Nowadays, there is great interest in developing telemedicine technologies. These technologies will provide health care from distance swiftly and lightly, as well as reduce the expenses for activities, such as rehabilitation. Telemedicine applications are possible due to the advances in information technologies and the ever-expanding communication network infrastructure. The network characteristics bandwidth, packet loss, latency, jitter and policies are crucial for the performance of tele-rehabilitation systems. Because in tele-rehabilitation human lives are at stake, guaranteeing the Quality of Service (QoS is important. In this paper, an approach for assuring the QoS for information transmission in tele-rehabilitation systems is proposed.

Disseminating Health Disparities Education Through Tele-Learning

Directory of Open Access Journals (Sweden)

LaSonya Knowles

2008-08-01

Full Text Available Twenty years of research demonstrate that there are wide disparities in health throughout America. Health disparities are differences in the incidence, prevalence, mortality, and burden of diseases and other adverse health conditions that exist when specific population subgroups are compared. Health Disparities in America: Working Toward Social Justice is a course instructed every fall by Dr. Lovell Jones, director of The Center for Research on Minority Health (CRMH at UT M.D. Anderson Cancer Center. The CRMH has created a course that examines the social and societal factors that are fundamental in creating disparities in health. Students from 10 different academic programs and institutions participate in this course. The course is unique in the aspect that various, diverse speakers whom are experts in their field of study instruct each class. This health disparities course is conducted at one of three different academic institutions in the Houston area and broadcast via satellite to various academic institutions by means of teleeducation. Tele-education is defined as a mode of instruction utilizing different forms of media such as video, audio technology tools and computers. Video and audio technologies involve the transmission of interface between learners and instructors, either interactive or non-interactive. Tele-education technologies have an important role to play in addressing the dissemination of health disparities education. The purpose of this program is to determine the feasibility of tele-education as a mode of instruction to introduce the multi-disciplinary components of health disparities. Our findings suggest that tele-education is a useful tool in imparting health disparities education.

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

Science.gov (United States)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

Radiometric assessment of quality of concrete mix with respect to hardened concrete strength

International Nuclear Information System (INIS)

Czechowski, J.

1983-01-01

The experiments have confirmed the relationship between the intensity of backscattered gamma radiation and the density of fresh concrete, and also between the flow of backscattered fast neutrons and the water content. From the said two parameters it is possible to derive the compression strength of concrete over the determined period of mix hardening, e.g., after 28 days. For a certain composition of concrete it is possible to derive empirical relations between the intensity of backscattered gamma radiation and neutrons and concrete strength after hardening and to construct suitable nomograms. (Ha)

Electron bombardment cross-linking of coating materials. Pt.2. Analysis of patent literature on formulating radiation-hardenable binders

International Nuclear Information System (INIS)

Mileo, J.-C.

1976-01-01

The process of drying paints and varnishes by electron irradiation is analyzed from the chemical standpoint. A review is made of the different methods of producing radiation hardenable resins that have resulted in abundant patent literature. These resins are classified according to the nature of the reactive unsaturations they contain: unsaturations of the maleic ester type; simple (meth)acrylic esters and amides; β-hydroxyl (meth)acrylic esters, their (un)saturated esters and other derivatives; siloxanes; maleimides; allylic unsaturations; saturated resins [fr

Tele-education as method of medical education.

Science.gov (United States)

Masic, Izet; Pandza, Haris; Kulasin, Igor; Masic, Zlatan; Valjevac, Salih

2009-01-01

Development of computer networks and introduction and application of new technologies in all aspects of human activity needs to be followed by universities in their transformation on how to approach scientific, research, and education teaching curricula. Development and increased use of distance learning (DL) over the past decade have clearly shown the potential and efficiency of information technology applied in education. Use of information technology in medical education is where medical informatics takes its place as important scientific discipline which ensures benefit from IT in teaching and learning process involved. Definition of telemedicine as "use of technologies based on health care delivered on distance" covers areas such as electronic health, tele-health (eHealth), telematics, but also tele-education. Web based medical education today is offered in different forms--from online lectures, online exams, web based continuous education programs, use of electronic libraries, online medical and scientific databases etc. Department of Medical Informatics of Medical Faculty of University of Sarajevo has taken many steps to introduce distance learning in medical curricula--from organising professional--scientific events (congresses, workshop etc), organizing first tele-exam at the faculty and among first at the university, to offering online lectures and online education material at the Department's website (www.unsa-medinfo.org). Distance learning in medical education, as well as telemedicine, significantly influence health care in general and are shaping the future model of medical practice. Basic computer and networks skills must be a part of all future medical curricula. The impact of technical equipment on patient-doctor relationship must be taken into account, and doctors have to be trained and prepared for diagnosing or consulting patients by use of IT. Telemedicine requires special approach in certain medical fields--tele-consultation, tele

Development of a 10 kGy(Si) rad hard controller for a mobile robot using COTS

International Nuclear Information System (INIS)

Alexandre, J.M.; Marceau, M.

1999-01-01

The CEA has developed a 10 kGy(Si) hardened controller using only COTS (Commercial-Off-The-Shelf devices), to equip the mobile robot Andros. An electronic architecture adapted to the constraint of hardening have been carried out, leading to the construction of a complete set of electronics modules (power electronic, control computer). (authors)

Data retention in Europe - the Tele2 case and beyond

DEFF Research Database (Denmark)

Jakobsen, Søren Sandfeld; Udsen, Henrik; Pedersen, Anja Møller

2018-01-01

Analyses the Court of Justice of the European Union's judgment in the "Tele2 case" and evaluates the impact of the judgment on national data retention regimes.......Analyses the Court of Justice of the European Union's judgment in the "Tele2 case" and evaluates the impact of the judgment on national data retention regimes....

The secondary hardening phenomenon in strain-hardened MP35N alloy

International Nuclear Information System (INIS)

Asgari, S.; El-Danaf, E.; Shaji, E.; Kalidindi, S.R.; Doherty, R.D.

1998-01-01

Mechanical testing and microscopy techniques were used to investigate the influence of aging on the structure and strengthening of MP35N alloy. It was confirmed that aging the deformed material at 600 C for 4 h provided additional strengthening, here referred to as secondary hardening, in addition to the primary strain hardening. The secondary hardening phenomenon was shown to be distinctly different from typical age hardening processes in that it only occurred in material deformed beyond a certain cold work level. At moderate strains, aging caused a shift in the entire stress-strain curve of the annealed material to higher stresses while at high strains, it produced shear localization and limited work softening. The secondary hardening increment was also found to be grain size dependent. The magnitude of the secondary hardening appeared to be controlled by the flow stress in the strain hardened material. A model is proposed to explain the observations and is supported by direct experimental evidence. The model is based on formation of h.c.p. nuclei through the Suzuki mechanism, that is segregation of solute atoms to stacking faults, on aging the strain hardened material. The h.c.p. precipitates appear to thicken only in the presence of high dislocation density produced by prior cold work

Effects of initial microstructure and helium production on radiation hardening in F82H Steels

Energy Technology Data Exchange (ETDEWEB)

Okubo, N.; Wakai, E.; Takada, F.; Jitsukawa, S. [Japan Atomic Energy Agency, Naga-gun, Ibaraki-ken (Japan); Katoh, Y. [Oak Ridge Noational Laboratory, TN (United States)

2007-07-01

Full text of publication follows: Fission neutron irradiation to steels doped with isotope boron-10 is frequently conducted to study effects of the helium production on mechanical properties. The intrinsic mechanical properties of F82H steels could have been changed due to the boron doping. Recently, we reported that co-doping with boron and nitrogen to F82H (F82H+B+N) improved the mechanical properties of F82H doped only with boron. The mechanical properties of F82H+B+N are successfully comparable with the non-doped F82H before irradiation. In order to evaluate the effects of initial microstructure and helium production on radiation hardening, F82H and F82H+B+N were irradiate d Specimens used in this study were standard F82H martensitic steels, F82H steels doped with 60 mass ppm {sup 10}B and 200 ppm N (F82H+10B+N) and F82H steels doped with 60 mass ppm {sup 11}B and 200 ppm N (F82H+11B+N). Initial microstructures were changed by tempering conditions, and the tempering temperatures were at 700, 750 and 780 deg. C. Irradiation was performed at nominally 250 deg. C to 2 dpa in JMTR. Tensile properties were measured for the specimens before and after irradiation. Change of yield stress due to the irradiation in the F82H+11B+N steels depended strongly on the initial microstructure and hardness before irradiation. The radiation hardening due to helium production in the F82H+10B+N steels was less than 60 MPa in these experiments. Size of dimple in the fracture surface of specimen with helium production was larger than that with non-helium production. (authors)

Simultaneous surface engineering and bulk hardening of precipitation hardening stainless steel

DEFF Research Database (Denmark)

Frandsen, Rasmus Berg; Christiansen, Thomas; Somers, Marcel A. J.

2006-01-01

This article addresses simultaneous bulk precipitation hardening and low temperature surface engineering of two commercial precipitation hardening stainless steels: Sandvik Nanoflex® and Uddeholm Corrax®. Surface engineering comprised gaseous nitriding or gaseous carburising. Microstructural....... The duration and temperature of the nitriding/carburising surface hardening treatment can be chosen in agreement with the thermal treatment for obtaining optimal bulk hardness in the precipitation hardening stainless steel....... characterisation of the cases developed included X-ray diffraction analysis, reflected light microscopy and micro-hardness testing. It was found that the incorporation of nitrogen or carbon resulted in a hardened case consisting of a combination of (tetragonal) martensite and expanded (cubic) austenite...

Tactile Sensing for Dexterous Robotic Hands

Science.gov (United States)

Martin, Toby B.

2000-01-01

Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

Hardening and microstructural evolution of A533b steels irradiated with Fe ions and electrons

Energy Technology Data Exchange (ETDEWEB)

Watanabe, H., E-mail: watanabe@riam.kyushu-u.ac.jp [Research Institute for Applied Mechanics, Kyushu University, 6-1, Kasuga-kouenn, Kasugashi, Fukuoka, 816-8580 (Japan); Arase, S. [Interdisciplinary Graduate School of Kyushu University, 6-1, Kasuga-kouenn, Kasugashi, Fukuoka, 816-8580 (Japan); Yamamoto, T.; Wells, P. [Dept. Chemical Engineering, UCSB Engineering II, RM3357, Santa Barbara, CA, 93106-5080 (United States); Onishi, T. [Interdisciplinary Graduate School of Kyushu University, 6-1, Kasuga-kouenn, Kasugashi, Fukuoka, 816-8580 (Japan); Odette, G.R. [Dept. Chemical Engineering, UCSB Engineering II, RM3357, Santa Barbara, CA, 93106-5080 (United States)

2016-04-01

Radiation hardening and embrittlement of A533B steels is heavily dependent on the Cu content. In this study, to investigate the effect of copper on the microstructural evolution of these materials, A533B steels with different Cu levels were irradiated with 2.4 MeV Fe ions and 1.0 MeV electrons. Ion irradiation was performed from room temperature (RT) to 350 °C with doses up to 1 dpa. At RT and 290 °C, low dose (<0.1 dpa) hardening trend corresponded with ΔH ∝ (dpa){sup n}, with n initially approximately 0.5 and consistent with a barrier hardening mechanism, but saturating at ≈0.1 dpa. At higher dose levels, the radiation-induced hardening exhibited a strong Cu content dependence at 290 °C, but not at 350 °C. Electron irradiation using high-voltage electron microscopy revealed the growth of interstitial-type dislocation loops and enrichment of Ni, Mn, and Si in the vicinities of pre-existing dislocations at doses for which the radiation-induced hardness due to ion irradiation was prominent.

Nuclear tele medicine

International Nuclear Information System (INIS)

Vargas, L.; Hernandez, F.; Fernandez, R.

2005-01-01

The great majority of the digital images of nuclear medicine are susceptible of being sent through internet. This has allowed that the work in diagnosis cabinets by image it can benefit of this modern technology. We have presented in previous congresses works related with tele medicine, however, due to the speed in the evolution of the computer programs and the internet, becomes necessary to make a current position in this modality of work. (Author)

Tele-asistencia y tele-alarma para adultos mayores: experiencias preliminares en Mexico

Directory of Open Access Journals (Sweden)

Liliana Giraldo-Rodriguez

2013-08-01

Full Text Available OBJETIVO Analizar el efecto de un programa piloto de tele-asistencia y tele-alarma en la autopercepción del estado de salud de los adultos mayores y conocer la satisfacción y aceptación del programa. METODOS Estudio transversal que incluyó entrevistas a 378 adultos mayores, 294 cuidadores/familiares y 53 profesionales de la salud, realizado en la Ciudad de México en 2010. Variables sociodemográficas, de autopercepción del estado de salud, satisfacción y aceptación del programa se obtuvieron por medio de cuestionario estandarizado. Se realizó análisis descriptivo y se utilizaron pruebas no paramétricas. RESULTADOS Se observaron efectos significativos en la autopercepción del estado de salud, 6,17 (DE 17,9 p < 0,05 puntos por encima de la media. El programa tuvo una buena aceptación por parte de los adultos mayores, de sus cuidadores familiares y de los profesionales de la salud. CONCLUSIONES El programa contribuye a mantener o mejorar la calidad de vida, permite la atención preventiva y es un medio ideal para dar apoyo psicosocial a los adultos mayores.

Application of an internet web-site of medical images in tele-radiology

International Nuclear Information System (INIS)

Wang Weizhong; Wang Hua; Xie Jingxia; Wang Songzhang; Li Xiangdong; Qian Min; Cao Huixia

2000-01-01

Objective: To build and Internet web-site of medical images for tele-education and tele-consultation. Methods: Collecting medical images of cases that fulfilled diagnostic standards for teaching and were pathologically proved. The images were digitized using digital camera and scanner. Frontpage 98, Homesite 2.5 and text editors were used for programming. Results: The web site encompasses many useful cases and was update every week. With smart and friendly interface, easy used navigation, the site runs reliably in TCP/IP environment. The site's URL is http://imager.163.net. At present, the site has received about 100 visits per week. Conclusion: The well-designed and programmed internet web site of medical images would be easily acceptable and is going to play an important role in tele-education and tele-consultation

A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Envrioment-Based Guidance

Directory of Open Access Journals (Sweden)

Adnan Munawar

2016-08-01

Full Text Available In robot-assisted tele-operated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators that are controlled by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback would enhance the surgical procedures by enabling better coordination between the hand movements that are improved by the tactile sense of the operating environment. This research presents an overall control framework for a haptic feedback on existing robot platforms, and demonstrated on the daVinci Research Kit (dVRK system. The paper discusses the implementation of a flexible framework that incorporates a stiffness control with gravity compensation for the surgeons manipulator and a sensing and collision detection algorithm for calculating the interaction between the patients manipulators and the surgical area.

A hardenability test proposal

Energy Technology Data Exchange (ETDEWEB)

Murthy, N.V.S.N. [Ingersoll-Rand (I) Ltd., Bangalore (India)

1996-12-31

A new approach for hardenability evaluation and its application to heat treatable steels will be discussed. This will include an overview and deficiencies of the current methods and discussion on the necessity for a new approach. Hardenability terminology will be expanded to avoid ambiguity and over-simplification as encountered with the current system. A new hardenability definition is proposed. Hardenability specification methods are simplified and rationalized. The new hardenability evaluation system proposed here utilizes a test specimen with varying diameter as an alternative to the cylindrical Jominy hardenability test specimen and is readily applicable to the evaluation of a wide variety of steels with different cross-section sizes.

Impact of robotics and a suspended lead suit on physician radiation exposure during percutaneous coronary intervention.

Science.gov (United States)

Madder, Ryan D; VanOosterhout, Stacie; Mulder, Abbey; Elmore, Matthew; Campbell, Jessica; Borgman, Andrew; Parker, Jessica; Wohns, David

Reports of left-sided brain malignancies among interventional cardiologists have heightened concerns regarding physician radiation exposure. This study evaluated the impact of a suspended lead suit and robotic system on physician radiation exposure during percutaneous coronary intervention (PCI). Real-time radiation exposure data were prospectively collected from dosimeters worn by operating physicians at the head- and chest-level during consecutive PCI cases. Exposures were compared in three study groups: 1) manual PCI performed with traditional lead apparel; 2) manual PCI performed using suspended lead; and 3) robotic PCI performed in combination with suspended lead. Among 336 cases (86.6% manual, 13.4% robotic) performed over 30weeks, use of suspended lead during manual PCI was associated with significantly less radiation exposure to the chest and head of operating physicians than traditional lead apparel (chest: 0.0 [0.1] μSv vs 0.4 [4.0] μSv, probotic PCI performed in combination with suspended lead was 0.0 [0.0] μSv, which was significantly less chest exposure than manual PCI performed with traditional lead (probotic PCI the median head-level exposure was 0.1 [0.2] μSv, which was 99.3% less than manual PCI performed with traditional lead (probotics were observed to result in significantly less radiation exposure to the chest and head of operating physicians during PCI. Copyright © 2016 Elsevier Inc. All rights reserved.

Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. R and D on robot system cooperating and coexisting with human beings; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

Energy Technology Data Exchange (ETDEWEB)

NONE

2001-06-01

A highly safe and reliable robot is being developed capable of cooperating with human beings and executing complicated operations in a human working/living space. This paper describes the fiscal 2000 results. Development of robot motion library was continued for extended task for providing services to people in care houses for the aged controlling motions of the humanoid robot. A basic design for a personal service system by the humanoid robot was conducted with the aim of nursing assistance and for the objective of developing a portable terminal type tele-operation device. A public and a home cockpit were researched with the purpose of developing user interfaces for telexistence control. A dynamic simulator for humanoid robots was built, with motions of standing-up and walking examined, in order to develop basic theories for the dual-handed tasks aided by the leg-arm cooperative motion. To develop a robot that properly and safely cooperates and coexists with the human beings, it is essential to obtain a dynamically reasonable and natural control law, so that the basic studies were conducted in this direction. With the purpose of developing a motion capture and learning system, a virtual robot platform and an information acquiring interface were developed. Studies were also conducted on modeling technique for achieving realistic material properties from high-precision image synthesis and actual images. (NEDO)

Robotic system for process sampling

International Nuclear Information System (INIS)

Dyches, G.M.

1985-01-01

A three-axis cartesian geometry robot for process sampling was developed at the Savannah River Laboratory (SRL) and implemented in one of the site radioisotope separations facilities. Use of the robot reduces personnel radiation exposure and contamination potential by routinely handling sample containers under operator control in a low-level radiation area. This robot represents the initial phase of a longer term development program to use robotics for further sample automation. Preliminary design of a second generation robot with additional capabilities is also described. 8 figs

Development of wall ranging radiation inspection robot

International Nuclear Information System (INIS)

Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S.

1999-03-01

With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall

Development of wall ranging radiation inspection robot

Energy Technology Data Exchange (ETDEWEB)

Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S

1999-03-01

With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall.

Comparison of Thermal Creep Strain Calculation Results Using Time Hardening and Strain Hardening Rules

International Nuclear Information System (INIS)

Kim, Junehyung; Cheon, Jinsik; Lee, Byoungoon; Lee, Chanbock

2014-01-01

One of the design criteria for the fuel rod in PGSFR is the thermal creep strain of the cladding, because the cladding is exposed to a high temperature for a long time during reactor operation period. In general, there are two kind of calculation scheme for thermal creep strain: time hardening and strain hardening rules. In this work, thermal creep strain calculation results for HT9 cladding by using time hardening and strain hardening rules are compared by employing KAERI's current metallic fuel performance analysis code, MACSIS. Also, thermal creep strain calculation results by using ANL's metallic fuel performance analysis code, LIFE-METAL which adopts strain hardening rule are compared with those by using MACSIS. Thermal creep strain calculation results for HT9 cladding by using time hardening and strain hardening rules were compared by employing KAERI's current metallic fuel performance analysis code, MACSIS. Also, thermal creep strain calculation results by using ANL's metallic fuel performance analysis code, LIFE-METAL which adopts strain hardening rule were compared with those by using MACSIS. Tertiary creep started earlier in time hardening rule than in strain hardening rule. Also, calculation results by MACSIS with strain hardening and those obtained by using LIFE-METAL were almost identical to each other

CMOS/SOS 4k Rams hardened to 100 Krads (s:)

International Nuclear Information System (INIS)

Napoli, L.S.; Heagerty, W.F.; Smeltzer, R.K.; Yeh, J.L.

1982-01-01

Two CMOS/SOS 4K memories were fabricated with a recently developed, hardened SOS process. Memory functionality after radiation doses well in excess of 100 Krads(Si) was demonstrated. The critical device processing steps were identified. The radiationinduced failure mode of the memories is understood in terms of the circuit organization and the radiation behavior of the individual transistors in the memories

Effect of hardening on the crack growth rate of austenitic stainless steels in primary PWR conditions

International Nuclear Information System (INIS)

Castano, M.L.; Garcia, M.S.; Diego, G. de; Gomez-Briceno, D.; Francia, L.

2002-01-01

Intergranular cracking of non-sensitized materials, found in light water reactor (LWR) components exposed to neutron radiation, has been attributed to Irradiation Assisted Stress Corrosion Cracking (IASCC). Cracking of baffle former bolts, fabricated of AISI-316L and AISI-347, have been reported in some Europeans and US PWR plants. Examinations of removed bolts indicate the intergranular cracking characteristics can be associated with IASCC phenomena. Neutron radiation produce critical modifications of the microstructure and microchemical of stainless steels such hardening due to irradiation and Radiation Induce Segregation (RIS) at grain boundaries, among others. Chromium depletion at grain boundary due to RIS seems to justify the intergranular cracking of irradiated materials, both in plant and in lab tests, at high electrochemical corrosion potential (BWR-NWC environments), but it is not enough to explain cracking at low corrosion potential (BWR-HWC and PWR environments). In these latter conditions, hardening is considered a possible additional mechanism to explain the behavior of irradiated material. Radiation Hardening can be simulated in non irradiated material by mechanical deformation. Although some differences exists in the types of defects produced by radiation and mechanical deformation, it is accepted that the study of the stress corrosion behavior of unirradiated austenitic steels with different hardening levels would contribute to the understanding of IASCC mechanism. In order to evaluate the influence of hardening on the stress corrosion susceptibility of austenitic steels, crack growth rate tests with 316L and 347 stainless steels with nominal yield strengths from 500 to 900 MPa, produced by cold work are being carried out at 340 deg C in PWR conditions. Preliminary results indicate that crack propagation was obtained in the 316Lss and 347ss cold worked, even with a yield strength of 550 MPa. (authors)

Telecare and Social Link Solution for Ambient Assisted Living Using a Robot Companion with Visiophony

Science.gov (United States)

Varène, Thibaut; Hillereau, Paul; Simonnet, Thierry

An increasing number of people are in need of help at home (elderly, isolated and/or disabled persons; people with mild cognitive impairment). Several solutions can be considered to maintain a social link while providing tele-care to these people. Many proposals suggest the use of a robot acting as a companion. In this paper we will look at an environment constrained solution, its drawbacks (such as latency) and its advantages (flexibility, integration…). A key design choice is to control the robot using a unified Voice over Internet Protocol (VoIP) solution, while addressing bandwidth limitations, providing good communication quality and reducing transmission latency

Tele-Intervention: The Wave of the Future Fits Families' Lives Today

Science.gov (United States)

Behl, Diane D.; Houston, K. Todd; Guthrie, W. Spencer; Guthrie, Nancy K.

2010-01-01

This article provides information on providing early intervention services virtually using distance communication technologies. It describes "tele-intervention," a new method of providing services to children and their families, and how it is used in a family with a deaf child. Tele-intervention has proven to be a viable service delivery model for…

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

Science.gov (United States)

Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

2000-01-01

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an

Effect of yield strength on stress corrosion crack propagation under PWR and BWR environments of hardened stainless steels

Energy Technology Data Exchange (ETDEWEB)

Castano, M.L.; Garcia, M.S.; Diego, G. de; Gomez-Briceno, D. [CIEMAT, Nuclear Fission Department, Structural Materials Program, Avda. Complutense 22, 28040 Madrid (Spain)

2004-07-01

Core components of light water reactor (LWR), mainly made of austenitic stainless steels (SS), subjected to stress and exposed to relatively high fast neutron flux may suffer a cracking process termed as Irradiation Assisted Stress Corrosion Cracking (IASCC). Neutron radiation leads to critical modifications in material characteristics, which can modify their stress corrosion cracking (SCC) response. Current knowledge highlights three fundamental factors, induced by radiation, as primary contributors to IASCC of core materials: Radiation Induced Segregation (RIS) at grain boundaries, Radiation Hardening and Radiolysis. Most of the existing literature on IASCC is focussed on the influence of RIS, mainly chromium depletion, which can promote IASCC in oxidizing environments, such a Boiling Water Reactor (BWR) under normal water chemistry. However, in non-oxidizing environments, such as primary water of Pressurized Water Reactor (PWR) or BWR hydrogen water chemistry, the role played by chromium depletion at grain boundary on IASCC behaviour of highly irradiated material is irrelevant. One important issue with limited study is the effect of radiation induced hardening. The role of hardening on IASCC is became stronger considered, especially for environments where other factors, like micro-chemistry, have no significant influence. To formulate the mechanism of IASCC, a well-established method is to isolate and quantify the effect of individual parameters. The use of unirradiated material and the simulation of the irradiation effects is a procedure used with success for evaluating the influence of irradiation effects. Radiation hardening can be simulated by mechanical deformation and, although some differences exist in the types of defects produced, it is believed that the study of the SCC behaviour of unirradiated materials with different hardening levels would contribute to the understanding of IASCC mechanism. In order to evaluate the influence of hardening on the

Influence of Cooling Condition on the Performance of Grinding Hardened Layer in Grind-hardening

Science.gov (United States)

Wang, G. C.; Chen, J.; Xu, G. Y.; Li, X.

2018-02-01

45# steel was grinded and hardened on a surface grinding machine to study the effect of three different cooling media, including emulsion, dry air and liquid nitrogen, on the microstructure and properties of the hardened layer. The results show that the microstructure of material surface hardened with emulsion is pearlite and no hardened layer. The surface roughness is small and the residual stress is compressive stress. With cooling condition of liquid nitrogen and dry air, the specimen surface are hardened, the organization is martensite, the surface roughness is also not changed, but high hardness of hardened layer and surface compressive stress were obtained when grinding using liquid nitrogen. The deeper hardened layer grinded with dry air was obtained and surface residual stress is tensile stress. This study provides an experimental basis for choosing the appropriate cooling mode to effectively control the performance of grinding hardened layer.

A robotic system to conduct radiation and contamination surveys on nuclear waste transport casks

International Nuclear Information System (INIS)

Harrigan, R.W.; Sanders, T.L.

1990-06-01

The feasibility of performing, numerous spent fuel cask operations using fully integrated robotic systems is under evaluation. Using existing technology, operational and descriptive software and hardware in the form of robotic end effectors are being designed in conjunction with interfacing cask components. A robotic radiation and contamination survey system has been developed and used on mock-up cask hardware to evaluate the impact of such fully automated operations on cask design features and productivity. Based on experience gained from the survey system, numerous health physics operations can be reliably performed with little human intervention using a fully automated system. Such operations can also significantly reduce time requirements for cask-receiving operations. 7 refs., 51 figs., 6 tabs

Radiation supervision - NPPs A-1, V-1, V-2

International Nuclear Information System (INIS)

2000-01-01

In this leaflet the radiation supervision of the nuclear power plants A-1, V-1, V-2 is presented. Off-site radiation supervision laboratory is a part of monitoring scheme of the NPPs. More than 1150 samples are taken from the environment annually. The tele-dosimetric system was constructed to improve the quality of the Bohunice NPPs operation impacts supervision. It has been running in a continuous operation from 1992 and providing supervision of the nuclear power plant off-site area within 25 kilometres. The tele-dosimetric system is described

CMOS optimization for radiation hardness

International Nuclear Information System (INIS)

Derbenwick, G.F.; Fossum, J.G.

1975-01-01

Several approaches to the attainment of radiation-hardened MOS circuits have been investigated in the last few years. These have included implanting the SiO 2 gate insulator with aluminum, using chrome-aluminum layered gate metallization, using Al 2 O 3 as the gate insulator, and optimizing the MOS fabrication process. Earlier process optimization studies were restricted primarily to p-channel devices operating with negative gate biases. Since knowledge of the hardness dependence upon processing and design parameters is essential in producing hardened integrated circuits, a comprehensive investigation of the effects of both process and design optimization on radiation-hardened CMOS integrated circuits was undertaken. The goals are to define and establish a radiation-hardened processing sequence for CMOS integrated circuits and to formulate quantitative relationships between process and design parameters and the radiation hardness. Using these equations, the basic CMOS design can then be optimized for radiation hardness and some understanding of the basic physics responsible for the radiation damage can be gained. Results are presented

Radiation effects in LDD MOS devices

International Nuclear Information System (INIS)

Woodruff, R.L.; Adams, J.R.

1987-01-01

The purpose of this work is to investigate the response of lightly doped drain (LDD) n-channel transistors to ionizing radiation. Transistors were fabricated with conventional (non-LDD) and lightly doped drain (LDD) structures using both standard (non-hardened) and radiation hardened gate oxides. Characterization of the transistors began with a correlation of the total-dose effects due to 10 keV x-rays with Co-60 gamma rays. The authors find that for the gate oxides and transistor structures investigated in this work, 10 keV x-rays produce more fixed-charge guild-up in the gate oxide, and more interface charge than do Co-60 gamma rays. They determined that the radiation response of LDD transistors is similar to that of conventional (non-LDD) transistors. In addition, both standard and radiation-hardened transistors subjected to hot carrier stress before irradiation show a similar radiation response. After exposure to 1.0 x 10 6 rads(Si), non-hardened transistors show increased susceptibility to hot-carrier graduation, while the radiation-hardened transistors exhibit similar hot-carrier degradation to non-irradiated devices. The authors have demonstrated a fully-integrated radiation hardened process tht is solid to 1.0 x 10 6 rads(Si), and shows promise for achieving 1.0 x 10 7 rad(Si) total-dose capability

User interface for a tele-operated robotic hand system

Science.gov (United States)

Crawford, Anthony L

2015-03-24

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

Tele-Pediatric Intensive Care for Critically Ill Children in Syria.

Science.gov (United States)

Ghbeis, Muhammad Bakr; Steffen, Katherine M; Braunlin, Elizabeth A; Beilman, Gregory J; Dahman, Jay; Ostwani, Waseem; Steiner, Marie E

2017-12-12

Armed conflicts can result in humanitarian crises and have major impacts on civilians, of whom children represent a significant proportion. Usual pediatric medical care is often disrupted and trauma resulting from war-related injuries is often devastating. High pediatric mortality rates are thus experienced in these ravaged medical environments. Using simple communication technology to provide real-time management recommendations from highly trained pediatric personnel can provide substantive clinical support and have a significant impact on pediatric morbidity and mortality. We implemented a "Tele-Pediatric Intensive Care" program (Tele-PICU) to provide real-time management consultation for critically ill and injured pediatric patients in Syria with intensive care needs. Over the course of 7 months, 19 cases were evaluated, ranging in age from 1 day to 11 years. Consultation questions addressed a wide range of critical care needs. Five patients are known to have survived, three were transferred, five died, and six outcomes were unknown. Based on this limited undertaking with its positive impact on survival, further development of Tele-PICU-based efforts with attention to implementation and barriers identified through this program is desirable. Even limited Tele-PICU can provide timely and potentially lifesaving assistance to pediatric care providers. Future efforts are encouraged.

Robotics in percutaneous cardiovascular interventions.

Science.gov (United States)

Pourdjabbar, Ali; Ang, Lawrence; Behnamfar, Omid; Patel, Mitul P; Reeves, Ryan R; Campbell, Paul T; Madder, Ryan D; Mahmud, Ehtisham

2017-11-01

The fundamental technique of performing percutaneous cardiovascular (CV) interventions has remained unchanged and requires operators to wear heavy lead aprons to minimize exposure to ionizing radiation. Robotic technology is now being utilized in interventional cardiology partially as a direct result of the increasing appreciation of the long-term occupational hazards of the field. This review was undertaken to report the clinical outcomes of percutaneous robotic coronary and peripheral vascular interventions. Areas covered: A systematic literature review of percutaneous robotic CV interventions was undertaken. The safety and feasibility of percutaneous robotically-assisted CV interventions has been validated in simple to complex coronary disease, and iliofemoral disease. Studies have shown that robotically-assisted PCI significantly reduces operator exposure to harmful ionizing radiation without compromising procedural success or clinical efficacy. In addition to the operator benefits, robotically-assisted intervention has the potential for patient advantages by allowing more accurate lesion length measurement, precise stent placement and lower patient radiation exposure. However, further investigation is required to fully elucidate these potential benefits. Expert commentary: Incremental improvement in robotic technology and telecommunications would enable treatment of an even broader patient population, and potentially provide remote robotic PCI.

Radiation Dose-Rate Extraction from the Camera Image of Quince 2 Robot System using Optical Character Recognition

International Nuclear Information System (INIS)

Cho, Jai Wan; Jeong, Kyung Min

2012-01-01

In the case of the Japanese Quince 2 robot system, 7 CCD/CMOS cameras were used. 2 CCD cameras of Quince robot are used for the forward and backward monitoring of the surroundings during navigation. And 2 CCD (or CMOS) cameras are used for monitoring the status of front-end and back-end motion mechanics such as flippers and crawlers. A CCD camera with wide field of view optics is used for monitoring the status of the communication (VDSL) cable reel. And another 2 CCD cameras are assigned for reading the indication value of the radiation dosimeter and the instrument. The Quince 2 robot measured radiation in the unit 2 reactor building refueling floor of the Fukushima nuclear power plant. The CCD camera with wide field-of-view (fisheye) lens reads indicator of the dosimeter loaded on the Quince 2 robot, which was sent to carry out investigating the unit 2 reactor building refueling floor situation. The camera image with gamma ray dose-rate information is transmitted to the remote control site via VDSL communication line. At the remote control site, the radiation information in the unit 2 reactor building refueling floor can be perceived by monitoring the camera image. To make up the radiation profile in the surveyed refueling floor, the gamma ray dose-rate information in the image should be converted to numerical value. In this paper, we extract the gamma ray dose-rate value in the unit 2 reactor building refueling floor using optical character recognition method

Radiation Dose-Rate Extraction from the Camera Image of Quince 2 Robot System using Optical Character Recognition

Energy Technology Data Exchange (ETDEWEB)

Cho, Jai Wan; Jeong, Kyung Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2012-05-15

In the case of the Japanese Quince 2 robot system, 7 CCD/CMOS cameras were used. 2 CCD cameras of Quince robot are used for the forward and backward monitoring of the surroundings during navigation. And 2 CCD (or CMOS) cameras are used for monitoring the status of front-end and back-end motion mechanics such as flippers and crawlers. A CCD camera with wide field of view optics is used for monitoring the status of the communication (VDSL) cable reel. And another 2 CCD cameras are assigned for reading the indication value of the radiation dosimeter and the instrument. The Quince 2 robot measured radiation in the unit 2 reactor building refueling floor of the Fukushima nuclear power plant. The CCD camera with wide field-of-view (fisheye) lens reads indicator of the dosimeter loaded on the Quince 2 robot, which was sent to carry out investigating the unit 2 reactor building refueling floor situation. The camera image with gamma ray dose-rate information is transmitted to the remote control site via VDSL communication line. At the remote control site, the radiation information in the unit 2 reactor building refueling floor can be perceived by monitoring the camera image. To make up the radiation profile in the surveyed refueling floor, the gamma ray dose-rate information in the image should be converted to numerical value. In this paper, we extract the gamma ray dose-rate value in the unit 2 reactor building refueling floor using optical character recognition method

Supervisory control for a complex robotic system

International Nuclear Information System (INIS)

Miller, D.J.

1988-01-01

The Robotic Radiation Survey and Analysis System investigates the use of advanced robotic technology for performing remote radiation surveys on nuclear waste shipping casks. Robotic systems have the potential for reducing personnel exposure to radiation and providing fast reliable throughput at future repository sites. A primary technology issue is the integrated control of distributed specialized hardware through a modular supervisory software system. Automated programming of robot trajectories based upon mathematical models of the cask and robot coupled with sensory feedback enables flexible operation of a commercial gantry robot with the reliability needed to perform autonomous operations in a hazardous environment. Complexity is managed using structured software engineering techniques resulting in the generation of reusable command primitives which contribute to a software parts catalog for a generalized robot programming language

Radiation Hardening of Silicon Detectors

CERN Multimedia

Leroy, C; Glaser, M

2002-01-01

%RD48 %title\\\\ \\\\Silicon detectors will be widely used in experiments at the CERN Large Hadron Collider where high radiation levels will cause significant bulk damage. In addition to increased leakage current and charge collection losses worsening the signal to noise, the induced radiation damage changes the effective doping concentration and represents the limiting factor to long term operation of silicon detectors. The objectives are to develop radiation hard silicon detectors that can operate beyond the limits of the present devices and that ensure guaranteed operation for the whole lifetime of the LHC experimental programme. Radiation induced defect modelling and experimental results show that the silicon radiation hardness depends on the atomic impurities present in the initial monocrystalline material.\\\\ \\\\ Float zone (FZ) silicon materials with addition of oxygen, carbon, nitrogen, germanium and tin were produced as well as epitaxial silicon materials with epilayers up to 200 $\\mu$m thickness. Their im...

Surgical Robotics Research in Cardiovascular Disease

Energy Technology Data Exchange (ETDEWEB)

Pohost, Gerald M; Guthrie, Barton L; Steiner, Charles

2008-02-29

This grant is to support a research in robotics at three major medical centers: the University of Southern California-USC- (Project 1); the University of Alabama at Birmingham-UAB-(Project 2); and the Cleveland Clinic Foundation-CCF-(Project 3). Project 1 is oriented toward cardiovascular applications, while projects 2 and 3 are oriented toward neurosurgical applications. The main objective of Project 1 is to develop an approach to assist patients in maintaining a constant level of stress while undergoing magnetic resonance imaging or spectroscopy. The specific project is to use handgrip to detect the changes in high energy phosphate metabolism between rest and stress. The high energy phosphates, ATP and phosphocreatine (PCr) are responsible for the energy of the heart muscle (myocardium) responsible for its contractile function. If the blood supply to the myocardium in insufficient to support metabolism and contractility during stress, the high energy phosphates, particularly PCr, will decrease in concentration. The high energy phosphates can be tracked using phosphorus-31 magnetic resonance spectroscopy ({sup 31}P MRS). In Project 2 the UAB Surgical Robotics project focuses on the use of virtual presence to assist with remote surgery and surgical training. The goal of this proposal was to assemble a pilot system for proof of concept. The pilot project was completed successfully and was judged to demonstrate that the concept of remote surgical assistance as applied to surgery and surgical training was feasible and warranted further development. The main objective of Project 3 is to develop a system to allow for the tele-robotic delivery of instrumentation during a functional neurosurgical procedure (Figure 3). Instrumentation such as micro-electrical recording probes or deep brain stimulation leads. Current methods for the delivery of these instruments involve the integration of linear actuators to stereotactic navigation systems. The control of these delivery

Surgical Robotics Research in Cardiovascular Disease

International Nuclear Information System (INIS)

Pohost, Gerald M; Guthrie, Barton L; Steiner, Charles

2008-01-01

This grant is to support a research in robotics at three major medical centers: the University of Southern California-USC- (Project 1); the University of Alabama at Birmingham-UAB-(Project 2); and the Cleveland Clinic Foundation-CCF-(Project 3). Project 1 is oriented toward cardiovascular applications, while projects 2 and 3 are oriented toward neurosurgical applications. The main objective of Project 1 is to develop an approach to assist patients in maintaining a constant level of stress while undergoing magnetic resonance imaging or spectroscopy. The specific project is to use handgrip to detect the changes in high energy phosphate metabolism between rest and stress. The high energy phosphates, ATP and phosphocreatine (PCr) are responsible for the energy of the heart muscle (myocardium) responsible for its contractile function. If the blood supply to the myocardium in insufficient to support metabolism and contractility during stress, the high energy phosphates, particularly PCr, will decrease in concentration. The high energy phosphates can be tracked using phosphorus-31 magnetic resonance spectroscopy ( 31 P MRS). In Project 2 the UAB Surgical Robotics project focuses on the use of virtual presence to assist with remote surgery and surgical training. The goal of this proposal was to assemble a pilot system for proof of concept. The pilot project was completed successfully and was judged to demonstrate that the concept of remote surgical assistance as applied to surgery and surgical training was feasible and warranted further development. The main objective of Project 3 is to develop a system to allow for the tele-robotic delivery of instrumentation during a functional neurosurgical procedure (Figure 3). Instrumentation such as micro-electrical recording probes or deep brain stimulation leads. Current methods for the delivery of these instruments involve the integration of linear actuators to stereotactic navigation systems. The control of these delivery devices

User interface for a tele-operated robotic hand system

Energy Technology Data Exchange (ETDEWEB)

Crawford, Anthony L

2015-03-24

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

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

International Nuclear Information System (INIS)

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

1993-01-01

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

Autonomous mobile robot for radiologic surveys

International Nuclear Information System (INIS)

Dudar, A.M.; Wagner, D.G.; Teese, G.D.

1994-01-01

An apparatus is described for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm. 5 figures

A pilot trial of tele-ophthalmology for diagnosis of chronic blurred vision.

Science.gov (United States)

Tan, Johnson Choon Hwai; Poh, Eugenie Wei Ting; Srinivasan, Sanjay; Lim, Tock Han

2013-02-01

We evaluated the accuracy of tele-ophthalmology in diagnosing the major causes of chronic blurring of vision. Thirty consecutive patients attending a primary eye-care facility in Singapore (the Ang Mo Kio Polyclinic, AMKP) with the symptom of chronic blurred vision were recruited. An ophthalmic technician was trained to perform Snellen acuity; auto-refraction; intraocular pressure measurement; red-colour perimetry; video recordings of extraocular movement, cover tests and pupillary reactions; and anterior segment and fundus photography. Digital information was transmitted to a tertiary hospital in Singapore (the Tan Tock Seng Hospital) via a tele-ophthalmology system for teleconsultation with an ophthalmologist. The diagnoses were compared with face-to-face consultation by another ophthalmologist at the AMKP. A user experience questionnaire was administered at the end of the consultation. Using face-to-face consultation as the gold standard, tele-ophthalmology achieved 100% sensitivity and specificity in diagnosing media opacity (n = 29), maculopathy (n = 23) and keratopathy (n = 30) of any type; and 100% sensitivity and 92% specificity in diagnosing optic neuropathy of any type (n = 24). The majority of the patients (97%) were satisfied with the tele-ophthalmology workflow and consultation. The tele-ophthalmology system was able to detect causes of chronic blurred vision accurately. It has the potential to deliver high-accuracy diagnostic eye support to remote areas if suitably trained ophthalmic technicians are available.

Persepsi Masyarakat terhadap Hidroponik di Kelurahan Teling Bawah, Kota Manado

OpenAIRE

Sengkey, Mercy Y; Wangke, Welson M; Manginsela, Elsje P

2017-01-01

This study aimed to analyze and determine the public perception of hydroponic in the distict Teling Bawah Manado City. This aims was conducted over five months from November 2016 to the month of Maret 2017 from preparation to the arrangement of research reports. The location of research is in districts Teling Bawah Manado City. This research uses primary data and secondary data. Primary data was obtained from 30 respondents using questionnaires, while secondary data obtained from the office d...

Water Dancer II-A: A Non-Tethered Telecontrollable Water Strider Robot

Directory of Open Access Journals (Sweden)

Licheng Wu

2011-09-01

Full Text Available Water Strider Robot (WSR is a kind of bio-inspired micro robot that can stand and move on water surface via surface tension. In this paper, a design method is presented with algorithms for designing driving leg. Structure, control system and software of the robot are also discussed in details. A prototype Water Dancer II-a that is driven with two electric motors is presented as successfully tested in lab. The proposed WSR is tele-controlled with infrared signals and has the capability of turning and speed regulation with features of light tiny volume and low power consumption. Experimental results are reported and discussed to show practical feasibility of the presented WSR prototype. The new results in the paper are related also to the WSR prototype design with a robot body of less than 30 × 30 mm size and with ten leg rods of 90 mm length and 0.2 diameter that are able to provide lifting force for a water walk of the 6.0 grams robot at a forward speed of 20 cm/s or angular velocity of 9 degree/s with two micro DC motors(RoomFlight 4 × 8 mm, 28 Ohm.

Semi-autonomous exploration of multi-floor buildings with a legged robot

Science.gov (United States)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

WTP (willingness to pay) for tele-health consultation service in Hokkaido, Japan.

Science.gov (United States)

Ogasawara, Katsuhiko; Abe, Tamotsu

2013-01-01

We developed a tele-health consultation system that combines a sphygmomanometer with a tele-conference system. These were placed in pharmacies and the University. We selected five pharmacies to set up a consultation room; one in a local area, two in a suburban area, and the remaining two in an urban area. Nurses with more than 5 years of clinical experience were assigned as consultants. These consultants offer health consultation but do not practice medicine. Some researchers have indicated the economic viability of at-home health management systems, but nothing has been researched on the economic viability of tele-health consultation. The objective of present study was estimated Willingness to Payment (WTP) of Tele-health consultation service. The WTP was estimated by Double-Bounded Dichotomous-Choice model. We performed logistic-regression analysis to confirm factors to affect WTP. The number of the respondent was 480. Mean WTP was calculated 495 yen and the median was 367 yen. There was significant difference for factor of "annual income", "have a willingness to use this system", and "have a child/children".

Co-operation and Haptic Assistance for Tele-manipulated Control over Two Asymmetric Slaves

NARCIS (Netherlands)

van Oosterhout, J.

2018-01-01

The success of future fusion power plants as a sustainable energy source greatly depends on their uptime. This uptime relies on the plant's maintenance, which must be performed via tele-manipulation. Tele-manipulated maintenance is challenging, as exemplified by strictly selected and highly trained

Robots to assist daily activities: views of older adults with Alzheimer's disease and their caregivers.

Science.gov (United States)

Wang, Rosalie H; Sudhama, Aishwarya; Begum, Momotaz; Huq, Rajibul; Mihailidis, Alex

2017-01-01

Robots have the potential to both enable older adults with dementia to perform daily activities with greater independence, and provide support to caregivers. This study explored perspectives of older adults with Alzheimer's disease (AD) and their caregivers on robots that provide stepwise prompting to complete activities in the home. Ten dyads participated: Older adults with mild-to-moderate AD and difficulty completing activity steps, and their family caregivers. Older adults were prompted by a tele-operated robot to wash their hands in the bathroom and make a cup of tea in the kitchen. Caregivers observed interactions. Semi-structured interviews were conducted individually. Transcribed interviews were thematically analyzed. Three themes summarized responses to robot interactions: contemplating a future with assistive robots, considering opportunities with assistive robots, and reflecting on implications for social relationships. Older adults expressed opportunities for robots to help in daily activities, were open to the idea of robotic assistance, but did not want a robot. Caregivers identified numerous opportunities and were more open to robots. Several wanted a robot, if available. Positive consequences of robots in caregiving scenarios could include decreased frustration, stress, and relationship strain, and increased social interaction via the robot. A negative consequence could be decreased interaction with caregivers. Few studies have investigated in-depth perspectives of older adults with dementia and their caregivers following direct interaction with an assistive prompting robot. To fulfill the potential of robots, continued dialogue between users and developers, and consideration of robot design and caregiving relationship factors are necessary.

Introduction of Tele-ICU in rural hospitals: Changing organisational culture to harness benefits.

Science.gov (United States)

Goedken, Cassie Cunningham; Moeckli, Jane; Cram, Peter M; Reisinger, Heather Schacht

2017-06-01

This study evaluates rural hospital staff perceptions of a telemedicine ICU (Tele-ICU) before and after implementation. We conducted a longitudinal qualitative study utilising semistructured group or individual interviews with staff from three rural ICU facilities in the upper Midwest of the United States that received Tele-ICU support. Interviews occurred pre-implementation and at two time points post-implementation. Interviews were conducted with: ICU administrators (n=6), physicians (n=3), nurses (n=9), respiratory therapists (n=5) and other (n=1) from July 2011 to May 2013. Transcripts were analysed for thematic content. Overall, rural ICU staff viewed Tele-ICU as a welcome benefit for their facility. Major themes included: (1) beneficial where recruitment and retention of staff can be challenging; (2) extra support for day shifts and evening, night and weekend shifts; (3) reduction in the number of transfers larger tertiary hospitals in the community; (4) improvement in standardisation of care; and (5) organisational culture of rural ICUs may lead to under-utilisation. ICU staff at rural facilities view Tele-ICU as a positive, useful tool to provide extra support and assistance. However, more research is needed regarding organisational culture to maximise the potential benefits of Tele-ICU in rural hospitals. Published by Elsevier Ltd.

Lessons from tele-emergency: improving care quality and health outcomes by expanding support for rural care systems.

Science.gov (United States)

Mueller, Keith J; Potter, Andrew J; MacKinney, A Clinton; Ward, Marcia M

2014-02-01

Tele-emergency services provide immediate and synchronous audio/video connections, most commonly between rural low-volume hospitals and an urban "hub" emergency department. We performed a systematic literature review to identify tele-emergency models and outcomes. We then studied a large tele-emergency service in the upper Midwest. We sent a user survey to all seventy-one hospitals that used the service and received 292 replies. We also conducted telephone interviews and site visits with ninety clinicians and administrators at twenty-nine of these hospitals. Participants reported that tele-emergency improves clinical quality, expands the care team, increases resources during critical events, shortens time to care, improves care coordination, promotes patient-centered care, improves the recruitment of family physicians, and stabilizes the rural hospital patient base. However, inconsistent reimbursement policy, cross-state licensing barriers, and other regulations hinder tele-emergency implementation. New value-based payment systems have the potential to reduce these barriers and accelerate tele-emergency expansion.

Radiation-hardened CMOS integrated circuits

International Nuclear Information System (INIS)

Derbenwick, G.F.; Hughes, R.C.

1977-01-01

Electronic circuits that operate properly after exposure to ionizing radiation are necessary for nuclear weapon systems, satellites, and apparatus designed for use in radiation environments. The program to develop and theoretically model radiation-tolerant integrated circuit components has resulted in devices that show an improvement in hardness up to a factor of ten thousand over earlier devices. An inverter circuit produced functions properly after an exposure of 10 6 Gy (Si) which, as far as is known, is the record for an integrated circuit

The development and feasibility of an online aphasia group intervention and networking program - TeleGAIN.

Science.gov (United States)

Pitt, Rachelle; Theodoros, Deborah; Hill, Anne J; Russell, Trevor

2017-09-04

Aphasia group therapy offers many benefits, however people with aphasia report difficulty accessing groups and speech-language pathologists are faced with many challenges in providing aphasia group therapy. Telerehabilitation may offer an alternative service delivery option. An online aphasia group therapy program - Telerehabilitation Group Aphasia Intervention and Networking (TeleGAIN) - has been developed according to the guidelines of the Medical Research Council (MRC) framework for complex interventions. The purpose of this paper is to describe the development of TeleGAIN and the results of a pilot trial to determine feasibility and acceptability. The development of TeleGAIN was informed through literature reviews in relevant topic areas, consideration of expert opinion and application of the social cognitive theory. TeleGAIN was then modelled through a feasibility pilot trial with four people with aphasia. TeleGAIN appeared to be feasible and acceptable to participants and able to be implemented as planned. Participant satisfaction with treatment was high and results suggested some potential for improvements in language functioning and communication-related quality of life. TeleGAIN appeared to be feasible and acceptable, however the study highlighted issues related to technology, clinical implementation and participant-specific factors that should be addressed prior to a larger trial.

TH-C-17A-06: A Hardware Implementation and Evaluation of Robotic SPECT: Toward Molecular Imaging Onboard Radiation Therapy Machines

International Nuclear Information System (INIS)

Yan, S; Touch, M; Bowsher, J; Yin, F; Cheng, L

2014-01-01

Purpose: To construct a robotic SPECT system and demonstrate its capability to image a thorax phantom on a radiation therapy flat-top couch. The system has potential for on-board functional and molecular imaging in radiation therapy. Methods: A robotic SPECT imaging system was developed utilizing a Digirad 2020tc detector and a KUKA KR150-L110 robot. An imaging study was performed with the PET CT Phantom, which includes 5 spheres: 10, 13, 17, 22 and 28 mm in diameter. Sphere-tobackground concentration ratio was 6:1 of Tc99m. The phantom was placed on a flat-top couch. SPECT projections were acquired with a parallel-hole collimator and a single pinhole collimator. The robotic system navigated the detector tracing the flat-top table to maintain the closest possible proximity to the phantom. For image reconstruction, detector trajectories were described by six parameters: radius-of-rotation, x and z detector shifts, and detector rotation θ, tilt ϕ and twist γ. These six parameters were obtained from the robotic system by calibrating the robot base and tool coordinates. Results: The robotic SPECT system was able to maneuver parallel-hole and pinhole collimated SPECT detectors in close proximity to the phantom, minimizing impact of the flat-top couch on detector-to-COR (center-ofrotation) distance. In acquisitions with background at 1/6th sphere activity concentration, photopeak contamination was heavy, yet the 17, 22, and 28 mm diameter spheres were readily observed with the parallel hole imaging, and the single, targeted sphere (28 mm diameter) was readily observed in the pinhole region-of-interest (ROI) imaging. Conclusion: Onboard SPECT could be achieved by a robot maneuvering a SPECT detector about patients in position for radiation therapy on a flat-top couch. The robot inherent coordinate frame could be an effective means to estimate detector pose for use in SPECT image reconstruction. PHS/NIH/NCI grant R21-CA156390-01A1

A Spacecraft Housekeeping System-on-Chip in a Radiation Hardened Structured ASIC

Science.gov (United States)

Suarez, George; DuMonthier, Jeffrey J.; Sheikh, Salman S.; Powell, Wesley A.; King, Robyn L.

2012-01-01

Housekeeping systems are essential to health monitoring of spacecraft and instruments. Typically, sensors are distributed across various sub-systems and data is collected using components such as analog-to-digital converters, analog multiplexers and amplifiers. In most cases programmable devices are used to implement the data acquisition control and storage, and the interface to higher level systems. Such discrete implementations require additional size, weight, power and interconnect complexity versus an integrated circuit solution, as well as the qualification of multiple parts. Although commercial devices are readily available, they are not suitable for space applications due the radiation tolerance and qualification requirements. The Housekeeping System-o n-A-Chip (HKSOC) is a low power, radiation hardened integrated solution suitable for spacecraft and instrument control and data collection. A prototype has been designed and includes a wide variety of functions including a 16-channel analog front-end for driving and reading sensors, analog-to-digital and digital-to-analog converters, on-chip temperature sensor, power supply current sense circuits, general purpose comparators and amplifiers, a 32-bit processor, digital I/O, pulse-width modulation (PWM) generators, timers and I2C master and slave serial interfaces. In addition, the device can operate in a bypass mode where the processor is disabled and external logic is used to control the analog and mixed signal functions. The device is suitable for stand-alone or distributed systems where multiple chips can be deployed across different sub-systems as intelligent nodes with computing and processing capabilities.

Tele2 kutsus kliendid teatrisse ja kontsertidele

Index Scriptorium Estoniae

2007-01-01

Suvel kutsus Tele 2 kliendid Victor Hugo loo "Jumalaema kiriku kellamees" muusikalisele vaatemängule Tartus (lavastajad Urmas Lennuk ja Andres Dvinjaninov), Muhu Tulevikumuusika festivalile "Juu Jääb" ja Tallinna Linnateatri suvelavastusele "Ronk" (lavastaja Elmo Nüganen)

Development of a prototype of the tele-localisation system in radiotherapy using personal digital assistant via wireless communication.

Science.gov (United States)

Wu, Vincent Wing-Cheung; Tang, Fuk-hay; Cheung, Wai-kwan; Chan, Kit-chi

2013-02-01

In localisation of radiotherapy treatment field, the oncologist is present at the simulator to approve treatment details produced by the therapist. Problems may arise if the oncologist is not available and the patient requires urgent treatment. The development of a tele-localisation system is a potential solution, where the oncologist uses a personal digital assistant (PDA) to localise the treatment field on the image sent from the simulator through wireless communication and returns the information to the therapist after his or her approval. Our team developed the first tele-localisation prototype, which consisted of a server workstation (simulator) for the administration of digital imaging and communication in medicine localisation images including viewing and communication with the PDA via a Wi-Fi network; a PDA (oncologist's site) installed with the custom-built programme that synchronises with the server workstation and performs treatment field editing. Trial tests on accuracy and speed of the prototype system were conducted on 30 subjects with the treatment regions covering the neck, skull, chest and pelvis. The average time required in performing the localisation using the PDA was less than 1.5 min, with the blocked field longer than the open field. The transmission speed of the four treatment regions was similar. The average physical distortion of the images was within 4.4% and the accuracy of field size indication was within 5.3%. Compared with the manual method, the tele-localisation system presented with an average deviation of 5.5%. The prototype system fulfilled the planned objectives of tele-localisation procedure with reasonable speed and accuracy. © 2012 The Authors. Journal of Medical Imaging and Radiation Oncology © 2012 The Royal Australian and New Zealand College of Radiologists.

How to develop a tele-ICU model?

Science.gov (United States)

Rogove, Herb

2012-01-01

The concept of the tele-ICU (intensive care unit) is about 30 years old and more hospitals are utilizing it to cover multiple hospitals in their system or for hospitals that lack on-site critical care coverage such as in the rural setting. Doing a needs analysis, picking the appropriate committee to oversee development of the correct model, choosing quality metrics to measure, and designing an implementation plan that has a timeline is how the process should begin. Research including visitation to established programs and connecting with professional societies are helpful. Developing both a business and financial plan will optimize the value of a tele-ICU program. The innovative ICU nursing director will help to integrate a telemedicine program seamlessly with the on-site program to insure a successful program that benefits patients, their families, the ICU staff, and the hospital.

Radiation hardening of diagnostics

International Nuclear Information System (INIS)

Siemon, R.E.

1991-01-01

The world fusion program has advanced to the stage where it is appropriate to construct a number of devices for the purpose of burning DT fuel. In these next-generation experiments, the expected flux and fluence of 14 MeV neutrons and associated gamma rays will pose a significant challenge to the operation and diagnostics of the fusion device. Radiation effects include structural damage to materials such as vacuum windows and seals, modifications to electrical properties such as electrical conductivity and dielectric strength and impaired optical properties such as reduced transparency and luminescence of windows and fiber optics during irradiation. In preparation for construction and operation of these new facilities, the fusion diagnostics community needs to work with materials scientists to develop a better understanding of radiation effects, and to undertake a testing program aimed at developing workable solutions for this multi-faceted problem. A unique facility to help in this regard is the Los Alamos Spallation Radiation Effects Facility, a neutron source located at the beam stop of the world's most powerful accelerator, the Los Alamos Meson Physics Facility (LAMPF). The LAMPF proton beam generates 10 16 neutrons per second because of ''spallation'' reactions when the protons collide with the copper nuclei in the beam stop

Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture

Science.gov (United States)

Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López

2017-11-01

With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.

Forming Human-Robot Teams Across Time and Space

Science.gov (United States)

Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

2012-01-01

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot

Advanced robotics handling and controls applied to Mixed Waste characterization, segregation and treatment

International Nuclear Information System (INIS)

Grasz, E.; Huber, L.; Horvath, J.; Roberson, P.; Wilhelmsen, K.; Ryon, R.

1994-11-01

At Lawrence Livermore National Laboratory under the Mixed Waste Operations program of the Department of Energy Robotic Technology Development Program (RTDP), a key emphasis is developing a total solution to the problem of characterizing, handling and treating complex and potentially unknown mixed waste objects. LLNL has been successful at looking at the problem from a system perspective and addressing some of the key issues including non-destructive evaluation of the waste stream prior to the materials entering the handling workcell, the level of automated material handling required for effective processing of the waste stream objects (both autonomous and tele-operational), and the required intelligent robotic control to carry out the characterization, segregation, and waste treating processes. These technologies were integrated and demonstrated in a prototypical surface decontamination workcell this past year

Coating compositions hardenable by ionization beams

International Nuclear Information System (INIS)

Chaudhari, D.; Haering, E.; Dobbelstein, A.; Hoselmann, W.

1976-01-01

Coating compositions hardenable by ionizing radiation are described which contain as binding agents a mixture of at least 1 unsaturated olefin compound containing urethane groups, and at least 1 further unsaturated olefin compound that may be copolymerized. The unsaturated olefin compound containing the urethane groups is a reaction product of a compound containing carboxylic acid groups and a compound containing at least 1 isocyanate group where the mixture of the two olefins may contain conventional additives of the lacquer industry. 6 claims, no drawings

Skin hardening effect in patients with polymorphic light eruption: comparison of UVB hardening in hospital with a novel home UV-hardening device.

Science.gov (United States)

Franken, S M; Genders, R E; de Gruijl, F R; Rustemeyer, T; Pavel, S

2013-01-01

An effective prophylactic treatment of patients with polymorphic light eruption (PLE) consists of repeated low, gradually increasing exposures to UVB radiation. This so-called UV(B) hardening induces better tolerance of the skin to sunlight. SunshowerMedical company (Amsterdam) has developed an UV (B) source that can be used during taking shower. The low UV fluence of this apparatus makes it an interesting device for UV hardening. In a group of PLE patients, we compared the effectiveness of the irradiation with SunshowerMedical at home with that of the UVB treatment in the hospital. The PLE patients were randomized for one of the treatments. The hospital treatment consisted of irradiations with broad-band UVB (Waldmann 85/UV21 lamps) twice a week during 6 weeks. The home UV-device was used each day with the maximal irradiation time of 6 min. The outcome assessment was based on the information obtained from patients' dermatological quality of life (DLQI) questionnaires, the ability of both phototherapies to reduce the provocation reaction and from the patients' evaluation of the long-term benefits of their phototherapies. Sixteen patients completed treatment with SunshowerMedical and thirteen completed treatment in hospital. Both types of phototherapy were effective. There was a highly significant improvement in DLQI with either treatment. In most cases, the hardening reduced or even completely suppressed clinical UV provocation of PLE. The patients using SunshowerMedical at home were, however, much more content with the treatment procedure than the patients visiting the dermatological units. Both treatments were equally effective in the induction of skin tolerance to sunlight in PLE patients. However, the home treatment was much better accepted than the treatment in the hospital. © 2011 The Authors. Journal of the European Academy of Dermatology and Venereology © 2011 European Academy of Dermatology and Venereology.

Robotics for nuclear power plants

International Nuclear Information System (INIS)

Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

1984-01-01

Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics. (author)

Robotics for nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

1984-10-01

Demand for robots in nuclear power plants is increasing of late in order to reduce workers' exposure to radiations. Especially, owing to the progress of microelectronics and robotics, earnest desire is growing for the advent of intellecturized robots that perform indeterminate and complicated security work. Herein represented are the robots recently developed for nuclear power plants and the review of the present status of robotics.

An open real-time tele-stethoscopy system

Directory of Open Access Journals (Sweden)

Foche-Perez Ignacio

2012-08-01

Full Text Available Abstract Background Acute respiratory infections are the leading cause of childhood mortality. The lack of physicians in rural areas of developing countries makes difficult their correct diagnosis and treatment. The staff of rural health facilities (health-care technicians may not be qualified to distinguish respiratory diseases by auscultation. For this reason, the goal of this project is the development of a tele-stethoscopy system that allows a physician to receive real-time cardio-respiratory sounds from a remote auscultation, as well as video images showing where the technician is placing the stethoscope on the patient’s body. Methods A real-time wireless stethoscopy system was designed. The initial requirements were: 1 The system must send audio and video synchronously over IP networks, not requiring an Internet connection; 2 It must preserve the quality of cardiorespiratory sounds, allowing to adapt the binaural pieces and the chestpiece of standard stethoscopes, and; 3 Cardiorespiratory sounds should be recordable at both sides of the communication. In order to verify the diagnostic capacity of the system, a clinical validation with eight specialists has been designed. In a preliminary test, twelve patients have been auscultated by all the physicians using the tele-stethoscopy system, versus a local auscultation using traditional stethoscope. The system must allow listen the cardiac (systolic and diastolic murmurs, gallop sound, arrhythmias and respiratory (rhonchi, rales and crepitations, wheeze, diminished and bronchial breath sounds, pleural friction rub sounds. Results The design, development and initial validation of the real-time wireless tele-stethoscopy system are described in detail. The system was conceived from scratch as open-source, low-cost and designed in such a way that many universities and small local companies in developing countries may manufacture it. Only free open-source software has been used in order to

An open real-time tele-stethoscopy system.

Science.gov (United States)

Foche-Perez, Ignacio; Ramirez-Payba, Rodolfo; Hirigoyen-Emparanza, German; Balducci-Gonzalez, Fernando; Simo-Reigadas, Francisco-Javier; Seoane-Pascual, Joaquin; Corral-Peñafiel, Jaime; Martinez-Fernandez, Andres

2012-08-23

Acute respiratory infections are the leading cause of childhood mortality. The lack of physicians in rural areas of developing countries makes difficult their correct diagnosis and treatment. The staff of rural health facilities (health-care technicians) may not be qualified to distinguish respiratory diseases by auscultation. For this reason, the goal of this project is the development of a tele-stethoscopy system that allows a physician to receive real-time cardio-respiratory sounds from a remote auscultation, as well as video images showing where the technician is placing the stethoscope on the patient's body. A real-time wireless stethoscopy system was designed. The initial requirements were: 1) The system must send audio and video synchronously over IP networks, not requiring an Internet connection; 2) It must preserve the quality of cardiorespiratory sounds, allowing to adapt the binaural pieces and the chestpiece of standard stethoscopes, and; 3) Cardiorespiratory sounds should be recordable at both sides of the communication. In order to verify the diagnostic capacity of the system, a clinical validation with eight specialists has been designed. In a preliminary test, twelve patients have been auscultated by all the physicians using the tele-stethoscopy system, versus a local auscultation using traditional stethoscope. The system must allow listen the cardiac (systolic and diastolic murmurs, gallop sound, arrhythmias) and respiratory (rhonchi, rales and crepitations, wheeze, diminished and bronchial breath sounds, pleural friction rub) sounds. The design, development and initial validation of the real-time wireless tele-stethoscopy system are described in detail. The system was conceived from scratch as open-source, low-cost and designed in such a way that many universities and small local companies in developing countries may manufacture it. Only free open-source software has been used in order to minimize manufacturing costs and look for alliances to

Experiences with tele-health follow-up in patients with rheumatoid arthritis: a qualitative interview study

DEFF Research Database (Denmark)

Raunsbæk Knudsen, Line; Thurah, Annette De; Lomborg, Kirsten

2017-01-01

the patients' different needs, wishes and abilities to take part in tele-health follow-up. Our findings reveal a need for more insight into how tele-health follow-up could be integrated in routine clinical practice, paying special attention to how reluctant patients may be supported.......: Adopting a strategy of interpretive description, we conducted individual, semi-structured interviews with 15 RA patients participating in a tele-health follow-up. Participants were selected purposively and consecutive from both genders and with various ages, disease durations and disease severity....... The analysis was inductive with a constant comparative approach. First, we identified the main themes conveying the participants' experiences. Then, we constructed patient typologies to explain different perspectives on the tele-health follow-up. RESULTS: Five themes covered the participants' experiences: 'A...

Demonstration of improved seismic source inversion method of tele-seismic body wave

Science.gov (United States)

Yagi, Y.; Okuwaki, R.

2017-12-01

Seismic rupture inversion of tele-seismic body wave has been widely applied to studies of large earthquakes. In general, tele-seismic body wave contains information of overall rupture process of large earthquake, while the tele-seismic body wave is inappropriate for analyzing a detailed rupture process of M6 7 class earthquake. Recently, the quality and quantity of tele-seismic data and the inversion method has been greatly improved. Improved data and method enable us to study a detailed rupture process of M6 7 class earthquake even if we use only tele-seismic body wave. In this study, we demonstrate the ability of the improved data and method through analyses of the 2016 Rieti, Italy earthquake (Mw 6.2) and the 2016 Kumamoto, Japan earthquake (Mw 7.0) that have been well investigated by using the InSAR data set and the field observations. We assumed the rupture occurring on a single fault plane model inferred from the moment tensor solutions and the aftershock distribution. We constructed spatiotemporal discretized slip-rate functions with patches arranged as closely as possible. We performed inversions using several fault models and found that the spatiotemporal location of large slip-rate area was robust. In the 2016 Kumamoto, Japan earthquake, the slip-rate distribution shows that the rupture propagated to southwest during the first 5 s. At 5 s after the origin time, the main rupture started to propagate toward northeast. First episode and second episode correspond to rupture propagation along the Hinagu fault and the Futagawa fault, respectively. In the 2016 Rieti, Italy earthquake, the slip-rate distribution shows that the rupture propagated to up-dip direction during the first 2 s, and then rupture propagated toward northwest. From both analyses, we propose that the spatiotemporal slip-rate distribution estimated by improved inversion method of tele-seismic body wave has enough information to study a detailed rupture process of M6 7 class earthquake.

Bravocom süüdistab Tele2 ja EMT-d alatus konkurentsivõitluses / Kristiina Viiron

Index Scriptorium Estoniae

Viiron, Kristiina, 1971-

2007-01-01

Kallines Tele2 ja EMT võrgust Bravocomi mobiilinumbritele helistamise minutihind. Bravocomi juhatuse esimees Peep Põldsamm peab nii kalli hinna - 4.50 minut - kehtestamist konkurentsivõitluseks. Tabelid: Hinnavõrdlus. Lisa: Tele2 ja EMT kommentaarid

Preparation of Self Hardening-modelling Polyurethane for Wood Repairing and Cracks Injection

International Nuclear Information System (INIS)

Meligi, G.A.; Elnahas, H.H.; Ammar, A.H.

2014-01-01

Self hardening composite as a modelling clay was prepared from polyurethane, two parts (A) and (B) where (A) contains polyol (polyether), vinyl acetate versatic ester copolymer (VAcVe) and magnesium silicate or wood powder and (B) contains toluene diisocyanate (TDI) as a hardening agent. The two parts mixed thoroughly giving soft putty like feel, open working time 1-2 h and cures hard overnight (24 h full cure). Factors affecting working time and full cure were evaluated. Also, measurements of surface hardness, compressive strength, scanning electron microscopy (SEM), water absorption and effect of ionizing radiation were studied. The suggestion for using the prepared polyurethane composite as clay dries as hard as a rock in the field of wood repair and cracks injection for building walls were recommended. Keywords: Polyurethane, modelling clay, radiation, wood repair and cracks injection.

Integrity mechanism for eHealth tele-monitoring system in smart home environment.

Science.gov (United States)

Mantas, Georgios; Lymberopoulos, Dimitrios; Komninos, Nikos

2009-01-01

During the past few years, a lot of effort has been invested in research and development of eHealth tele-monitoring systems that will provide many benefits for healthcare delivery from the healthcare provider to the patient's home. However, there is a plethora of security requirements in eHealth tele-monitoring systems. Data integrity of the transferred medical data is one of the most important security requirements that should be satisfied in these systems, since medical information is extremely sensitive information, and even sometimes life threatening information. In this paper, we present a data integrity mechanism for eHealth tele-monitoring system that operates in a smart home environment. Agent technology is applied to achieve data integrity with the use of cryptographic smart cards. Furthermore, the overall security infrastructure and its various components are described.

Effects of solute elements on hardening of thermally-aged RPV model alloys

International Nuclear Information System (INIS)

Dohi, Kenji; Nishida, Kenji; Nomoto, Akiyoshi; Soneda, Naoki; Liu, Li; Sekimura, Naoto; Li Zhengcao

2012-01-01

The investigation of effects of solute elements on the copper-enriched cluster, which is a cause of radiation embrittlement of reactor pressure vessel steels, is needed in order to understand the mechanism of the hardening and the cluster formation. The dependence of the hardness change and the formation of thermally-aged Fe-Cu model alloys doped Ni, Si and Mn on aging time are investigated using Vickers harness tester and three dimensional atom probe. Ni addition suppresses hardening, and Si addition accelerates hardening slightly at the initial stage of the aging. Mn addition accelerates hardening much more but does not almost affect the peak hardness. Ni and Si addition increase the number density and the size of the cluster, while Mn addition remarkably increases the number density and the size of the cluster at the initial stage of the aging. In addition, there is no clear correlation between the square root of the volume fraction of the clusters and the hardness change for all of the alloys. The reasons are considered to be the decrease in the solute hardening caused by the cluster formation and the difference in the shear modulus of the cluster due to the difference in the chemical composition of the cluster. (author)

A non-linear kinematic hardening function

International Nuclear Information System (INIS)

Ottosen, N.S.

1977-05-01

Based on the classical theory of plasticity, and accepting the von Mises criterion as the initial yield criterion, a non-linear kinematic hardening function applicable both to Melan-Prager's and to Ziegler's hardening rule is proposed. This non-linear hardening function is determined by means of the uniaxial stress-strain curve, and any such curve is applicable. The proposed hardening function considers the problem of general reversed loading, and a smooth change in the behaviour from one plastic state to another nearlying plastic state is obtained. A review of both the kinematic hardening theory and the corresponding non-linear hardening assumptions is given, and it is shown that material behaviour is identical whether Melan-Prager's or Ziegler's hardening rule is applied, provided that the von Mises yield criterion is adopted. (author)

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

International Nuclear Information System (INIS)

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

2013-01-01

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

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

Energy Technology Data Exchange (ETDEWEB)

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

2013-10-15

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

Arizona TeleMedicine Network: System Procurement Specifications.

Science.gov (United States)

Atlantic Research Corp., Alexandria, VA.

Providing general specifications and system descriptions for segments within the Arizona TeleMedicine Project (a telecommunication system designed to deliver health services to rurally isolated American Indians in Arizona), this document, when used with the appropriate route segment document, will completely describe the project's required…

Laser transformation hardening effect on hardening zone features and surface hardness of tool steel AISI D2

Directory of Open Access Journals (Sweden)

D. Lesyk

2017-06-01

Full Text Available The relationship of technological input regimes of the laser transformation hardening on change the hardening depth, hardening width, and hardening angle, as well as surface hardness of the tool steel AISI D2 using multifactor experiment with elements of the analysis of variance and regression equations was determined. The laser transformation hardening process implemented by controlling the heating temperature using Nd:YAG fiber laser with scanner, pyrometer and proportional-integral-differential controller. The linear and quadratic regression models are developed, as well as response surface to determine the effect of the heating temperature and feed rate of the treated surface on the energy density of the laser beam, hardening depths, hardening width, hardening angle, and surface hardness are designed. The main effect on the energy density of the laser beam has a velocity laser treatment, on the other hand, the main effect on the geometrical parameters of the laser hardened zone and surface hardness has temperature heating are shown. The optimum magnitudes of the heating temperature (1270 °C and feed rate of the treated surface (90 mm/min for laser transformation hardening of the tool steel AISI D2 using fiber laser with scanner were defined.

A comparison of robotic arm versus gantry linear accelerator stereotactic body radiation therapy for prostate cancer.

Science.gov (United States)

Avkshtol, Vladimir; Dong, Yanqun; Hayes, Shelly B; Hallman, Mark A; Price, Robert A; Sobczak, Mark L; Horwitz, Eric M; Zaorsky, Nicholas G

2016-01-01

Prostate cancer is the most prevalent cancer diagnosed in men in the United States besides skin cancer. Stereotactic body radiation therapy (SBRT; 6-15 Gy per fraction, up to 45 minutes per fraction, delivered in five fractions or less, over the course of approximately 2 weeks) is emerging as a popular treatment option for prostate cancer. The American Society for Radiation Oncology now recognizes SBRT for select low- and intermediate-risk prostate cancer patients. SBRT grew from the notion that high doses of radiation typical of brachytherapy could be delivered noninvasively using modern external-beam radiation therapy planning and delivery methods. SBRT is most commonly delivered using either a traditional gantry-mounted linear accelerator or a robotic arm-mounted linear accelerator. In this systematic review article, we compare and contrast the current clinical evidence supporting a gantry vs robotic arm SBRT for prostate cancer. The data for SBRT show encouraging and comparable results in terms of freedom from biochemical failure (>90% for low and intermediate risk at 5-7 years) and acute and late toxicity (6 MV). Finally, SBRT (particularly on a gantry) may also be more cost-effective than conventionally fractionated external-beam radiation therapy. Randomized controlled trials of SBRT using both technologies are underway.

75 FR 69470 - Tele Atlas North America, Inc., Currently Doing Business as Tom Tom Including Off-Site Workers...

Science.gov (United States)

2010-11-12

...,839B; TA-W-70,839C] Tele Atlas North America, Inc., Currently Doing Business as Tom Tom Including Off... Business as Tom Tom, Concord, MA; Tele Atlas North America, Inc. Currently Doing Business as Tom Tom, Detroit, MI; Tele Atlas North America, Inc. Currently Doing Business as Tom Tom, Redwood, CA; Amended...

Modeling copper precipitation hardening and embrittlement in a dilute Fe-0.3at.%Cu alloy under neutron irradiation

Science.gov (United States)

Bai, Xian-Ming; Ke, Huibin; Zhang, Yongfeng; Spencer, Benjamin W.

2017-11-01

Neutron irradiation in light water reactors can induce precipitation of nanometer sized Cu clusters in reactor pressure vessel steels. The Cu precipitates impede dislocation gliding, leading to an increase in yield strength (hardening) and an upward shift of ductile-to-brittle transition temperature (embrittlement). In this work, cluster dynamics modeling is used to model the entire Cu precipitation process (nucleation, growth, and coarsening) in a Fe-0.3at.%Cu alloy under neutron irradiation at 300°C based on the homogenous nucleation mechanism. The evolution of the Cu cluster number density and mean radius predicted by the modeling agrees well with experimental data reported in literature for the same alloy under the same irradiation conditions. The predicted precipitation kinetics is used as input for a dispersed barrier hardening model to correlate the microstructural evolution with the radiation hardening and embrittlement in this alloy. The predicted radiation hardening agrees well with the mechanical test results in the literature. Limitations of the model and areas for future improvement are also discussed in this work.

Superheat effect on bainite steel hardenability

International Nuclear Information System (INIS)

Kubachek, V.V.; Sklyuev, P.V.

1978-01-01

The bainite hardenability of 34KhN1M and 35 KhN1M2Ph steels has been investigated by the end-face hardening technique. It is established that, as the temperature of austenitization rises from 900 to 1280 deg C, the temperature of bainite transformation increases and bainite hardenability of the steels falls off. A repeated slow heating to 900 deg C of previously overheated 34KhN1M steel breaks up grain, lowers the temperature of the bainite transformation and raises the hardenability to values obtained with ordinary hardening from 900 deg C. A similar heating of previously overheated 35KhN1M2Ph steel is accompanied by restoration of initial coarse grains and maintenance of both the elevated bainite transformation temperature and to lower hardenability corresponding to hardening from the temperature of previous overheating

Application of Handheld Tele-ECG for Health Care Delivery in Rural India

Directory of Open Access Journals (Sweden)

Meenu Singh

2014-01-01

Full Text Available Telemonitoring is a medical practice that involves remotely monitoring patients who are not at the same location as the health care provider. The purpose of our study was to use handheld tele-electrocardiogram (ECG developed by Bhabha Atomic Research Center (BARC to identify heart conditions in the rural underserved population where the doctor-patient ratio is low and access to health care is difficult. The objective of our study was clinical validation of handheld tele-ECG as a screening tool for evaluation of cardiac diseases in the rural population. ECG was obtained in 450 individuals (mean age 31.49 ± 20.058 residing in the periphery of Chandigarh, India, from April 2011 to March 2013, using the handheld tele-ECG machine. The data were then transmitted to physicians in Postgraduate Institute of Medical Education and Research (PGIMER, Chandigarh, for their expert opinion. ECG was interpreted as normal in 70% individuals. Left ventricular hypertrophy (9.3% was the commonest abnormality followed closely by old myocardial infarction (5.3%. Patient satisfaction was reported to be ~95%. Thus, it can be safely concluded that tele-ECG is a portable, cost-effective, and convenient tool for diagnosis and monitoring of heart diseases and thus improves quality and accessibility, especially in rural areas.

Arizona TeleMedicine Network: Engineering Master Plan.

Science.gov (United States)

Atlantic Research Corp., Alexandria, VA.

As the planning document for establishing a statewide health communications system initially servicing the Papago, San Carlos and White Mountain Apache, Navajo, and Hopi reservations, this document prescribes the communications services to be provided by the Arizona TeleMedicine Network. Specifications include: (1) communications services for each…

Nuclear tele medicine; Telemedicina nuclear

Energy Technology Data Exchange (ETDEWEB)

Vargas, L.; Hernandez, F.; Fernandez, R. [Departamento de Medicina Nuclear, Imagenologia Diagnostica, Xalapa, Veracruz (Mexico)

2005-07-01

The great majority of the digital images of nuclear medicine are susceptible of being sent through internet. This has allowed that the work in diagnosis cabinets by image it can benefit of this modern technology. We have presented in previous congresses works related with tele medicine, however, due to the speed in the evolution of the computer programs and the internet, becomes necessary to make a current position in this modality of work. (Author)

Australian national networked tele-test facility for integrated systems

Science.gov (United States)

Eshraghian, Kamran; Lachowicz, Stefan W.; Eshraghian, Sholeh

2001-11-01

The Australian Commonwealth government recently announced a grant of 4.75 million as part of a 13.5 million program to establish a world class networked IC tele-test facility in Australia. The facility will be based on a state-of-the-art semiconductor tester located at Edith Cowan University in Perth that will operate as a virtual centre spanning Australia. Satellite nodes will be located at the University of Western Australia, Griffith University, Macquarie University, Victoria University and the University of Adelaide. The facility will provide vital equipment to take Australia to the frontier of critically important and expanding fields in microelectronics research and development. The tele-test network will provide state of the art environment for the electronics and microelectronics research and the industry community around Australia to test and prototype Very Large Scale Integrated (VLSI) circuits and other System On a Chip (SOC) devices, prior to moving to the manufacturing stage. Such testing is absolutely essential to ensure that the device performs to specification. This paper presents the current context in which the testing facility is being established, the methodologies behind the integration of design and test strategies and the target shape of the tele-testing Facility.

Robotic vehicle uses acoustic sensors for voice detection and diagnostics

Science.gov (United States)

Young, Stuart H.; Scanlon, Michael V.

2000-07-01

An acoustic sensor array that cues an imaging system on a small tele- operated robotic vehicle was used to detect human voice and activity inside a building. The advantage of acoustic sensors is that it is a non-line of sight (NLOS) sensing technology that can augment traditional LOS sensors such as visible and IR cameras. Acoustic energy emitted from a target, such as from a person, weapon, or radio, will travel through walls and smoke, around corners, and down corridors, whereas these obstructions would cripple an imaging detection system. The hardware developed and tested used an array of eight microphones to detect the loudest direction and automatically setter a camera's pan/tilt toward the noise centroid. This type of system has applicability for counter sniper applications, building clearing, and search/rescue. Data presented will be time-frequency representations showing voice detected within rooms and down hallways at various ranges. Another benefit of acoustics is that it provides the tele-operator some situational awareness clues via low-bandwidth transmission of raw audio data for the operator to interpret with either headphones or through time-frequency analysis. This data can be useful to recognize familiar sounds that might indicate the presence of personnel, such as talking, equipment, movement noise, etc. The same array also detects the sounds of the robot it is mounted on, and can be useful for engine diagnostics and trouble shooting, or for self-noise emanations for stealthy travel. Data presented will characterize vehicle self noise over various surfaces such as tiles, carpets, pavement, sidewalk, and grass. Vehicle diagnostic sounds will indicate a slipping clutch and repeated unexpected application of emergency braking mechanism.

Influence of Hardening Model on Weld Residual Stress Distribution

Energy Technology Data Exchange (ETDEWEB)

Mullins, Jonathan; Gunnars, Jens (Inspecta Technology AB, Stockholm (Sweden))

2009-06-15

This study is the third stage of a project sponsored by the Swedish Radiation Safety Authority (SSM) to improve the weld residual stress modelling procedures currently used in Sweden. The aim of this study was to determine which material hardening model gave the best agreement with experimentally measured weld residual stress distributions. Two girth weld geometries were considered: 19mm and 65mm thick girth welds with Rin/t ratios of 10.5 and 2.8, respectively. The FE solver ABAQUS Standard v6.5 was used for analysis. As a preliminary step some improvements were made to the welding simulation procedure used in part one of the project. First, monotonic stress strain curves and a mixed isotropic/kinematic hardening model were sourced from the literature for 316 stainless steel. Second, more detailed information was obtained regarding the geometry and welding sequence for the Case 1 weld (compared with phase 1 of this project). Following the preliminary step, welding simulations were conducted using isotropic, kinematic and mixed hardening models. The isotropic hardening model gave the best overall agreement with experimental measurements; it is therefore recommended for future use in welding simulations. The mixed hardening model gave good agreement for predictions of the hoop stress but tended to under estimate the magnitude of the axial stress. It must be noted that two different sources of data were used for the isotropic and mixed models in this study and this may have contributed to the discrepancy in predictions. When defining a mixed hardening model it is difficult to delineate the relative contributions of isotropic and kinematic hardening and for the model used it may be that a greater isotropic hardening component should have been specified. The kinematic hardening model consistently underestimated the magnitude of both the axial and hoop stress and is not recommended for use. Two sensitivity studies were also conducted. In the first the effect of using a

Influence of Hardening Model on Weld Residual Stress Distribution

International Nuclear Information System (INIS)

Mullins, Jonathan; Gunnars, Jens

2009-06-01

This study is the third stage of a project sponsored by the Swedish Radiation Safety Authority (SSM) to improve the weld residual stress modelling procedures currently used in Sweden. The aim of this study was to determine which material hardening model gave the best agreement with experimentally measured weld residual stress distributions. Two girth weld geometries were considered: 19mm and 65mm thick girth welds with Rin/t ratios of 10.5 and 2.8, respectively. The FE solver ABAQUS Standard v6.5 was used for analysis. As a preliminary step some improvements were made to the welding simulation procedure used in part one of the project. First, monotonic stress strain curves and a mixed isotropic/kinematic hardening model were sourced from the literature for 316 stainless steel. Second, more detailed information was obtained regarding the geometry and welding sequence for the Case 1 weld (compared with phase 1 of this project). Following the preliminary step, welding simulations were conducted using isotropic, kinematic and mixed hardening models. The isotropic hardening model gave the best overall agreement with experimental measurements; it is therefore recommended for future use in welding simulations. The mixed hardening model gave good agreement for predictions of the hoop stress but tended to under estimate the magnitude of the axial stress. It must be noted that two different sources of data were used for the isotropic and mixed models in this study and this may have contributed to the discrepancy in predictions. When defining a mixed hardening model it is difficult to delineate the relative contributions of isotropic and kinematic hardening and for the model used it may be that a greater isotropic hardening component should have been specified. The kinematic hardening model consistently underestimated the magnitude of both the axial and hoop stress and is not recommended for use. Two sensitivity studies were also conducted. In the first the effect of using a

Extracting material response from simple mechanical tests on hardening-softening-hardening viscoplastic solids

Science.gov (United States)

Mohan, Nisha

Compliant foams are usually characterized by a wide range of desirable mechanical properties. These properties include viscoelasticity at different temperatures, energy absorption, recoverability under cyclic loading, impact resistance, and thermal, electrical, acoustic and radiation-resistance. Some foams contain nano-sized features and are used in small-scale devices. This implies that the characteristic dimensions of foams span multiple length scales, rendering modeling their mechanical properties difficult. Continuum mechanics-based models capture some salient experimental features like the linear elastic regime, followed by non-linear plateau stress regime. However, they lack mesostructural physical details. This makes them incapable of accurately predicting local peaks in stress and strain distributions, which significantly affect the deformation paths. Atomistic methods are capable of capturing the physical origins of deformation at smaller scales, but suffer from impractical computational intensity. Capturing deformation at the so-called meso-scale, which is capable of describing the phenomenon at a continuum level, but with some physical insights, requires developing new theoretical approaches. A fundamental question that motivates the modeling of foams is `how to extract the intrinsic material response from simple mechanical test data, such as stress vs. strain response?' A 3D model was developed to simulate the mechanical response of foam-type materials. The novelty of this model includes unique features such as the hardening-softening-hardening material response, strain rate-dependence, and plastically compressible solids with plastic non-normality. Suggestive links from atomistic simulations of foams were borrowed to formulate a physically informed hardening material input function. Motivated by a model that qualitatively captured the response of foam-type vertically aligned carbon nanotube (VACNT) pillars under uniaxial compression [2011,"Analysis of

TeleMed: Wide-area, secure, collaborative object computing with Java and CORBA for healthcare

Energy Technology Data Exchange (ETDEWEB)

Forslund, D.W.; George, J.E.; Gavrilov, E.M.

1998-12-31

Distributed computing is becoming commonplace in a variety of industries with healthcare being a particularly important one for society. The authors describe the development and deployment of TeleMed in a few healthcare domains. TeleMed is a 100% Java distributed application build on CORBA and OMG standards enabling the collaboration on the treatment of chronically ill patients in a secure manner over the Internet. These standards enable other systems to work interoperably with TeleMed and provide transparent access to high performance distributed computing to the healthcare domain. The goal of wide scale integration of electronic medical records is a grand-challenge scale problem of global proportions with far-reaching social benefits.

Prediction of Path Deviation in Robot Based Incremental Sheet Metal Forming by Means of a New Solid-Shell Finite Element Technology and a Finite Elastoplastic Model with Combined Hardening

Science.gov (United States)

Kiliclar, Yalin; Laurischkat, Roman; Vladimirov, Ivaylo N.; Reese, Stefanie

2011-08-01

The presented project deals with a robot based incremental sheet metal forming process, which is called roboforming and has been developed at the Chair of Production Systems. It is characterized by flexible shaping using a freely programmable path-synchronous movement of two industrial robots. The final shape is produced by the incremental infeed of the forming tool in depth direction and its movement along the part contour in lateral direction. However, the resulting geometries formed in roboforming deviate several millimeters from the reference geometry. This results from the compliance of the involved machine structures and the springback effects of the workpiece. The project aims to predict these deviations caused by resiliences and to carry out a compensative path planning based on this prediction. Therefore a planning tool is implemented which compensates the robots's compliance and the springback effects of the sheet metal. The forming process is simulated by means of a finite element analysis using a material model developed at the Institute of Applied Mechanics (IFAM). It is based on the multiplicative split of the deformation gradient in the context of hyperelasticity and combines nonlinear kinematic and isotropic hardening. Low-order finite elements used to simulate thin sheet structures, such as used for the experiments, have the major problem of locking, a nonphysical stiffening effect. For an efficient finite element analysis a special solid-shell finite element formulation based on reduced integration with hourglass stabilization has been developed. To circumvent different locking effects, the enhanced assumed strain (EAS) and the assumed natural strain (ANS) concepts are included in this formulation. Having such powerful tools available we obtain more accurate geometries.

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

Directory of Open Access Journals (Sweden)

Kazuhisa Nakajima

2014-12-01

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

Robotic-assisted thermal ablation of liver tumours

International Nuclear Information System (INIS)

Abdullah, Basri Johan Jeet; Yeong, Chai Hong; Goh, Khean Lee; Yoong, Boon Koon; Ho, Gwo Fuang; Yim, Carolyn Chue Wai; Kulkarni, Anjali

2015-01-01

This study aimed to assess the technical success, radiation dose, safety and performance level of liver thermal ablation using a computed tomography (CT)-guided robotic positioning system. Radiofrequency and microwave ablation of liver tumours were performed on 20 patients (40 lesions) with the assistance of a CT-guided robotic positioning system. The accuracy of probe placement, number of readjustments and total radiation dose to each patient were recorded. The performance level was evaluated on a five-point scale (5-1: excellent-poor). The radiation doses were compared against 30 patients with 48 lesions (control) treated without robotic assistance. Thermal ablation was successfully completed in 20 patients with 40 lesions and confirmed on multiphasic contrast-enhanced CT. No procedure related complications were noted in this study. The average number of needle readjustment was 0.8 ± 0.8. The total CT dose (DLP) for the entire robotic assisted thermal ablation was 1382 ± 536 mGy.cm, while the CT fluoroscopic dose (DLP) per lesion was 352 ± 228 mGy.cm. There was no statistically significant (p > 0.05) dose reduction found between the robotic-assisted versus the conventional method. This study revealed that robotic-assisted planning and needle placement appears to be safe, with high accuracy and a comparable radiation dose to patients. (orig.)

Robotic-assisted thermal ablation of liver tumours

Energy Technology Data Exchange (ETDEWEB)

Abdullah, Basri Johan Jeet; Yeong, Chai Hong [University of Malaya, Department of Biomedical Imaging and University of Malaya Research Imaging Centre, Faculty of Medicine, Kuala Lumpur (Malaysia); University of Malaya, Department of Internal Medicine, Faculty of Medicine, Kuala Lumpur (Malaysia); Goh, Khean Lee [University of Malaya, Department of Internal Medicine, Faculty of Medicine, Kuala Lumpur (Malaysia); Yoong, Boon Koon [University of Malaya, Department of Surgery, Faculty of Medicine, Kuala Lumpur (Malaysia); Ho, Gwo Fuang [University of Malaya, Department of Oncology, Faculty of Medicine, Kuala Lumpur (Malaysia); Yim, Carolyn Chue Wai [University of Malaya, Department of Anesthesia, Faculty of Medicine, Kuala Lumpur (Malaysia); Kulkarni, Anjali [Perfint Healthcare Corporation, Florence, OR (United States)

2015-01-15

This study aimed to assess the technical success, radiation dose, safety and performance level of liver thermal ablation using a computed tomography (CT)-guided robotic positioning system. Radiofrequency and microwave ablation of liver tumours were performed on 20 patients (40 lesions) with the assistance of a CT-guided robotic positioning system. The accuracy of probe placement, number of readjustments and total radiation dose to each patient were recorded. The performance level was evaluated on a five-point scale (5-1: excellent-poor). The radiation doses were compared against 30 patients with 48 lesions (control) treated without robotic assistance. Thermal ablation was successfully completed in 20 patients with 40 lesions and confirmed on multiphasic contrast-enhanced CT. No procedure related complications were noted in this study. The average number of needle readjustment was 0.8 ± 0.8. The total CT dose (DLP) for the entire robotic assisted thermal ablation was 1382 ± 536 mGy.cm, while the CT fluoroscopic dose (DLP) per lesion was 352 ± 228 mGy.cm. There was no statistically significant (p > 0.05) dose reduction found between the robotic-assisted versus the conventional method. This study revealed that robotic-assisted planning and needle placement appears to be safe, with high accuracy and a comparable radiation dose to patients. (orig.)

TeleFood: a worldwide appeal.

Science.gov (United States)

1997-12-01

In 1997, the UN Food and Agriculture Organization (FAO) broadcast its first global television program on the theme of "Food for All" to an audience of approximately 450 million viewers. The objective of "TeleFood" was to raise awareness of the scale of the problem and to encourage solidarity in the fight against hunger. TeleFood raised funds to support the FAO's Special Programme for Food Security (SPFS) and similar grassroots projects that target rural people in developing countries. The SPFS project, now operational in 19 countries and being formulated in 32 more, emphasizes national ownership, farmer participation, environmental awareness, and recognition of the role of women in food production and marketing. The 3-year SPFS pilot phase involves 1) small-scale water harvesting, irrigation, and drainage; 2) sustainable intensification of crop production; 3) diversification of production; and 4) removal of policies that impede food security. Results to date include 1) greatly increased maize and potato yields in Bolivia and more modest increases in Nepal; 2) doubled yields of maize and rice in Tanzania; and 3) expansion of the area under low-cost irrigation in Zambia. South-South cooperation is allowing some developing countries to benefit from experience gained in other developing countries. The pilot activities are being funded with an increasing number of "soft" loans from governments and financial institutions.

Tele-Interpersonal Psychotherapy Acutely Reduces Depressive Symptoms in Depressed HIV-Infected Rural Persons: A Randomized Clinical Trial.

Science.gov (United States)

Heckman, Timothy G; Heckman, Bernadette D; Anderson, Timothy; Lovejoy, Travis I; Markowitz, John C; Shen, Ye; Sutton, Mark

2017-01-01

Human immunodeficiency virus (HIV)-positive rural individuals carry a 1.3-times greater risk of a depressive diagnosis than their urban counterparts. This randomized clinical trial tested whether telephone-administered interpersonal psychotherapy (tele-IPT) acutely relieved depressive symptoms in 132 HIV-infected rural persons from 28 states diagnosed with Diagnostic and Statistical Manual of Mental Disorders-IV major depressive disorder (MDD), partially remitted MDD, or dysthymic disorder. Patients were randomized to either 9 sessions of one-on-one tele-IPT (n = 70) or standard care (SC; n = 62). A series of intent-to-treat (ITT), therapy completer, and sensitivity analyses assessed changes in depressive symptoms, interpersonal problems, and social support from pre- to postintervention. Across all analyses, tele-IPT patients reported significantly lower depressive symptoms and interpersonal problems than SC controls; 22% of tele-IPT patients were categorized as a priori "responders" who reported 50% or higher reductions in depressive symptoms compared to only 4% of SC controls in ITT analyses. Brief tele-IPT acutely decreased depressive symptoms and interpersonal problems in depressed rural people living with HIV.

Field dose radiation determination by active learning with Gaussian Process for autonomous robot guiding

International Nuclear Information System (INIS)

Freitas Naiff, Danilo de; Silveira, Paulo R.; Pereira, Claudio M.N.A.

2017-01-01

This article proposes an approach for determination of radiation dose pro le in a radiation-susceptible environment, aiming to guide an autonomous robot in acting on those environments, reducing the human exposure to dangerous amount of dose. The approach consists of an active learning method based on information entropy reduction, using log-normally warped Gaussian Process (GP) as surrogate model, resulting in non-linear online regression with sequential measurements. Experiments with simulated radiation dose fields of varying complexity were made, and results showed that the approach was effective in reconstruct the eld with high accuracy, through relatively few measurements. The technique was also shown some robustness in presence measurement noise, present in real measurements, by assuming Gaussian noise. (author)

Field dose radiation determination by active learning with Gaussian Process for autonomous robot guiding

Energy Technology Data Exchange (ETDEWEB)

Freitas Naiff, Danilo de; Silveira, Paulo R.; Pereira, Claudio M.N.A., E-mail: danilonai1992@poli.ufrj.br, E-mail: paulo@lmp.ufrj.br, E-mail: cmnap@ien.gov.br [Coordenacao de Pos-Graduacao e Pesquisa de Engenharia (PEN/COPPE/UFRJ), Rio de Janeiro, RJ (Brazil); Instituto de Engenharia Nuclear (IEN/CNEN-RJ), Rio de Janeiro, RJ (Brazil)

2017-11-01

This article proposes an approach for determination of radiation dose pro le in a radiation-susceptible environment, aiming to guide an autonomous robot in acting on those environments, reducing the human exposure to dangerous amount of dose. The approach consists of an active learning method based on information entropy reduction, using log-normally warped Gaussian Process (GP) as surrogate model, resulting in non-linear online regression with sequential measurements. Experiments with simulated radiation dose fields of varying complexity were made, and results showed that the approach was effective in reconstruct the eld with high accuracy, through relatively few measurements. The technique was also shown some robustness in presence measurement noise, present in real measurements, by assuming Gaussian noise. (author)

Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo

Directory of Open Access Journals (Sweden)

Jesús M. García

2017-04-01

Full Text Available Resumen: Este artículo tiene por objetivo describir a Lázaro, el cual es un pequeño robot móvil que posee un brazo diseñado especialmente para propiciar un punto adicional de contacto con el suelo que puede utilizarse para mejorar la estabilidad al vuelco y superar obstáculos. Específicamente, se aborda la descripción de la estructura mecánica así como los componentes electrónicos destinados a percepción, comunicación y control. Posteriormente, se revisan las características de funcionamiento de este robot, en cuanto a su cinemática, arquitectura de control, modos de operación e interface. Finalmente, se hace una descripción de algunas pruebas de funcionamiento. Abstract: This paper aims to describe Lázaro, which is a small mobile robot that has an arm designed especially to provide an additional contact point with the ground that can be used to improve the tipover stability and to overcome obstacles. Specifically, the description of the mechanical structure and electronic components for perception, communication and control is discussed. Subsequently, the operating characteristics of the robot are reviewed in terms of kinematics, control architecture, operating modes and interface. Finally, a description of some performance tests is presented. Palabras clave: Robots móviles, estabilidad al vuelco, control de movimiento, tele-operación, Keywords: Mobile robots, tipover stability, motion control, teleoperation

Desarrollo de un robot móvil compacto integrado en el middleware ROS

Directory of Open Access Journals (Sweden)

André Araújo

2014-07-01

Full Text Available Resumen: En este trabajo se presenta el robot TraxBot y su integración completa en el Robot Operating System (ROS. El TraxBot es una plataforma de robótica móvil, desarrollada y ensamblada en el Instituto de Sistemas y Robótica (ISR Coimbra. El objetivo de este trabajo es reducir drásticamente el tiempo de desarrollo, proporcionando abstracción de hardware y modos de operación intuitiva, permitiendo a los investigadores centrarse en sus motivaciones principales de investigación, por ejemplo, la búsqueda y rescate con múltiples robots o robótica de enjambres. Se describen las potencialidades del TraxBot, que combinado con un controlador de ROS específicamente desarrollado, facilita el uso de varias herramientas para el análisis de datos y la interacción entre múltiples robots, sensores y dispositivos de teleoperación. Para validar el sistema, se llevaron a cabo diversas pruebas experimentales utilizando robots reales y virtuales. Abstract: This paper presents the TraxBot robot and its full integration in the Robotic Operating System (ROS. The TraxBot is a compact mobile robotic platform developed and assembled at the Institute of Systems and Robots (ISR Coimbra. The goal in this work is to drastically decrease the development time, providing hardware abstraction and intuitive operation modes, allowing researchers to focus in their main research motivations, e.g., search and rescue, multi-robot surveillance or swarm robotics. The potentialities of the TraxBot are described which, combined with the ROS driver developed, provide several tools for data analysis and easiness of interaction between multiple robots, sensors and tele-operation devices. To validate the approach, diverse experimental tests using real and virtual simulated robots were conducted. Palabras clave: ROS, robot móvil, sistemas embebidos, diseño, middleware, montaje y test., Keywords: ROS, mobile robot, Arduino, embedded system, design, assembling and testing.

The application of manipulator robot for nuclear power plant maintenance

International Nuclear Information System (INIS)

Fujita, Jun; Onishi, Ken

2009-01-01

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

RIPE [robot independent programming environment]: A robot independent programming environment

International Nuclear Information System (INIS)

Miller, D.J.; Lennox, R.C.

1990-01-01

Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication

Robotics at Savannah River site: activity report

International Nuclear Information System (INIS)

Byrd, J.S.

1984-09-01

The objectives of the Robotics Technology Group at the Savannah River Laboratory are to employ modern industrial robots and to develop unique automation and robotic systems to enhance process operations at the Savannah River site (SRP and SRL). The incentives are to improve safety, reduce personnel radiation exposure, improve product quality and productivity, and to reduce operating costs. During the past year robotic systems have been installed to fill chemical dilution vials in a SRP laboratory at 772-F and remove radioactive waste materials in the SRL Californium Production Facility at 773-A. A robotic system to lubricate an extrusion press has been developed and demonstrated in the SRL robotics laboratory and is scheduled for installation at the 321-M fuel fabrication area. A mobile robot was employed by SRP for a radiation monitoring task at a waste tank top in H-Area. Several other robots are installed in the SRL robotics laboratories and application development programs are underway. The status of these applications is presented in this report

A telerobot for the nuclear industry

International Nuclear Information System (INIS)

Anon.

1990-01-01

Industrial robots are not widely used in the nuclear industry. More use is made of telemanipulators, in which tasks are performed under total human control via a master-slave actuation system. AEA Technology have developed a Nuclear Engineered Advanced TEle Robot (NEATER), a telerobot which combines industrial robot technology with the skills of a human operator. It has been designed for use in radioactive decommissioning work and has a number of radiation tolerant properties. NEATER can be operated in a pure robotic mode using a standard computer controller and software. Or it can operate as a telerobot in a remote control mode via a television input. In this mode the operator controls the robot's movement by using a joystick or a simple six degrees of freedom input device. (UK)

Highest performance in 3D metal cutting at smallest footprint: benchmark of a robot based system vs. parameters of gantry systems

Science.gov (United States)

Scheller, Torsten; Bastick, André; Michel-Triller, Robert; Manzella, Christon

2014-02-01

In the automotive industry as well as in other industries ecological aspects regarding energy savings are driving new technologies and materials, e.g. lightweight materials as aluminium or press hardened steels. Processing such parts especially complex 3D shaped parts laser manufacturing has become the key process offering highest efficiency. The most established systems for 3D cutting applications are based on gantry systems. The disadvantage of those systems is their huge footprint to realize the required stability and work envelope. Alternatively a robot based system might be of advantage if accuracy, speed and overall performance would be capable processing automotive parts. With the BIM "beam in motion" system, JENOPTIK Automatisierungstechnik GmbH has developed a modular robot based laser processing machine, which meets all OEM specs processing press hardened steel parts. A benchmark of the BIM versus a gantry system was done regarding all required parameters to fulfil OEM specifications for press hardened steel parts. As a result a highly productive, accurate and efficient system can be described based on one or multiple robot modules working simultaneously together. The paper presents the improvements on the robot machine concept BIM addressed in 2012 [1] leading to an industrial proven system approach for the automotive industry. It further compares the performance and the parameters for 3D cutting applications of the BIM system versus a gantry system by samples of applied parts. Finally an overview of suitable applications for processing complex 3D parts with high productivity at small footprint is given.

Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

Energy Technology Data Exchange (ETDEWEB)

Dudenhoeffer, Donald Dean

2001-04-01

Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

TelePresence in Rural Medical Education: A Mixed Methods Evaluation

Directory of Open Access Journals (Sweden)

Katherine Gray

2014-01-01

Full Text Available In response to rural health workforce shortages, universities and training providers offer rural and remote clinical placements. This has led to development of educational methods to counter the barriers of distance. In this emerging field, recent improvements in technology have provided solutions including the use of sophisticated videoconferencing systems such as the Cisco TelePresence model CTS-500. This paper evaluates the use of TelePresence in diverse medical education activities using a mixed methods design—questionnaires n=60, individual interviews n=33, and observed practice of activities n=22. TelePresence was found to be beneficial to learning and teaching and superior to other systems participants had used. In particular, the audiovisual quality, resulting intimacy, convenience, and ease of use facilitated teaching and learning, while the fixed camera and poorly arranged physical environment were found to be limitations. The system is best suited for small group activities. Clinical skills-based activities are viable. It is recommended that technical support be available during setup and use and a picture-in-picture mode be included and improved integration of office suite software to provide a joint workspace for display of presentations, images, editing or annotation of documents, and file sharing.

Mechanical Construction and Propulsion Analysis of a Rescue Underwater Robot in the case of Drowning Persons

Directory of Open Access Journals (Sweden)

Angelo Bonfitto

2018-04-01

Full Text Available This paper presents the design of an unmanned and tele-operated robotized life-saving system aimed to work as a recovery tool in case of water-related disasters. The device is designed to save people in distress in the water, either conscious or unconscious, without exposing the rescuer’s life to risk. The data of in water accidents show that the greatest number of casualties occurs because of dangerous predicaments conducted by people who want to save other lives. All present solutions are based on aerial, surface or submarine systems needing a crew and able to save only conscious people. This paper intends to fill this gap in the literature by analyzing the main critical issues in the design of a marine autonomous rescue vehicle in terms of performance, capabilities of maneuver in rough sea conditions and the costs. The proposed robot is fully electric and tele-manipulated, from the shore in case of accidents near dry land, or directly from boats or helicopters if drowning is occurring in the open sea. The paper demonstrates the feasibility of a system and its readiness for prototyping phases while presenting a trade-off and cost analysis between six different configurations as well as illustrating in detail the design of the selected layout. The motivations behind the choice of diving strategy to tackle rough sea conditions are described along with the design and the numerical validations of the hydroplane and propulsion systems.

The TeleTOP initiative: new learning, new technology

NARCIS (Netherlands)

Collis, Betty

2002-01-01

In response to the challenge to make learning more flexible while at the same time maintaining the positive qualities of classroom and campus-based settings, the TeleTOP Initiative at the University of Twente has grown from a faculty initiative to an internationally recognised Web-based learning

Radiation-tolerant delta-sigma time-to-digital converters

CERN Document Server

Cao, Ying; Steyaert, Michiel

2015-01-01

This book focuses on the design of a Mega-Gray (a standard unit of total ionizing radiation) radiation-tolerant ps-resolution time-to-digital converter (TDC) for a light detection and ranging (LIDAR) system used in a gamma-radiation environment. Several radiation-hardened-by-design (RHBD) techniques are demonstrated throughout the design of the TDC and other circuit techniques to improve the TDC's resolution in a harsh environment are also investigated. Readers can learn from scratch how to design a radiation-tolerant IC. Information regarding radiation effects, radiation-hardened design techniques and  measurements are organized in such a way that readers can easily gain a thorough understanding of the topic. Readers will also learn the design theory behind the newly proposed delta-sigma TDC. Readers can quickly acquire knowledge about the design of radiation-hardened bandgap voltage references and low-jitter relaxation oscillators, which are introduced in the content from a designer's perspective.   · �...

Development of a 6DOF robotic motion phantom for radiation therapy

International Nuclear Information System (INIS)

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary; Pearson, Erik; Wiersma, Rodney D.

2014-01-01

Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left–right), Y (superior–inferior), Z (anterior–posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronized motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the Stewart–Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced

Virtual TeleRehab: a case study.

Science.gov (United States)

Pareto, Lena; Johansson, Britt; Zeller, Sally; Sunnerhagen, Katharina S; Rydmark, Martin; Broeren, Jurgen

2011-01-01

We examined the efficacy of a remotely based occupational therapy intervention. A 40-year-old woman who suffered a stroke participated in a telerehabilitation program. The intervention method is based on virtual reality gaming to enhance the training experience and to facilitate the relearning processes. The results indicate that Virtual TeleRehab is an effective method for motivational, economical, and practical reasons by combining game-based rehabilitation in the home with weekly distance meetings.

Design Methodologies and to Combat Radiation Induced Corruption in FPGAs and SoCs, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Traditional radiation hardened by process (RHBP) and radiation hardened by design (RHBD) techniques have seen success in mitigating the effects of radiation induced...

Working hardening modelization in zirconium alloys

International Nuclear Information System (INIS)

Sanchez, P.; Pochettino, Alberto A.

1999-01-01

Working hardening effects on mechanical properties and crystallographic textures formation in Zr-based alloys are studied. The hardening mechanisms for different grain deformations and topological conditions of simple crystal yield are considered. Results obtained show that the differences in the cold rolling textures (L and T textures) can be related with hardening microstructural parameters. (author)

Dosimetric evaluation in panoramic and tele-radiography procedures

International Nuclear Information System (INIS)

Oliveira, Georgge Gomes

2004-01-01

The present work had as an objective to evaluate the skin surface entrance dose in panoramic and tele radiography procedures in three clinics in Recife - Pernambuco - Brazil, and to contribute with data for the determination of reference levels for super cited extra oral procedures, for this purpose, operational conditions in 3 clinics were evaluated in Recife, aiming to evaluate the existence and integrity of the radioprotection equipment, manner and conditions of image processing; and radiographic equipment parameters such as the dimension of the irradiation filed, the total filtration, the exposure time and the potential applied to the X ray tube. For an estimation of the skin entrance dose of the patient, the phantom Randon Alderson and thermoluminescence dosemeters were used. From these values and the conversion factors determined by the Monte Carlo technique, with the phantom MAX it was possible to estimate the dose absorbed in the organ due to the tele radiography procedures. Regarding panoramic radiography the study showed that the more elevated doses occurred in the parotid gland region which is near rotational venters. In the case of tele radiography the highest dose value occurred in the regions corresponding to the temporal lobe of the brain, followed by linfonodes, ears and parotid glands. The doses absorbed in the eyes and the thyroid gland were, 0.037 mGy and 0.002 mGy in Clinic A and 0.062 mGy and 0.003 mGy in Clinic C, respectively. Regarding equipment test, inadequacy was found in the beam collimation in Clinic A and in the reproducibility of the X ray exposure in Clinic C. The total filtration in both clinics was inadequate.(author)

Practical aspects of systems hardening

International Nuclear Information System (INIS)

Shepherd, W.J.

1989-01-01

Applications of hardening technology in a practical system require a balance between the factors governing affordability, producibility, and survivability of the finished design. Without careful consideration of the top-level system operating constraints, a design engineer may find himself with a survivable but overweight, unproductive, expensive design. This paper explores some lessons learned in applying hardening techniques to several laser communications programs and is intended as an introductory guide to novice designers faced with the task of hardening a space system

Radiation-resistant control system

International Nuclear Information System (INIS)

Cable, T.C.; Jones, S.

1995-01-01

REMOTEC has developed a open-quotes radiation resistanceclose quotes control system under a U.S. Department of Energy Small Business Innovative Research (SBIR) contract with assistance from the University of Florida. The SBIR goal was to develop a radiation resistant mobile robot from the ANDROS family of hazardous duty mobile robots that REMOTEC manufactures. See Refs. 1 and 2 for additional SBIR results. The control system, as well as the entire ANDROS robot, was redesigned, where necessary, to withstand radiation doses in excess of 10 6 rad. Those components of the robot that could not be purchased as open-quotes radiation hardenedclose quotes were tested under standard operating conditions for determination of their open-quotes radiation resistance.close quotes The entire ANDROS robot was then assembled with these new components and tested to > 10 6 rad

Robotic design analysis based on teleoperated manipulator data collection

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.

1985-01-01

Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

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

International Nuclear Information System (INIS)

Bernal U, E.

2006-01-01

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

THE EFFECT OF TELE-MONITORING ON EXERCISE TRAINING ADHERENCE, FUNCTIONAL CAPACITY, QUALITY OF LIFE AND GLYCEMIC CONTROL IN PATIENTS WITH TYPE II DIABETES

Directory of Open Access Journals (Sweden)

Tracy Marios

2012-03-01

Full Text Available We used tele-monitoring to attempt to improve exercise adherence (number of hours of exercise completed, peak VO2, HbA1c% and quality of life in an unsupervised, home based exercise program in people with type II diabetes, a cost analysis was also conducted. Thirty-nine patients with type II diabetes were randomized to tele-monitoring (TELE or control (CON groups. All patients were asked to complete 6 months exercise training and complete an exercise activity diary. The TELE group was instructed to record their exercise heart rates using a monitor and received weekly telephone calls from an exercise physiologist. Six TELE patients and seven CON patients did not complete the 6 month testing. TELE patients completed a mean weekly volume of 138 minutes, moderate intensity exercise, while CON patients completed 58 minutes weekly (p < 0.02. Neither group achieved the American Heart Association statement guideline for weekly exercise volume of 150 minutes. TELE patients improved peak VO2 (5.5 %, but neither group improved HbA1c% or quality of life. The CON group showed a 4.9% reduction in peak VO2. While tele-monitored patients completed more hours of exercise and demonstrated improved peak VO2 compared to controls, the exercise volume completed was insufficient to improve glycemic control. There is the potential via tele-monitoring to enable people with diabetes to meet exercise training guidelines.

Regulation, control, tele-management; Regulation, commande, telegestion

Energy Technology Data Exchange (ETDEWEB)

NONE

2001-07-01

In 1998, the French public authorities have started an ambitious energy mastery policy under the auspices of the Agency of environment and energy mastery (Ademe). One aspect of this policy concerns the R and D, industrial development and applications of automation and computerized control to the energy systems of buildings. This RCT 2000 seminar takes stock of the recent advances in this domain 7 years after the previous RCT issue. The first day of the seminar was devoted to new developments in regulation and control (ergonomics aspects, lighting systems, air conditioning in accommodations, solar systems etc..). Stress was put on the revolution expected with the introduction of domestic computer applications and Internet. This first day ended with a precise status of the standardization and future regulatory aspects. The second day was dealing with tele-management and technical management systems for buildings with an analysis of the impact of Internet and of the sensors and actuators capacity in information processing. The consequences and new requirements of the thermal regulation 2000 and the factors of success of a new start-up of the tele-management market in local authorities and social accommodations were analyzed too. (J.S.)

Assisted supervision of a computer aided tele-operation system

Energy Technology Data Exchange (ETDEWEB)

Le Bars, H; Gravez, P; Fournier, R

1994-12-31

This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs.

Assisted supervision of a computer aided tele-operation system

International Nuclear Information System (INIS)

Le Bars, H.; Gravez, P.; Fournier, R.

1994-01-01

This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs

Applying commercial robotic technology to radioactive material processing

International Nuclear Information System (INIS)

Grasz, E.L.; Sievers, R.H. Jr.

1990-11-01

The development of robotic systems for glove box process automation is motivated by the need to reduce operator radiation dosage, minimize the generation of process waste, and to improve the security of nuclear materials. Commercial robotic systems are available with the required capabilities but are not compatible with a glove box environment. Alpha radiation, concentrated dust, a dry atmosphere and restricted work space result in the need for unique adaptations to commercial robotics. Implementation of these adaptations to commercial robotics require performance trade-offs. A design and development effort has been initiated to evaluate the feasibility of using a commercial overhead gantry robot for glove box processing. This paper will present the initial results and observations for this development effort. 1 ref

Radiation sensitivity of integrated circuits Pt. 1

International Nuclear Information System (INIS)

Bereczkine Kerenyi, Ilona

1986-01-01

The cosmic ray sensitivity of CMOS integrated circuits are overviewed in three parts. The aim is to analyze the effects of ionizing radiation on the degradation of electronic parameters, the effects of the electric state during irradiation, and the radiation hardening of ICs. In this Part 1 a general introduction of the response of semiconductors to cosmic radiation is given, and the radiation tolerance and hardening of small-scale integrated CMOS ICs is analyzed in detail. The devices include various basic inverters and simple gate ICs. (R.P.)

Solution hardening and strain hardening at elevated temperatures

International Nuclear Information System (INIS)

Kocks, U.F.

1982-10-01

Solutes can significantly increase the rate of strain hardening; as a consequence, the saturation stress, at which strain hardening tends to cease for a given temperature and strain rate, is increased more than the yield stress: this is the major effect of solutes on strength at elevated temperatures, especially in the regime where dynamic strain-aging occurs. It is shown that local solute mobility can affect both the rate of dynamic recovery and the dislocation/dislocation interaction strength. The latter effect leads to multiplicative solution strengthening. It is explained by a new model based on repeated dislocation unlocking, in a high-temperature limit, which also rationalizes the stress dependence of static and dynamic strain-aging, and may help explain the plateau of the yield stress at elevated temperatures. 15 figures

Robotic aortic surgery.

Science.gov (United States)

Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

2011-01-01

Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.

Hardening Azure applications

CERN Document Server

Gaurav, Suraj

2015-01-01

Learn what it takes to build large scale, mission critical applications -hardened applications- on the Azure cloud platform. This 208 page book covers the techniques and engineering principles that every architect and developer needs to know to harden their Azure/.NET applications to ensure maximum reliability and high availability when deployed at scale. While the techniques are implemented in .NET and optimized for Azure, the principles here will also be valuable for users of other cloud-based development platforms. Applications come in a variety of forms, from simple apps that can be bui

Custom high-reliability radiation-hard CMOS-LSI circuit design

International Nuclear Information System (INIS)

Barnard, W.J.

1981-01-01

Sandia has developed a custom CMOS-LSI design capability to provide high reliability radiation-hardened circuits. This capability relies on (1) proven design practices to enhance reliability, (2) use of well characterized cells and logic modules, (3) computer-aided design tools to reduce design time and errors and to standardize design definition, and (4) close working relationships with the system designer and technology fabrication personnel. Trade-offs are made during the design between circuit complexity/performance and technology/producibility for high reliability and radiation-hardened designs to result. Sandia has developed and is maintaining a radiation-hardened bulk CMOS technology fabrication line for production of prototype and small production volume parts

Tele-auscultation support system with mixed reality navigation.

Science.gov (United States)

Hori, Kenta; Uchida, Yusuke; Kan, Tsukasa; Minami, Maya; Naito, Chisako; Kuroda, Tomohiro; Takahashi, Hideya; Ando, Masahiko; Kawamura, Takashi; Kume, Naoto; Okamoto, Kazuya; Takemura, Tadamasa; Yoshihara, Hiroyuki

2013-01-01

The aim of this research is to develop an information support system for tele-auscultation. In auscultation, a doctor requires to understand condition of applying a stethoscope, in addition to auscultatory sounds. The proposed system includes intuitive navigation system of stethoscope operation, in addition to conventional audio streaming system of auscultatory sounds and conventional video conferencing system for telecommunication. Mixed reality technology is applied for intuitive navigation of the stethoscope. Information, such as position, contact condition and breath, is overlaid on a view of the patient's chest. The contact condition of the stethoscope is measured by e-textile contact sensors. The breath is measured by a band type breath sensor. In a simulated tele-auscultation experiment, the stethoscope with the contact sensors and the breath sensor were evaluated. The results show that the presentation of the contact condition was not understandable enough for navigating the stethoscope handling. The time series of the breath phases was usable for the remote doctor to understand the breath condition of the patient.

Present and Future of Nuclear Robotics

International Nuclear Information System (INIS)

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

1997-01-01

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

POT: Planning, Organisation and Tele-Information

DEFF Research Database (Denmark)

Vidal, Rene Victor Valqui

1996-01-01

The main purpose of this paper is to introduce the framwork of a research project carried out at the Technical University of Denmark dealing with 'holistic' and interdisciplinary (systems oriented)methods for strategic planning and organisational re-design in connection with the introduction...... of tele-information technologies and hte new demands of hte so-called information society, the POT proejct. Three specirfic projects are shortly introduced: planning in networked firms, strategic approaches to climate change and strategies for the schools of the future....

O PERCURSO EPISTÊMICO DO SÁBIO NA METAFÍSICA DE ARISTÓTELES

Directory of Open Access Journals (Sweden)

Carlos Wagner Benevides Gomes

2015-06-01

Full Text Available Aristóteles (383-322 a.C foi considerado, dentre os primeiros pensadores (os Pré-Socráticos, o responsável pela pesquisa sistemática da filosofia. Aristóteles, em Metafísica, explicita com a chamada “filosofia primeira” o problema de um conceito de Sabedoria e da “ciência investigada”, que é a do ser enquanto ser. Diferente da tradição platônica, Aristóteles propôs uma filosofia voltada para o mundo exterior, pois enquanto o conhecimento para Platão tinha relação com uma “reminiscência das formas” (Teoria das Ideias ou das Formas, para Aristóteles o conhecimento se diz de muitas maneiras, porque relaciona-se aos diversos modos de captarmos os objetos pelas senso-percepções. Este artigo tem como objetivo explicitar, a partir da Metafísica, nos Livros I (capítulos 1, 2 e 3, II (capítulo 1 e III (capítulo 1, o processo epistemológico do Sábio (Sophos, perpassando pelos elementos que conduzem à Sabedoria (Sophia como ciência teórica. Por conseguinte, analisa-se alguns conceitos pertinentes às seguintes problemáticas do conhecimento humano: a senso-percepção, a imagem, a memória e a experiência. Além de, a questão do Sábio, as Causas, a investigação da verdade e as ciências especulativas e práticas. Portanto, conclui-se que Aristóteles mostrou o percurso das senso-percepções à formulação do “Universal” que conduz o filósofo à Sabedoria, ou seja, aos princípios primeiros que consistem no conhecimento das causas de todas as coisas, à medida que o Sábio enfrenta algumas dificuldades (Aporia.

TELE-X and its role in a future operational Nordic satellite system

Science.gov (United States)

Anderson, Lars

In the middle of 1987 it is planned to launch TELE-X, the first Nordic telecommunications satellite. The Swedish-Norwegian company NOTELSAT (Nordic Telecommunications Satellite Corporation) will be responsible for the operation of the TELE-X system. Via the experimental TELE-X satellite the Nordic countries will get access to direct broadcasting of two TV-programs and at least four digital sound programs in stereo by use of two transponders in the 12.2 to 12.5 GHz band. The programs are planned to be composed of nationally produced programs in Norway. Sweden and Finland. By means of distributing these programs via satellite they will reach up to 4 times as many viewers and listernes as presently in the terrestrial national systems. The basic motivations for exchanging programs are to strengthen the cultural ties between the Nordic countries and to give the individuals more freedom in the choice of programs. Another goal is to give the public a better sound and picture quality than can be achieved today. These quality improvements shall be met by using small receiver parabolas of less than 1 m in diameter. Contributing to the improved quality is the choice of the C-MAC (Multiplexed Analoque Components) modulation system. TELE-X is a multipurpose satellite which besides the two TV-transponders will have two transponders for data/video communication in the frequency band 12.5 to 12.75 GHz. The choice of system for data and video is based on the philosophy of thin-route traffic between small and low cost earth stations (1.8 to 2.5 m) placed directly at the subscribers premises. The system includes an advanced Data/Video Control Station which automatically connects the traffic stations with standarized transmission speeds up to 2 Mbps. The system which is based on the SCPC/DAMA method can be expanded up to 5000 traffic stations. Numerous data/video applications will be investigated in the initial experimental phase of the project which also will be used for market

Estabelecimento de serviço de tele-eletrocardiografia digital no sul do Brasil = Establishment of a Digital Tele-Electrocardiographic System in southern Brazil

Directory of Open Access Journals (Sweden)

Sparenberg, Adolfo Luiz Falcão

2005-01-01

Conclusão: Em decorrência dos resultados descritos e de seu baixo custo, o Sistema de Tele-ECG Digital foi considerado como de grande utilidade para as Instituições de Saúde, beneficiando pequenas cidades, comunidades remotas e áreas rurais do Brasil

Reconnaissance and Autonomy for Small Robots (RASR) team: MAGIC 2010 challenge

Science.gov (United States)

Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark; Corley, Katrina

2012-06-01

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs) that can execute a variety of military relevant missions in dynamic urban environments. Historically, UGV operations have been primarily performed via tele-operation, requiring at least one dedicated operator per robot, and requiring substantial real-time bandwidth to accomplish those missions. Our team goal was to develop a system that can provide long-term value to the war-fighter, utilizing MAGIC-2010 as a stepping stone. To that end, we self-imposed a set of constraints that would force us to develop technology that could readily be used by the military in the near term: • Use a relevant (deployed) platform • Use low-cost, reliable sensors • Develop an expandable and modular control system with innovative software algorithms to minimize the computing footprint required • Minimize required communications bandwidth and handle communication losses • Minimize additional power requirements to maximize battery life and mission duration

Tele-treatment of patients with amyotrophic lateral sclerosis (ALS)

NARCIS (Netherlands)

Oude Nijeweme-d'Hollosy, Wendy; Janssen, Emile P.F.; Huis in 't Veld, M.H.A.; Spoelstra, Jos; Vollenbroek-Hutten, Miriam Marie Rosé; Hermens, Hermanus J.

2006-01-01

Management of patients with amyotrophic lateral sclerosis (ALS) mainly consists of (psycho) social support and advice on activities of daily living. We evaluated the effects of tele-treatment in addition to the conventional method of care in four patients with ALS. A Web application was built with

Development of a hardened X-ray imager for the Megajoule Laser radiative environment

International Nuclear Information System (INIS)

Rousseau, A.

2014-01-01

Thermonuclear fusion experiments are led on Megajoule class laser facility by imploding a capsule filled with Deuterium and Tritium. In this context, it is necessary to diagnose the core size and the shape of the compressed target in order to provide valuable information and identify reasons for failure. State of the art X-ray imaging diagnostics cannot realize measurements without being perturbed by the nuclear background. The diagnostic that has been designed in this thesis combine high spatial resolution X-ray imaging at high energy and radiation tolerance to nuclear background. We have first guaranteed, theoretically and experimentally, survivability of X ray multilayer coating to energetic neutrons irradiation. Consequently, we have design the X-ray imaging system in order to achieve 5 μm resolution in a spectral range up to 95 keV. The X-ray image has then been converted into visible light in order to be easily transferred through a hardened optical relay to a protected area where the optical analyser is set. This analyser, combining light amplifier and pixelised detector, has also been studied and a novel method has been developed to reduce nuclear related transient perturbations on the device. This by parts design associated with Monte-Carlo Simulation (GEANT4) and experimental campaign on FCI facility (OMEGA) led to a coherent diagnostic architecture which will sustain high level of nuclear perturbation. (author) [fr

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

Energy Technology Data Exchange (ETDEWEB)

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

1991-11-01

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

Advantages of dry hardened cask storage over wet storage for spent nuclear fuel

Energy Technology Data Exchange (ETDEWEB)

Romanato, Luiz Sergio, E-mail: romanato@ctmsp.mar.mil.b [Centro Tecnologico da Marinha em Sao Paulo (CTMSP), Sao Paulo, SP (Brazil). Dept. da Qualidade

2011-07-01

Pools are generally used to store and maintain spent nuclear fuel assemblies for cooling, after removed from reactors. After three to five years stored in the pools, spent fuel can be reprocessed or sent to a final disposition in a geological repository and handled as radioactive waste or sent to another site waiting for future solution. Spent fuel can be stored in dry or wet installations, depending on the method adopted by the nuclear plant. If this storage were exclusively wet, at the installation decommissioning in the future, another solution for storage will need to be found. Today, after a preliminary cooling, the spent fuel assemblies can be removed from the pool and sent to dry hardened storage installations. This kind of storage does not need complex radiation monitoring and it is safer than wet storage. Brazil has two nuclear reactors in operation, a third reactor is under construction and they use wet spent fuel storage . Dry hardened casks use metal or both metal and concrete for radiation shielding and they are safe, especially during an earthquake. An earthquake struck Japan on March 11, 2011 damaging Fukushima Daiichi nuclear power plant. The occurrence of earthquakes in Brazil is very small but dry casks can resist to other events, including terrorist acts, better than pools. This paper shows the advantages of dry hardened cask storage in comparison with the wet storage (water pools) for spent nuclear fuel. (author)