WorldWideScience

Sample records for robot independent programming

  1. 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

  2. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  3. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  4. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  5. Morphology Independent Learning in Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Bordignon, Mirko; Schultz, Ulrik Pagh

    2009-01-01

    speed its modules independently and in parallel adjust their behavior based on a single global reward signal. In simulation, we study the learning strategy’s performance on different robot configurations. On the physical platform, we perform learning experiments with ATRON robots learning to move as fast...

  6. Morphology Independent Learning in Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Bordignon, Mirko; Schultz, Ulrik Pagh

    2009-01-01

    speed its modules independently and in parallel adjust their behavior based on a single global reward signal. In simulation, we study the learning strategy?s performance on different robot con?gurations. On the physical platform, we perform learning experiments with ATRON robots learning to move as fast...

  7. Morphology Independent Learning in Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Bordignon, Mirko; Schultz, Ulrik Pagh

    2009-01-01

    Hand-coding locomotion controllers for modular robots is difficult due to their polymorphic nature. Instead, we propose to use a simple and distributed reinforcement learning strategy. ATRON modules with identical controllers can be assembled in any configuration. To optimize the robot’s locomotion...... speed its modules independently and in parallel adjust their behavior based on a single global reward signal. In simulation, we study the learning strategy’s performance on different robot configurations. On the physical platform, we perform learning experiments with ATRON robots learning to move as fast...

  8. ISS Robotic Student Programming

    Science.gov (United States)

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

    2016-01-01

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

  9. Robotics Technology Development Program

    International Nuclear Information System (INIS)

    1994-02-01

    The Robotics Technology Development Program (RTDP) is a ''needs-driven'' effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination ampersand Dismantlement (D ampersand D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT ampersand E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D ampersand D and CC ampersand AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  10. Design Minimalism in Robotics Programming

    Directory of Open Access Journals (Sweden)

    Anthony Cowley

    2008-11-01

    Full Text Available With the increasing use of general robotic platforms in different application scenarios, modularity and reusability have become key issues in effective robotics programming. In this paper, we present a minimalist approach for designing robot software, in which very simple modules, with well designed interfaces and very little redundancy can be connected through a strongly typed framework to specify and execute different robotics tasks.

  11. Design Minimalism in Robotics Programming

    Directory of Open Access Journals (Sweden)

    Anthony Cowley

    2006-03-01

    Full Text Available With the increasing use of general robotic platforms in different application scenarios, modularity and reusability have become key issues in effective robotics programming. In this paper, we present a minimalist approach for designing robot software, in which very simple modules, with well designed interfaces and very little redundancy can be connected through a strongly typed framework to specify and execute different robotics tasks.

  12. Developing a successful robotics program.

    Science.gov (United States)

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

    2012-01-01

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

  13. Sidebar- Programming Commercial Robots

    OpenAIRE

    Matellán Olivera, Vicente; McDonal, Bruce; Biggs, Geoffrey; Cañas, José María

    2007-01-01

    P. 125-132 Manual systems require the user/programmer to directly enter the desired behaviour of the robot, usually using a graphical or text-based programming language, as shown in Fig. 1. Text-based systems are either controller-specific languages, generic procedural languages, or behavioural languages, which typically differ by the flexibility and method of expression of the system. Graphical languages [BKS02, BI01] use a graph, flow-chart or diagram based graphical interface...

  14. Socially assistive robots : a comprehensive approach to extending independent living

    NARCIS (Netherlands)

    Johnson, D.O.; Cuijpers, R.H.; Juola, J.F.; Torta, E.; Simonov, M.; Frisiello, A.; Bazzani, M.; Yan, W.; Weber, C.; Wermter, S.; Meins, N.; Oberzaucher, J.; Panek, P. (Paul); Edelmayer, G.; Mayer, P.; Beck, C.

    2014-01-01

    Demographic developments have challenged our research on how to assist elderly people by using robots. The KSERA (Knowledgeable SErvice Robots for Aging) project integrates smart home technology and a socially-assistive robot to extend independent living for elderly people, in particular those with

  15. Learning ROS for robotics programming

    CERN Document Server

    Martinez, Aaron

    2013-01-01

    The book will take an easy-to-follow and engaging tutorial approach, providing a practical and comprehensive way to learn ROS.If you are a robotic enthusiast who wants to learn how to build and program your own robots in an easy-to-develop, maintainable and shareable way, ""Learning ROS for Robotics Programming"" is for you. In order to make the most of the book, you should have some C++ programming background, knowledge of GNU/Linux systems, and computer science in general. No previous background on ROS is required, since this book provides all the skills required. It is also advisable to hav

  16. Parametric programming of industrial robots

    Directory of Open Access Journals (Sweden)

    Szulczyński Paweł

    2015-06-01

    Full Text Available This article proposes the use of parametric design software, commonly used by architects, in order to obtain complex trajectory and program code for industrial robots. The paper describes the drawbacks of existing solutions and proposes a new script to obtain a correct program. The result of the algorithm was verified experimentally.

  17. Joint Robotics Program

    Science.gov (United States)

    2008-04-23

    Kotler , P.M. (1997). Marketing management: Analysis, planning, implementation, and control. Upper Saddle River, NJ: Prentice Hall...needed to provide needed items. Production needed to be stable so suppliers could more easily meet demand ( Kotler , 1997, pp. 214-215). The Robotics

  18. Robotics Programs: Automation Training in Disguise.

    Science.gov (United States)

    Rehg, James A.

    1985-01-01

    Questions and answers from the book "Guidelines for Robotics Program Development" are presented, addressing some of the major issues confronted by the person setting the direction for a robotics training program. (CT)

  19. Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

    Science.gov (United States)

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

    This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

  20. Robotics crosscutting program: Technology summary

    International Nuclear Information System (INIS)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology

  1. Students Learn Programming Faster through Robotic Simulation

    Science.gov (United States)

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

    2013-01-01

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

  2. Humanoid Robotics: Real-Time Object Oriented Programming

    Science.gov (United States)

    Newton, Jason E.

    2005-01-01

    Programming of robots in today's world is often done in a procedural oriented fashion, where object oriented programming is not incorporated. In order to keep a robust architecture allowing for easy expansion of capabilities and a truly modular design, object oriented programming is required. However, concepts in object oriented programming are not typically applied to a real time environment. The Fujitsu HOAP-2 is the test bed for the development of a humanoid robot framework abstracting control of the robot into simple logical commands in a real time robotic system while allowing full access to all sensory data. In addition to interfacing between the motor and sensory systems, this paper discusses the software which operates multiple independently developed control systems simultaneously and the safety measures which keep the humanoid from damaging itself and its environment while running these systems. The use of this software decreases development time and costs and allows changes to be made while keeping results safe and predictable.

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

    CERN Document Server

    Thielscher, Michael

    2005-01-01

    The book provides an in-depth and uniform treatment of a mathematical model for reasoning robotic agents. The book also contains an introduction to a programming method and system based on this model. The mathematical model, known as the "Fluent Calculus,'' describes how to use classical first-order logic to set up symbolic models of dynamic worlds and to represent knowledge of actions and their effects. Robotic agents use this knowledge and their reasoning facilities to make decisions when following high-level, long-term strategies. The book covers the issues of reasoning about sensor input, acting under incomplete knowledge and uncertainty, planning, intelligent troubleshooting, and many other topics. The mathematical model is supplemented by a programming method which allows readers to design their own reasoning robotic agents. The usage of this method, called "FLUX,'' is illustrated by many example programs. The book includes the details of an implementation of FLUX using the standard programming language...

  4. Automatic programming of grinding robot restoration of contours

    Directory of Open Access Journals (Sweden)

    Are Willersrud

    1995-07-01

    Full Text Available A new programming method has been developed for grinding robots. Instead of using the conventional jog-and-teach method, the workpiece contour is automatically tracked by the robot. During the tracking, the robot position is stored in the robot control system every 8th millisecond. After filtering and reducing this contour data, a robot program is automatically generated.

  5. Automatic programming of grinding robot restoration of contours

    OpenAIRE

    Are Willersrud; Fred Godtliebsen; Trygve Thomessen

    1995-01-01

    A new programming method has been developed for grinding robots. Instead of using the conventional jog-and-teach method, the workpiece contour is automatically tracked by the robot. During the tracking, the robot position is stored in the robot control system every 8th millisecond. After filtering and reducing this contour data, a robot program is automatically generated.

  6. Starting a Robotics Program in Your County

    Science.gov (United States)

    Habib, Maria A.

    2012-01-01

    The current mission mandates of the National 4-H Headquarters are Citizenship, Healthy Living, and Science. Robotics programs are excellent in fulfilling the Science mandate. Robotics engages students in STEM (Science, Engineering, Technology, and Mathematics) fields by providing interactive, hands-on, minds-on, cross-disciplinary learning…

  7. Visual dataflow language for educational robots programming

    OpenAIRE

    ZIMIN G.A.; MORDVINOV D.A.

    2016-01-01

    Visual domain-specific languages usually have low entry barrier. Sometimes even children can program on such languages by working with visual representations. This is widely used in educational robotics domain, where most commonly used programming environments are visual. The paper describes a novel dataflow visual programming environment for embedded robotic platforms. Obviously, complex dataflow languages are not simple for understanding. The purpose of our tool is to "bridge" between light...

  8. Robot Task Commander with Extensible Programming Environment

    Science.gov (United States)

    Hart, Stephen W (Inventor); Yamokoski, John D. (Inventor); Wightman, Brian J (Inventor); Dinh, Duy Paul (Inventor); Gooding, Dustin R (Inventor)

    2014-01-01

    A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task.

  9. A Domain-Specific Language for Programming Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Schultz, Ulrik Pagh; Christensen, David Johan; Støy, Kasper

    2007-01-01

    . Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular......, self-reconfigurable robots, we have developed a declarative, role-based language that allows the programmer to define roles and behavior independently of the concrete physical structure of the robot. Roles are compiled to mobile code fragments that distribute themselves over the physical structure...

  10. Pyro: A Python-Based Versatile Programming Environment for Teaching Robotics

    Science.gov (United States)

    Blank, Douglas; Kumar, Deepak; Meeden, Lisa; Yanco, Holly

    2004-01-01

    In this article we describe a programming framework called Pyro, which provides a set of abstractions that allows students to write platform-independent robot programs. This project is unique because of its focus on the pedagogical implications of teaching mobile robotics via a top-down approach. We describe the background of the project, its…

  11. Programming Robots with Associative Memories

    International Nuclear Information System (INIS)

    Touzet, C.

    1999-01-01

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

  12. Programming Robots with Associative Memories

    Energy Technology Data Exchange (ETDEWEB)

    Touzet, C

    1999-07-10

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

  13. The NASA automation and robotics technology program

    Science.gov (United States)

    Holcomb, Lee B.; Montemerlo, Melvin D.

    1986-01-01

    The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.

  14. Advanced programming languages for industrial robots

    International Nuclear Information System (INIS)

    Wolter, H.

    1983-02-01

    With this report, the sponsor of the project on automation in manufacture introduces to the public several new programming procedures for industrial robots which are still under construction. In addition to the programming systems SRL - which, as already previously reported, represent an further development of the AL and ROBEX systems - two additional programming procedures are being described. These are adjusted to perform interactive work at the production site. As introduction to this report, a survey is offered on the status and development of robot programming in the Federal Republic of Germany and in other countries. (orig.) [de

  15. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing and Evaluation activities in the Program for the next five years. These activities range from bench-scale R ampersand D to full-scale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development Program (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management (ER ampersand WM) operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. In July 1990 a forum was held announcing the robotics program. Over 60 organizations (industrial, university, and federal laboratory) made presentations on their robotics capabilities. To stimulate early interactions with the ER ampersand WM activities at DOE sites, as well as with the robotics community, the RTDP sponsored four technology demonstrations related to ER ampersand WM needs. These demonstrations integrated commercial technology with robotics technology developed by DOE in support of areas such as nuclear reactor maintenance and the civilian reactor waste program. 2 figs

  16. Design and Implementation of Modular Software for Programming Mobile Robots

    Directory of Open Access Journals (Sweden)

    Alessandro Farinelli

    2006-03-01

    Full Text Available This article describes a software development toolkit for programming mobile robots, that has been used on different platforms and for different robotic applications. We address design choices, implementation issues and results in the realization of our robot programming environment, that has been devised and built from many people since 1998. We believe that the proposed framework is extremely useful not only for experienced robotic software developers, but also for students approaching robotic research projects.

  17. DOE EM industry programs robotics development

    International Nuclear Information System (INIS)

    Staubly, R.; Kothari, V.

    1998-01-01

    The Office of Science and Technology (OST) manages an aggressive program for RD and D, as well as testing and evaluation for the Department of Energy's (DOE's) Environmental Management (EM) organization. The goal is to develop new and improved environmental restoration and waste management technologies to clean up the inventory of the DOE weapons complex faster, safer, and cheaper than is possible with currently available technologies. Robotic systems reduce worker exposure to the absolute minimum, while providing proven, cost-effective, and, for some applications, the only acceptable technique for addressing challenging problems. Development of robotic systems for remote operations occurs in three main categories: tank waste characterization and retrieval; decontamination and dismantlement; and characterization, mapping, and inspection systems. In addition, the Federal Energy Technology Center (FETC) has some other projects which fall under the heading of supporting R and D. The central objective of all FETC robotic projects is to make robotic systems more attractive by reducing costs and health risks associated with the deployment of robotic technologies in the cleanup of the nuclear weapons complex. This will be accomplished through development of robots that are cheaper, faster, safer, and more reliable, as well as more straightforward to modify/adapt and more intuitive to operate with autonomous capabilities and intelligent controls that prevent accidents and optimize task execution

  18. Safety Critical Java for Robotics Programming

    DEFF Research Database (Denmark)

    Thomsen, Bent; Luckow, Kasper Søe; Bøgholm, Thomas

    2015-01-01

    This paper introduces Safety Critical Java (SCJ) and argues its readiness for robotics programming. We give an overview of the work done at Aalborg University and elsewhere on SCJl, some of its implementations in the form of the JOP, FijiVM and HVM and some of the tools, especially WCA, Teta...

  19. Robotics Technology Crosscutting Program. Technology summary

    International Nuclear Information System (INIS)

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  20. Robotics Technology Crosscutting Program. Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  1. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing, activities in the Program for the next five years. These activities range from bench-scale R ampersand D to fullscale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and an initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. This 5-Year Program Plan discusses the overall approach to be adopted by the RTDP to aggressively develop robotics technology and contains discussions of the Program Management Plan, Site Visit and Needs Summary, Approach to Needs-Directed Technical Development, Application-Specific Technical Development, and Cross-Cutting and Advanced Technology. Integrating application-specific ER ampersand WM needs, the current state of robotics technology, and the potential benefits (in terms of faster, safer, and cheaper) of new technology, the Plan develops application-specific road maps for robotics RDDT ampersand E for the period FY 1991 through FY 1995. In addition, the Plan identifies areas where longer-term research in robotics will have a high payoff in the 5- to 20-year time frame. 12 figs

  2. Learning to Program with Personal Robots: Influences on Student Motivation

    Science.gov (United States)

    McGill, Monica M.

    2012-01-01

    One of the goals of using robots in introductory programming courses is to increase motivation among learners. There have been several types of robots that have been used extensively in the classroom to teach a variety of computer science concepts. A more recently introduced robot designed to teach programming to novice students is the Institute…

  3. Development of robotic program: an Asian experience.

    Science.gov (United States)

    Sahabudin, R M; Arni, T; Ashani, N; Arumuga, K; Rajenthran, S; Murali, S; Patel, V; Hemal, A; Menon, M

    2006-06-01

    Robotic surgery was started in the Department of Urology, Hospital Kuala Lumpur, in April 2004. We present our experience in developing the program and report the results of our first 50 cases of robotic radical prostatectomy. A three-arm da Vinci robotic system was installed in our hospital in March 2004. Prior to installation, the surgeons underwent training at various centers in the United States and Paris. The operating theatre was renovated to house the system. Subsequently, the initial few cases were done with the help of proctors. Data were prospectively collected on all patients who underwent robot-assisted radical prostatectomy for localized carcinoma of the prostate. Fifty patients underwent robot assisted radical prostatectomy from March 2004 to June 2005. Their ages ranged from 52 to 75 years, (average age 60.2 years). PSA levels ranged from 2.5 to 35 ng/ml (mean 10.6 ng/ml). Prostate volume ranged from 18 to 130 cc (average 32.4 cc). Average operating time for the first 20 cases was 4 h and for the next 30 cases was 2.5 h. Patients were discharged 1-3 days post-operatively. Catheters were removed on the fifth day following a cystogram. The positive margin rate as defined by the presence of cancer cells at the inked margin was 30%. Twenty-one patients had T1c disease and one had T1b on clinical staging. Of these, two were apical margin positive. Twenty-six patients had T2 disease and eight of them were apical margin positive. Two patients had T3 disease, one of whom was apical margin positive. Five patients (10%) had PSA recurrence. Five patients had a poorly differentiated carcinoma and the rest had Gleason 6 or 7. Eighty percent of the patients were continent on follow-up at 3 months. Of those who were potent before the surgery, 50% were potent at 3-6 months. The robotic surgery program was successfully implemented at our center on the lines of a structured program, developed at Vattikuti Urology Institute (VUI). We succeeded in creating a team and

  4. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  5. Teaching Joint-Level Robot Programming with a New Robotics Software Tool

    Directory of Open Access Journals (Sweden)

    Fernando Gonzalez

    2017-12-01

    Full Text Available With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.

  6. Developing robotic behavior using a genetic programming model

    International Nuclear Information System (INIS)

    Pryor, R.J.

    1998-01-01

    This report describes the methodology for using a genetic programming model to develop tracking behaviors for autonomous, microscale robotic vehicles. The use of such vehicles for surveillance and detection operations has become increasingly important in defense and humanitarian applications. Through an evolutionary process similar to that found in nature, the genetic programming model generates a computer program that when downloaded onto a robotic vehicle's on-board computer will guide the robot to successfully accomplish its task. Simulations of multiple robots engaged in problem-solving tasks have demonstrated cooperative behaviors. This report also discusses the behavior model produced by genetic programming and presents some results achieved during the study

  7. Evolutionary programming-based univector field navigation method for past mobile robots.

    Science.gov (United States)

    Kim, Y J; Kim, J H; Kwon, D S

    2001-01-01

    Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two dimensional vector field. The method provides fast moving robots with the desired posture at the target position and obstacle avoidance. To obtain the sub-optimal vector field, a function approximator is used and trained by evolutionary programming. Two kinds of vector fields are trained, one for the final posture acquisition and the other for obstacle avoidance. Computer simulations and real experiments are carried out for a fast moving mobile robot to demonstrate the effectiveness of the proposed scheme.

  8. Programming with the KIBO Robotics Kit in Preschool Classrooms

    Science.gov (United States)

    Elkin, Mollie; Sullivan, Amanda; Bers, Marina Umaschi

    2016-01-01

    KIBO is a developmentally appropriate robotics kit for young children that is programmed using interlocking wooden blocks; no screens or keyboards are required. This study describes a pilot KIBO robotics curriculum at an urban public preschool in Rhode Island and presents data collected on children's knowledge of foundational programming concepts…

  9. A distributed and morphology-independent strategy for adaptive locomotion in self-reconfigurable modular robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Schultz, Ulrik Pagh; Stoy, Kasper

    2013-01-01

    In this paper, we present a distributed reinforcement learning strategy for morphology-independent lifelong gait learning for modular robots. All modules run identical controllers that locally and independently optimize their action selection based on the robot’s velocity as a global, shared reward...

  10. ENGAGING ELEMENTARY AND MIDDLE SCHOOL STUDENTS IN ROBOTICS THROUGH HUMMINGBIRD KIT WITH SNAP! VISUAL PROGRAMMING LANGUAGE

    OpenAIRE

    Anna Newley; Hasan Deniz; Erdogan Kaya; Ezgi Yesilyurt

    2016-01-01

    The purpose of this paper is to describe how Hummingbird robotics kit with Snap! programing language was used to introduce basics of robotics to elementary and middle school students. Each student in the robotics program built a robot. The robot building process was open ended. Any specific robotics challenge was not provided to the students. Students’ knowledge about robots and programming language were measured through pre, post, and delayed posttests. Results indicated that students improv...

  11. 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

  12. Robotic Literacy Learning Companions: Exploring Student Engagement with a Humanoid Robot in an Afterschool Literacy Program

    Science.gov (United States)

    Levchak, Sofia

    2016-01-01

    This study was an investigation of the use of a NAO humanoid robot as an effective tool for engaging readers in an afterschool program as well as to find if increasing engagement using a humanoid robot would affect students' reading comprehension when compared to traditional forms of instruction. The targeted population of this study was…

  13. Graphical programming: On-line robot simulation for telerobotic control

    International Nuclear Information System (INIS)

    McDonald, M.J.; Palmquist, R.D.

    1993-01-01

    Sandia has developed an advanced operational control system approach, caged Graphical Programming, to design and operate robotic waste cleanup and other hazardous duty robotic systems. The Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. The Graphical Programming approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Graphical Programming Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Progranuning Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, and key features necessary for implementing successful Graphical Programming systems

  14. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    In FY 1990 Robotics Technology Development Program (RTDP) planning teams visited five DOE sites. These sites were selected by the Office of Technology Development to provide a needs basis for developing a 5-Year Plan. Visits to five DOE sites provided identification of needs for robotics technology development to support Environmental Restoration and Waste Management (ER ampersand WM) projects at those sites. Additional site visits will be conducted in the future to expand the planning basis. This volume summarizes both the results of the site visits and the needs and requirements of the priority ER ampersand WM activities at the sites, including potential needs for robotics and remote systems technology. It also discusses hazards associated with the site activities and any problems or technical uncertainties associated with dealing with the hazards in the performance of the ER ampersand WM work. Robotic or remote systems currently under development for remediation projects or waste operations are also discussed. The information in this document is organized principally by site, activity, and priority. Section 2.0, Site Needs, is based on information from the site visit reports and provides a summary which focuses on the site needs and requirements for each priority activity. Section 2.0 also records evaluations and discussions by the RTDP team following the site visit. Section 3.0, Commonality Assessment, documents similar site needs where common, or cross-cutting, robotics technology might be applied to several activities. Section 4.0 contains a summary of the site needs and requirements in tabular form. 1 tab

  15. Automated Manufacturing/Robotics Technology: Certificate and Associate Degree Programs.

    Science.gov (United States)

    McQuay, Paul L.

    A description is provided of the Automated Manufacturing/Robotics program to be offered at Delaware County Community College beginning in September 1984. Section I provides information on the use of reprogramable industrial robots in manufacturing and the rapid changes in production that can be effected through the application of automated…

  16. Automation and robotics for the National Space Program

    Science.gov (United States)

    1985-01-01

    The emphasis on automation and robotics in the augmentation of the human centered systems as it concerns the space station is discussed. How automation and robotics can amplify the capabilities of humans is detailed. A detailed developmental program for the space station is outlined.

  17. Integrating Robot Task Planning into Off-Line Programming Systems

    DEFF Research Database (Denmark)

    Sun, Hongyan; Kroszynski, Uri

    1988-01-01

    a system architecture for integrated robot task planning. It identifies and describes the components considered necessary for implementation. The focus is on functionality of these elements as well as on the information flow. A pilot implementation of such an integrated system architecture for a robot......The addition of robot task planning in off-line programming systems aims at improving the capability of current state-of-the-art commercially available off-line programming systems, by integrating modeling, task planning, programming and simulation together under one platform. This article proposes...... assembly task is discussed....

  18. An off-line programming system for palletizing robot

    Directory of Open Access Journals (Sweden)

    Youdong Chen

    2016-09-01

    Full Text Available Off-line programming systems are essential tools for the effective use of palletizing robots. This article presents a dedicated off-line programming system for palletizing robots. According to the user practical requirements, there are many user-defined patterns that can’t be easily generated by commercial off-line robot programming systems. This study suggests a pattern generation method that users can easily define their patterns. The proposed method has been simulation and experiment. The results have attested the effectiveness of the proposed pattern generation method.

  19. The OTD Robotics Waste Minimization Program

    International Nuclear Information System (INIS)

    Couture, S.A.

    1992-04-01

    The danger to human health and safety posed by exposure to transuranic (TRU) and Pu contaminated materials necessitates remote processing in confined environments. Currently these operations are carried out in gloveboxes and hot-cells by human operators using lead- lined gloves or teleoperated manipulators. Protective clothing worn by operators during gloved operations has contributed significantly to the waste problems currently facing site remediators. The DOE Environmental Restoration and Waste Management (ER/WM) Program is in the process of developing and demonstrating technologies to assist in the remediation of sites that have accumulated wastes generated using these processes over the past five decades. Recognizing that continued use of existing production, recovery and waste treatment systems will compound the remediation problem, DOE has made a commitment to waste minimization. To reduce waste generation during weapons production and waste processing operations, automated processes are being developed and demonstrated for use in future DOE processing facilities as part of OTD's Robotics Technology Development Program. These technologies are currently being applied to pyrochemical processing systems to demonstrate conversion of plutonium oxide to metal. However, these technologies are expected to have applications in a variety of waste processing systems including those used to treat high-level tank wastes, buried wastes requiring remote processing, mixed wastes, and unknown hazardous materials. In addition to reducing the future waste burden of DOE, automated processes are an effective way to comply with existing and anticipated federal, state, and local regulations related to personal health and safety and the health of the environment

  20. Tele-care robot for assisting independent senior citizens who live at home.

    Science.gov (United States)

    Katz, Reuven

    2015-01-01

    In the last twenty years most developed countries face dramatic demographic changes, and predominantly the rapid aging of their population. As the share of elderly people is climbing while the number of care providers is declining, the aging problem is becoming an increasingly important social and economic challenge. The supply of care at home, utilizing affordable tele-care systems and smart home technologies, is one of the promising strategies to cope with challenges posed by these demographic changes. The goal of this paper is to present a tele-care robot (TCR) aimed to assist Senior citizens who live independently at their home, that need assistance in daily life activities. The idea of the proposed system is that a caregiver, operating from a central location, will be able to service between 10 to 20 patients living at their home, by using the tele-care robot. The robot will possess motion control capabilities to move inside the house of each patient and alert in case that emergency events occur. The robot will allow the care provider to communicate remotely with the patient using audio and video equipment installed on the robot. By using the robot, the caregiver will be able to examine several times during the day the well-being of the patient, his medication consumption, and his overall functionality.

  1. Interactive Industrial Robot Programming for the Ceramic Industry

    Directory of Open Access Journals (Sweden)

    Germano Veiga

    2013-10-01

    Full Text Available This paper presents an interactive programming method for programming industrial robots in ceramic applications. The main purpose was to develop a simple but flexible programming system that empowers the user with product driven programming without compromising flexibility. To achieve this flexibility, a two step hybrid programming model was designed: first the user sketches the desired trajectory in a spatial augmented reality programming table using the final product and then relies on an advanced 3D graphical system to tune the robot trajectory in the final workcell. The results measured by the end-user feedback show that a new level of flexibility was reached for this type of application.

  2. A Component-Oriented Programming for Embedded Mobile Robot Software

    Directory of Open Access Journals (Sweden)

    Safaai Deris

    2008-11-01

    Full Text Available Applying software reuse to many Embedded Real-Time (ERT systems poses significant challenges to industrial software processes due to the resource-constrained and real-time requirements of the systems. Autonomous Mobile Robot (AMR system is a class of ERT systems, hence, inherits the challenge of applying software reuse in general ERT systems. Furthermore, software reuse in AMR systems is challenged by the diversities in terms of robot physical size and shape, environmental interaction and implementation platform. Thus, it is envisioned that component-based software engineering will be the suitable way to promote software reuse in AMR systems with consideration to general requirements to be self-contained, platform-independent and real-time predictable. A framework for component-oriented programming for AMR software development using PECOS component model is proposed in this paper. The main features of this framework are: (1 use graphical representation for components definition and composition; (2 target C language for optimal code generation with resource-constrained micro-controller; and (3 minimal requirement for run-time support. Real-time implementation indicates that, the PECOS component model together with the proposed framework is suitable for resource constrained embedded AMR systems software development.

  3. Effective programming of energy consuming industrial robot systems

    International Nuclear Information System (INIS)

    Trnka, K.; Pinter, T.; Knazik, M.; Bozek, P.

    2012-01-01

    This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part is presented the work done with one of the simulation system with automatic trajectory generation and off-line programming capability [4]. An spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus, transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step. (Authors)

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

    DEFF Research Database (Denmark)

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

    1992-01-01

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

  5. Interactive Industrial Robot Programming for the Ceramic Industry

    OpenAIRE

    Germano Veiga; Pedro Malaca; Rui Cancela

    2013-01-01

    This paper presents an interactive programming method for programming industrial robots in ceramic applications. The main purpose was to develop a simple but flexible programming system that empowers the user with product driven programming without compromising flexibility. To achieve this flexibility, a two step hybrid programming model was designed: first the user sketches the desired trajectory in a spatial augmented reality programming table using the final product and then relies on an a...

  6. Which activities threaten independent living of elderly when becoming problematic: inspiration for meaningful service robot functionality.

    Science.gov (United States)

    Bedaf, Sandra; Gelderblom, Gert Jan; Syrdal, Dag Sverre; Lehmann, Hagen; Michel, Hervé; Hewson, David; Amirabdollahian, Farshid; Dautenhahn, Kerstin; de Witte, Luc

    2014-11-01

    In light of the increasing elderly population and the growing demand for home care, the potential of robot support is given increasing attention. In this paper, an inventory of activities was made that threaten independent living of elderly when becoming problematic. Results will guide the further development of an existing service robot, the Care-O-bot®. A systematic literature search of PubMed was performed, focused on the risk factors for institutionalization. Additionally, focus group sessions were conducted in the Netherlands, United Kingdom and France. In these focus group sessions, problematic activities threatening the independence of elderly people were discussed. Three separate target groups were included in the focus group sessions: (1) elderly persons (n = 41), (2) formal caregivers (n = 40) and (3) informal caregivers (n = 32). Activities within the International Classification of Functioning domains mobility, self-care, and interpersonal interaction and relationships were found to be the most problematic. A distinct set of daily activities was identified that may threaten independent living, but no single activity could be selected as the main activity causing a loss of independence as it is often a combination of problematic activities that is person-specific. Supporting the problematic activities need not involve a robotic solution.

  7. Innovative Mobile Robot Method: Improving the Learning of Programming Languages in Engineering Degrees

    Science.gov (United States)

    Ortiz, Octavio Ortiz; Pastor Franco, Juan Ángel; Alcover Garau, Pedro María; Herrero Martín, Ruth

    2017-01-01

    This paper describes a study of teaching a programming language in a C programming course by having students assemble and program a low-cost mobile robot. Writing their own programs to define the robot's behavior raised students' motivation. Working in small groups, students programmed the robots by using the control structures of structured…

  8. Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

    Science.gov (United States)

    dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

    2017-01-01

    Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

  9. The Affordance Template ROS Package for Robot Task Programming

    Science.gov (United States)

    Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

    2015-01-01

    This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

  10. An experimental program on advanced robotics

    International Nuclear Information System (INIS)

    Yuan, J.S.C.; Stovman, J.; MacDonald, R.; Norgate, G.

    1987-01-01

    Remote handling in hostile environments, including space, nuclear facilities, and mines, requires hybrid systems which permit close cooperation between state of the art teleoperation and advanced robotics. Teleoperation using hand controller commands and television feedback can be enhanced by providing force-feel feedback and simulation graphics enhancement of the display. By integrating robotics features such as computer vision and force/tactile feedback with advanced local control systems, the overall effectiveness of the system can be improved and the operator workload reduced. This has been demonstrated in the laboratory. Applications such as a grappling drifting satellite or transferring material at sea are envisaged

  11. Developing a robotic pancreas program: the Dutch experience.

    Science.gov (United States)

    Nota, Carolijn L; Zwart, Maurice J; Fong, Yuman; Hagendoorn, Jeroen; Hogg, Melissa E; Koerkamp, Bas Groot; Besselink, Marc G; Molenaar, I Quintus

    2017-01-01

    Robot-assisted surgery has been developed to overcome limitations of conventional laparoscopy aiming to further optimize minimally invasive surgery. Despite the fact that robotics already have been widely adopted in urology, gynecology, and several gastro-intestinal procedures, like colorectal surgery, pancreatic surgery lags behind. Due to the complex nature of the procedure, surgeons probably have been hesitant to apply minimally invasive techniques in pancreatic surgery. Nevertheless, the past few years pancreatic surgery has been catching up. An increasing number of procedures are being performed laparoscopically and robotically, despite it being a highly complex procedure with high morbidity and mortality rates. Since the complex nature and extensiveness of the procedure, the start of a robotic pancreatic program should be properly prepared and should comply with several conditions within high-volume centers. Robotic training plays a significant role in the preparation. In this review we discuss the different aspects of preparation when working towards the start of a robotic pancreas program against the background of our nationwide experience in the Netherlands.

  12. A Simple Solution for Programming of a Robotic Arm

    Directory of Open Access Journals (Sweden)

    Bogdan Laurean

    2014-12-01

    Full Text Available This paper presents a method to actuate, programming and control of a Robotic arm based on a monomobil telescopic planetary gear and a DC motor. Experimental model of robot was designed and manufactured at the Faculty of Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02. The DC motor as actuator rotates a reel. The wires on the reel will produce a linear displacement of telescopic modules. The command of the DC motor is realized by a programmable logic controller. The outputs of the programmable logic controller are connected in a "H" bridge. The rotation of the reel in one direction or another has the effect of lengthening or shortening the robotic arm. The value of robotic arm length is monitored by an optical incremental encoder. The value of displacement will correspond to number of steps from an up/down counter.

  13. Status of DoD Robotic Programs

    Science.gov (United States)

    1985-03-01

    planning or adhere to previously planned routes. 0 Control. Controls are micro electronics based which provide means of autonomous action directly...KEY No: I 11 1181 1431 OROJECT Titloi ISMART TERRAIN ANALYSIS FOR ROBOTIC SYSTEMS (STARS) PROJECT Not I I CLASSIFICATION: IUCI TASK Titles IAUTOMATIC

  14. Overcoming Barriers and Increasing Independence – Service Robots for Elderly and Disabled People

    Directory of Open Access Journals (Sweden)

    Marion Hersh

    2015-08-01

    Full Text Available The paper discusses the potential of assistive service robots to support disabled and elderly people. It shows that they have considerable untapped potential in this area, but also that inappropriate implementations could increase isolation, reduce independence and lead to users feeling as though they are under surveillance. The main body of the paper presents an overview of existing applications and discusses their benefits and potential problems. This is organized by an extension of the common classification into socially and physically assistive robots by the two categories of sensory assistive and mixed assistance robots. Another more detailed classification is also presented. This discussion is introduced by an overview of many of the technological components of smart mobile robots. It is followed by a discussion of user acceptance. The problems of existing models based on either solely positive or solely negative factors are noted and a model containing both types of factors is proposed. The need for continuing research is noted and various proposals are made.

  15. DOE/NE University Program in robotics for advanced reactors

    International Nuclear Information System (INIS)

    Sweeney, F.J.; Gonzalez, R.C.; Trivedi, M.M.; Wehe, D.K.

    1990-05-01

    The US Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of advanced robotic systems capable of performing tasks that are hazardous to humans, that generate significant occupational radiation exposure, and/or whose execution times can be reduced if performed by an automated system. The goal is to develop a generation of advanced robotic systems capable of economically performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective is a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The strategy adopted in order to achieve the program goals in an efficient and timely manner consists in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. There is a potentially broad range of applications for the robotic systems developed in the course of this project. Therefore, it is expected that efforts to obtain additional support from other agencies, e.g., DOD and NASA, will be successful. Areas of cooperation with other nations (e.g., Japan, France, Germany) are being explored. This Program features a unique teaming arrangement among the Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory, and their industrial partners, Odetics, Gulf State Utilities, Florida Power and Light Company, Remotec, and Telerobotics International

  16. Robotics

    Science.gov (United States)

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

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

  17. Spatial Programming for Industrial Robots Through Task Demonstration

    OpenAIRE

    Jens Lambrecht; Martin Kleinsorge; Martin Rosenstrauch; Jörg Krüger

    2013-01-01

    Abstract We present an intuitive system for the programming of industrial robots using markerless gesture recognition and mobile augmented reality in terms of programming by demonstration. The approach covers gesture-based task definition and adaption by human demonstration, as well as task evaluation through augmented reality. A 3D motion tracking system and a handheld device establish the basis for the presented spatial programming system. In this publication, we present a prototype toward ...

  18. Gesture-Based Extraction of Robot Skill Parameters for Intuitive Robot Programming

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath; Krüger, Volker

    2015-01-01

    a working system capable of TbD would be ideal. Contrary to current TbD approaches, that generally aim to recognize both action and where it is applied, we propose a division of labor, where the operator manually specifies the action the robot should perform, while gestures are used for specifying...... the relevant action parameter (e.g. on which object to apply the action). Using this two-step method has the advantages that there is no uncertainty of which action the robot will perform, it takes into account that the environment changes, so objects do not need to be at predefined locations......, and the parameter specification is possible even for inexperienced users. Experiments with 24 people in 3 different environments verify that it is indeed intuitive, even for a robotics novice, to program a mobile manipulator using this method....

  19. Tips on Establishing a Robotics Program in an Academic Setting

    Directory of Open Access Journals (Sweden)

    William D. Steers

    2006-01-01

    Full Text Available Over the past 5 years, robotic-assisted laparoscopic surgery has gone from being a novelty to an accepted approach for intra-abdominal and pelvic surgery. Driving this trend has been the large number of robotic-assisted laparoscopic prostatectomies performed throughout the U.S. Nearly a quarter of the prostatectomies done for prostate cancer in the U.S. in 2006 will use robotic assistance, yet reports fail to confirm cost effectiveness. The most important predictor of a successful program is a champion at the institution. Studies have demonstrated safety and immediate benefits with regard to reduced surgical morbidity such as pain, loss of work, quality of life, and blood loss for a variety of surgeries patients. Specific to prostatectomy for cancer, long-term data on biochemical (PSA failures and cancer cures, as well as validated secondary outcomes for continence and potency, are still unavailable. Benefits accrue for the surgeon as well with improved ergonomics and potential extension of a surgical career. Yet, enthusiasm for robotics must be tempered by this lack of data and economic limitations. However, if a thoughtful and thorough process in initiating a robotic program is undertaken, the risks to the institution can be minimized. With proper training, the risk to the patient is reduced and with due diligence with regard to market and operative resources, the risk to the surgeon can be eliminated. This report reviews the steps to assess, plan, initiate, and maintain a robotics program at an academic institution with the hope that other programs can benefit from lessons acquired by early adopters of this expensive technology.

  20. Design and evaluation of an end-user friendly tool for robot programming

    NARCIS (Netherlands)

    Buchina, N.; Barakova, E.I.; Kamel, S.M.W.

    2016-01-01

    End-user programming for robots is becoming an increasingly important topic since robots are being introduced into a wide variety of domains. We propose a design of a web based programming interface that makes it possible for end-users with different backgrounds to program robots using natural

  1. Gender Differences in Kindergarteners' Robotics and Programming Achievement

    Science.gov (United States)

    Sullivan, Amanda; Bers, Marina Umaschi

    2013-01-01

    Early childhood is a critical period for introducing girls to traditionally masculine fields of science and technology before more extreme gender stereotypes surface in later years. This study looks at the TangibleK Robotics Program in order to determine whether kindergarten boys and girls were equally successful in a series of building and…

  2. Effects of Using Model Robots in the Education of Programming

    Science.gov (United States)

    Pásztor, Attila; Pap-Szigeti, Róbert; Lakatos Török, Erika

    2010-01-01

    In this article we try to show how new devices and methods can help in the education of programming. At Kecskemét College programmable mobile robots and instead of behavioral, the constructivist pedagogical methods were used. Our experiments have proved our hypothesis as the improved new methodical education using devices can give more practical…

  3. ENVIRONMENT INDEPENDENT DIRECTIONAL GESTURE RECOGNITION TECHNIQUE FOR ROBOTS USING MULTIPLE DATA FUSION

    Directory of Open Access Journals (Sweden)

    Kishore Abishek

    2013-10-01

    Full Text Available A technique is presented here for directional gesture recognition by robots. The usual technique employed now is using camera vision and image processing. One major disadvantage with that is the environmental constrain. The machine vision system has a lot of lighting constrains. It is therefore only possible to use that technique in a conditioned environment, where the lighting is compatible with camera system used. The technique presented here is designed to work in any environment. It does not employ machine vision. It utilizes a set of sensors fixed on the hands of a human to identify the direction in which the hand is pointing. This technique uses cylindrical coordinate system to precisely find the direction. A programmed computing block in the robot identifies the direction accurately within the given range.

  4. Ground Robotic Hand Applications for the Space Program study (GRASP)

    Science.gov (United States)

    Grissom, William A.; Rafla, Nader I. (Editor)

    1992-01-01

    This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

  5. Spatial Programming for Industrial Robots through Task Demonstration

    Directory of Open Access Journals (Sweden)

    Jens Lambrecht

    2013-05-01

    Full Text Available Abstract We present an intuitive system for the programming of industrial robots using markerless gesture recognition and mobile augmented reality in terms of programming by demonstration. The approach covers gesture-based task definition and adaption by human demonstration, as well as task evaluation through augmented reality. A 3D motion tracking system and a handheld device establish the basis for the presented spatial programming system. In this publication, we present a prototype toward the programming of an assembly sequence consisting of several pick-and-place tasks. A scene reconstruction provides pose estimation of known objects with the help of the 2D camera of the handheld. Therefore, the programmer is able to define the program through natural bare-hand manipulation of these objects with the help of direct visual feedback in the augmented reality application. The program can be adapted by gestures and transmitted subsequently to an arbitrary industrial robot controller using a unified interface. Finally, we discuss an application of the presented spatial programming approach toward robot-based welding tasks.

  6. The Oak Ridge National Laboratory's Robotics and Intelligent Systems Program

    International Nuclear Information System (INIS)

    Meacham, S.A.

    1987-01-01

    The goals of the newly formed Robotics and Intelligent Systems Program are discussed. The application of the remote systems technology developed by the Consolidated Fuel Reprocessing Program for the Department of Energy is presented. The activities (satellite refueling and space station truss assembly) with the National Aeronautics and Space Administration are presented in a videotape format with narration by the presenter. The goals of technology transfer to the private sector and the potential positive impact on the community conclude the oral presentation

  7. LEGO mindstorm masterpieces building and programming advanced robots

    CERN Document Server

    2003-01-01

    In LEGO Mindstorm Masterpieces, some of the world's leading LEGO Mindstorms inventors share their knowledge and development secrets. The unique style of this book will allow it to cover an incredibly broad range of topics in unparalleled detail. Chapters within the book will include detailed discussions of the mechanics that drive the robot - and also provide step-by-step construction diagrams for each of the robots. This is perfect book for LEGO hobbyists looking to take their skills to the next level whether they build world-class competitive robots or just like to mess around for the fun of it.For experienced users of LEGO Mindstorms, LEGO Mindstorms Masterpiece is composed of three fundamental sections:·Part One: A review of the advanced robot building concepts and theories.·Part Two: Step-by-step building instructions for a series of complex models. The companion programming code is included, along with in-depth explanations of concepts needed for the specific models. Robots include Line Followers, Bip...

  8. Comparison of Perioperative Outcomes of Total Laparoscopic and Robotically Assisted Hysterectomy for Benign Pathology during Introduction of a Robotic Program

    Directory of Open Access Journals (Sweden)

    Gokhan Sami Kilic

    2011-01-01

    Full Text Available Study Objective. Prospectively compare outcomes of robotically assisted and laparoscopic hysterectomy in the process of implementing a new robotic program. Design. Prospectively comparative observational nonrandomized study. Design Classification. II-1. Setting. Tertiary caregiver university hospital. Patients. Data collected consecutively 24 months, 34 patients underwent laparoscopic hysterectomy, 25 patients underwent robotic hysterectomy, and 11 patients underwent vaginal hysterectomy at our institution. Interventions. Outcomes of robotically assisted, laparoscopic, and vaginal complex hysterectomies performed by a single surgeon for noncancerous indications. Measurements and Main Results. Operative times were 208.3±59.01 minutes for laparoscopic, 286.2±82.87 minutes for robotic, and 163.5±61.89 minutes for vaginal (<.0001. Estimated blood loss for patients undergoing laparoscopic surgery was 242.7±211.37 cc, 137.4±107.50 cc for robotic surgery, and 243.2±127.52 cc for vaginal surgery (=0.05. The mean length of stay ranged from 1.8 to 2.3 days for the 3 methods. Association was significant for uterine weight (=0.0043 among surgery methods. Conclusion. Robotically assisted hysterectomy is feasible with low morbidity, a shorter hospital stay, and less blood loss. This suggests that robotic assistance facilitates a minimally invasive approach for patients with larger uterine size even during implementing a new robotic program.

  9. INDUSTRIAL ROBOT ARM SIMULATION SOFTWARE DEVELOPMENT USING JAVA-3D AND MATLAB SIMULINK PROGRAMMING LANGUAGE

    OpenAIRE

    Wirabhuana, Arya

    2011-01-01

    Robot Arms Simulation Software development using Structured Programming Languages, Third Party Language, and Artificial Intelligence Programming Language are the common techniques in simulating robot arms movement. Those three techniques are having its strengths and weaknesses depend on several constraints such as robot type, degree of operation complexity to be simulated, operator skills, and also computer capability. This paper will discuss on Robot Arms Simulation Software (RSS) developmen...

  10. [Implementation of a robotic video-assisted thoracic surgical program].

    Science.gov (United States)

    Baste, J-M; Riviera, C; Nouhaud, F-X; Rinieri, P; Melki, J; Peillon, C

    2016-03-01

    Recent publications from North America have shown the benefits of robot-assisted thoracic surgery. We report here the process of setting up such a program in a French university centre and early results in a unit with an average treatment volume. Retrospective review of a single institution database. The program was launched after a 6-month preparation period. From January 2012 to January 2013, totally endoscopic, full robot-assisted procedures were performed on 30 patients (17 males). Median age was 54 [Q1-Q3, 48-63] years and ASA score 2 [1,2]. Operative procedures included thymectomy (9 ; 30%), lobectomy with nodes resection (11 ; 38%), segmentectomy (4 ; 14%), lymphadenectomy (3 ; 10%), Bronchogenic cyst (2, 5%) and posterior mediastinal mass resection (1 ; 3%). No conversion was required. Median blood loss was 50mL [10-100]. Median operating time was 135 min (105-165) including 30 min [20-40] for docking, 90min for robot-assisted operating [70-120] and 15 min [10-15] for lesion extraction. CO2 insufflation was used in 28 cases (93%). Hospital stay was 4 days [4-6] with 6 minor complications (20%) (Grade 1 according to the Clavien-Dindo classification). After a median 4 months follow-up [2-7], all patients were alive and demonstrated a good quality of life. This series suggests that full robotic thoracic procedures are safe and effective treatment for various pathologies, with low morbidity and without a significant learning curve, even in a lower volume centre. This technology should accompany the development of minimally invasive thoracic surgery. The importance of robotic training should be emphasized to optimize procedures and costs. Copyright © 2015 SPLF. Published by Elsevier Masson SAS. All rights reserved.

  11. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Dawal, Siti Zawiah Md; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  12. Idaho National Engineering Laboratory decontamination and decommissioning robotics development program

    International Nuclear Information System (INIS)

    McKay, M.D.

    1993-04-01

    As part of the Idaho National Engineering Laboratory (INEL) Robotics Technology Development Program (RTDP) Decontamination ampersand Decommissioning (D ampersand D) robotics program, a task was designed to integrate the plasma arc cutting technology being developed under the Waste Facility Operations (WFO) robotics program into D ampersand D cutting applications. The plasma arc cutting technology is based upon the use of a high energy plasma torch to cut metallic objects. Traditionally, D ampersand D workers removing equipment and processes from a facility have used plasma arc cutting to accomplish this task. The worker is required to don a protective suit to shield from the high electromagnetic energy released from the cutting operation. Additionally, the worker is required to don protective clothing to shield against the radioactive materials and contamination. This protective clothing can become restrictive and cumbersome to work in. Because some of the work areas contain high levels of radiation, the worker is not allowed to dwell in the environment for sustained periods of time. To help alleviate some of the burdens required to accomplish this task, reduce or eliminate the safety hazardous to the worker, and reduce the overall cost of remediation, a program was established though the Office of Technology Development (OTD) to design and develop a robotic system capable of performing cutting operations using a plasma arc torch. Several D ampersand D tasks were identified having potential for use of the plasma arc cutting technology. The tasks listed below were chosen to represent common D ampersand D type activities where the plasma arc cutting technology can be applied

  13. 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

  14. Design, implementation and evaluation of an independent real-time safety layer for medical robotic systems using a force-torque-acceleration (FTA) sensor.

    Science.gov (United States)

    Richter, Lars; Bruder, Ralf

    2013-05-01

    Most medical robotic systems require direct interaction or contact with the robot. Force-Torque (FT) sensors can easily be mounted to the robot to control the contact pressure. However, evaluation is often done in software, which leads to latencies. To overcome that, we developed an independent safety system, named FTA sensor, which is based on an FT sensor and an accelerometer. An embedded system (ES) runs a real-time monitoring system for continuously checking of the readings. In case of a collision or error, it instantaneously stops the robot via the robot's external emergency stop. We found that the ES implementing the FTA sensor has a maximum latency of [Formula: see text] ms to trigger the robot's emergency stop. For the standard settings in the application of robotized transcranial magnetic stimulation, the robot will stop after at most 4 mm. Therefore, it works as an independent safety layer preventing patient and/or operator from serious harm.

  15. Finding Optimal Independent Grasp Regions of Parallel Manipulators with Additional Applications for Limbed Robot Mobility

    Data.gov (United States)

    National Aeronautics and Space Administration — For the problem of robotic manipulation, wherein a robotic manipulator interacts with objects or its environment using an end-effector (gripper), there have been...

  16. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

    Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

  17. Node Primitives: an open end-user programming platform for social robots

    OpenAIRE

    Coronado, Enrique; Mastrogiovanni, Fulvio; Venture, Gentiane

    2017-01-01

    With the expected adoption of robots able to seamlessly and intuitively interact with people in real-world scenarios, the need arises to provide non-technically-skilled users with easy-to-understand paradigms for customising robot behaviors. In this paper, we present an interaction design robot programming platform for enabling multidisciplinary social robot research and applications. This platform is referred to Node Primitives (NEP) and consists of two main parts. On the one hand, a ZeroMQ ...

  18. Adoption of robotics in a general surgery residency program: at what cost?

    Science.gov (United States)

    Mehaffey, J Hunter; Michaels, Alex D; Mullen, Matthew G; Yount, Kenan W; Meneveau, Max O; Smith, Philip W; Friel, Charles M; Schirmer, Bruce D

    2017-06-01

    Robotic technology is increasingly being utilized by general surgeons. However, the impact of introducing robotics to surgical residency has not been examined. This study aims to assess the financial costs and training impact of introducing robotics at an academic general surgery residency program. All patients who underwent laparoscopic or robotic cholecystectomy, ventral hernia repair (VHR), and inguinal hernia repair (IHR) at our institution from 2011-2015 were identified. The effect of robotic surgery on laparoscopic case volume was assessed with linear regression analysis. Resident participation, operative time, hospital costs, and patient charges were also evaluated. We identified 2260 laparoscopic and 139 robotic operations. As the volume of robotic cases increased, the number of laparoscopic cases steadily decreased. Residents participated in all laparoscopic cases and 70% of robotic cases but operated from the robot console in only 21% of cases. Mean operative time was increased for robotic cholecystectomy (+22%), IHR (+55%), and VHR (+61%). Financial analysis revealed higher median hospital costs per case for robotic cholecystectomy (+$411), IHR (+$887), and VHR (+$1124) as well as substantial associated fixed costs. Introduction of robotic surgery had considerable negative impact on laparoscopic case volume and significantly decreased resident participation. Increased operative time and hospital costs are substantial. An institution must be cognizant of these effects when considering implementing robotics in departments with a general surgery residency program. Copyright © 2017 Elsevier Inc. All rights reserved.

  19. Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping

    DEFF Research Database (Denmark)

    Andersen, Rasmus Skovgaard

    The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Companies such as Rethink Robotics and Universal Robots are redefining the concept of an industrial robot and entire new markets and use cases are becoming relevant for ...

  20. Application oriented programming and control of industrial robots

    International Nuclear Information System (INIS)

    Nilsson, Klas.

    1992-07-01

    Efficient use of industrial robots requires a strong interplay between user level commands, the motion control system, and external equipment. It should also be possible for an experienced application engineer to tailor the motion control to a specific application in a convenient way, instead of deficient utilization of the device or tricky user programming which is often the case today. A layered software architecture has been designed based on an application oriented view, considering typical hardware and software constraints. The top layers or the architecture support improved integration of off-line programming with interactive teach-in programming. The proposed solution is based on a transformation of robot programs between an on-line and an off-line representation. A central part of the architecture is an intermediate software layer, allowing the experienced user to introduce application specific motion primitives, on top of the motion control system. Flexibility during system configuration combined with computing efficiency and performance at run-time is of major importance. The solution is based on so called actions, which are methods to be passed between different software layers. Such methods can be specification of nonlinear control parameters, application specific control strategies, or treatment of external sensor signals. The actions can be implemented efficiently even in the multiprocessor case by using relocatable executable pieces of code generated from a special cross-compilation strategy. The lowest layers, comprising the motion control, have to be efficient and still fit in with the upper layers. In these layers, software solutions include an external sensor interface and a concept of motion pipelining allowing sensor based motions to be partly computed in advance. An experimental platform, built around commercially available robots, has been developed to verify the proposed solutions. (au)

  1. The Academic Differences between Students Involved in School-Based Robotics Programs and Students Not Involved in School-Based Robotics Programs

    Science.gov (United States)

    Koumoullos, Michael

    2013-01-01

    This research study aimed to identify any correlation between participation in afterschool robotics at the high school level and academic performance. Through a sample of N = 121 students, the researcher examined the grades and attendance of students who participated in a robotics program in the 2011-2012 school year. The academic record of these…

  2. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

  3. Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration

    Science.gov (United States)

    Marquez, Jessica J.

    2016-01-01

    Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.

  4. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  5. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

  6. Evidence in Support of the Independent Channel Model Describing the Sensorimotor Control of Human Stance Using a Humanoid Robot.

    Science.gov (United States)

    Pasma, Jantsje H; Assländer, Lorenz; van Kordelaar, Joost; de Kam, Digna; Mergner, Thomas; Schouten, Alfred C

    2018-01-01

    The Independent Channel (IC) model is a commonly used linear balance control model in the frequency domain to analyze human balance control using system identification and parameter estimation. The IC model is a rudimentary and noise-free description of balance behavior in the frequency domain, where a stable model representation is not guaranteed. In this study, we conducted firstly time-domain simulations with added noise, and secondly robot experiments by implementing the IC model in a real-world robot (PostuRob II) to test the validity and stability of the model in the time domain and for real world situations. Balance behavior of seven healthy participants was measured during upright stance by applying pseudorandom continuous support surface rotations. System identification and parameter estimation were used to describe the balance behavior with the IC model in the frequency domain. The IC model with the estimated parameters from human experiments was implemented in Simulink for computer simulations including noise in the time domain and robot experiments using the humanoid robot PostuRob II. Again, system identification and parameter estimation were used to describe the simulated balance behavior. Time series, Frequency Response Functions, and estimated parameters from human experiments, computer simulations, and robot experiments were compared with each other. The computer simulations showed similar balance behavior and estimated control parameters compared to the human experiments, in the time and frequency domain. Also, the IC model was able to control the humanoid robot by keeping it upright, but showed small differences compared to the human experiments in the time and frequency domain, especially at high frequencies. We conclude that the IC model, a descriptive model in the frequency domain, can imitate human balance behavior also in the time domain, both in computer simulations with added noise and real world situations with a humanoid robot. This

  7. Evidence in Support of the Independent Channel Model Describing the Sensorimotor Control of Human Stance Using a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Jantsje H. Pasma

    2018-03-01

    Full Text Available The Independent Channel (IC model is a commonly used linear balance control model in the frequency domain to analyze human balance control using system identification and parameter estimation. The IC model is a rudimentary and noise-free description of balance behavior in the frequency domain, where a stable model representation is not guaranteed. In this study, we conducted firstly time-domain simulations with added noise, and secondly robot experiments by implementing the IC model in a real-world robot (PostuRob II to test the validity and stability of the model in the time domain and for real world situations. Balance behavior of seven healthy participants was measured during upright stance by applying pseudorandom continuous support surface rotations. System identification and parameter estimation were used to describe the balance behavior with the IC model in the frequency domain. The IC model with the estimated parameters from human experiments was implemented in Simulink for computer simulations including noise in the time domain and robot experiments using the humanoid robot PostuRob II. Again, system identification and parameter estimation were used to describe the simulated balance behavior. Time series, Frequency Response Functions, and estimated parameters from human experiments, computer simulations, and robot experiments were compared with each other. The computer simulations showed similar balance behavior and estimated control parameters compared to the human experiments, in the time and frequency domain. Also, the IC model was able to control the humanoid robot by keeping it upright, but showed small differences compared to the human experiments in the time and frequency domain, especially at high frequencies. We conclude that the IC model, a descriptive model in the frequency domain, can imitate human balance behavior also in the time domain, both in computer simulations with added noise and real world situations with a

  8. Overview and Categorization of Robots Supporting Independent Living of Elderly People: What Activities Do They Support and How Far Have They Developed.

    Science.gov (United States)

    Bedaf, Sandra; Gelderblom, Gert Jan; De Witte, Luc

    2015-01-01

    Over the past decades, many robots for the elderly have been developed, supporting different activities of elderly people. A systematic review in four scientific literature databases and a search in article references and European projects was performed in order to create an overview of robots supporting independent living of elderly people. The robots found were categorized based on their development stage, the activity domains they claim to support, and the type of support provided (i.e., physical, non-physical, and/or non-specified). In total, 107 robots for the elderly were identified. Six robots were still in a concept phase, 95 in a development phase, and six of these robots were commercially available. These robots claimed to provide support related to four activity domains: mobility, self-care, interpersonal interaction & relationships, and other activities. Of the many robots developed, only a small percentage is commercially available. Technical ambitions seem to be guiding robot development. To prolong independent living, the step towards physical support is inevitable and needs to be taken. However, it will be a long time before a robot will be capable of supporting multiple activities in a physical manner in the home of an elderly person in order to enhance their independent living.

  9. A Domain-Specific Language for Programming Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Schultz, Ulrik Pagh; Christensen, David Johan; Støy, Kasper

    2007-01-01

    , self-reconfigurable robots, we have developed a declarative, role-based language that allows the programmer to define roles and behavior independently of the concrete physical structure of the robot. Roles are compiled to mobile code fragments that distribute themselves over the physical structure...

  10. An iconic programming language for sensor-based robots

    Science.gov (United States)

    Gertz, Matthew; Stewart, David B.; Khosla, Pradeep K.

    1993-01-01

    In this paper we describe an iconic programming language called Onika for sensor-based robotic systems. Onika is both modular and reconfigurable and can be used with any system architecture and real-time operating system. Onika is also a multi-level programming environment wherein tasks are built by connecting a series of icons which, in turn, can be defined in terms of other icons at the lower levels. Expert users are also allowed to use control block form to define servo tasks. The icons in Onika are both shape and color coded, like the pieces of a jigsaw puzzle, thus providing a form of error control in the development of high level applications.

  11. ASI's space automation and robotics programs: The second step

    Science.gov (United States)

    Dipippo, Simonetta

    1994-01-01

    The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.

  12. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    Directory of Open Access Journals (Sweden)

    Hwa Jen Yap

    Full Text Available Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell, consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL and VR-based Robot Teaching System (VR-RoT. VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  13. Virtual Reality Based Support System for Layout Planning and Programming of an Industrial Robotic Work Cell

    Science.gov (United States)

    Yap, Hwa Jen; Taha, Zahari; Md Dawal, Siti Zawiah; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell. PMID:25360663

  14. Space Missions for Automation and Robotics Technologies (SMART) Program

    Science.gov (United States)

    Cliffone, D. L.; Lum, H., Jr.

    1985-01-01

    NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.

  15. Framework for Developing a Multimodal Programming Interface Used on Industrial Robots

    Directory of Open Access Journals (Sweden)

    Bogdan Mocan

    2014-12-01

    Full Text Available The proposed approach within this paper shifts the focus from the coordinate based programming of an industrial robot, which currently dominates the field, to an object based programming scheme. The general framework proposed in this paper is designed to perform natural language understanding, gesture integration and semantic analysis which facilitate the development of a multimodal robot programming interface that facilitate an intuitive programming.

  16. Easy robot programming for beginners and kids using augmented reality environments

    Science.gov (United States)

    Sakamoto, Kunio; Nishiguchi, Masahiro

    2010-11-01

    The authors have developed the mobile robot which can be programmed by command and instruction cards. All you have to do is to arrange cards on a table and to shot the programming stage by a camera. Our card programming system recognizes instruction cards and translates icon commands into the motor driver program. This card programming environment also provides low-level structure programming.

  17. The design of robust independence multivariable controller for robot manipulator using inverse dynamics

    International Nuclear Information System (INIS)

    Han, Sung Hyun

    1993-01-01

    This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectory. The proposed robot controller scheme has a computationally efficient schemes for either offline gain scheduling or online gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations. (Author)

  18. Independent auto evaluation of an operative radiological protection program

    International Nuclear Information System (INIS)

    Medrano L, M.A.; Rodriguez C, C.C.; Linares R, D.; Zarate M, N.; Zempoalteca B, R.

    2006-01-01

    The program of operative radiological protection of a nuclear power plant consists of multiple procedures and associate tasks that have as purpose the radiological protection of the workers of the power station. It is for this reason that the constant evaluation of the one it programs it is an important tool in the identification of their weaknesses (and strengths), so they can be assisted appropriately. In this work the main elements of the program of independent auto evaluation of the program of operative radiological protection of the Laguna Verde Central that has been developed and implemented by the National Institute of Nuclear Research are described. (Author)

  19. A Comparison of Types of Robot Control for Programming by Demonstration

    DEFF Research Database (Denmark)

    Fischer, Kerstin; Kirstein, Franziska; Jensen, Lars Christian

    2016-01-01

    Programming by Demonstration (PbD) is an efficient way for non-experts to teach new skills to a robot. PbD can be carried out in different ways, for instance, by kinesthetic guidance, teleoperation or by using external controls. In this paper, we compare these three ways of controlling a robot in...

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

    Science.gov (United States)

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

    2010-01-01

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

  1. End-user programming architecture facilitates the uptake of robots in social therapies

    NARCIS (Netherlands)

    Barakova, E.I.; Gillesen, J.C.C.; Huskens, Bibi; Lourens, T.

    2013-01-01

    This paper proposes an architecture that makes programming of robot behavior of an arbitrary complexity possible for end-users and shows the technical solutions in a way that is easy to understand and generalize to different situations. It aims to facilitate the uptake and actual use of robot

  2. Gender, Interest, and Prior Experience Shape Opportunities to Learn Programming in Robotics Competitions

    Science.gov (United States)

    Witherspoon, Eben B.; Schunn, Christian D.; Higashi, Ross M.; Baehr, Emily C.

    2016-01-01

    Background: Robotics competitions are increasingly popular and potentially provide an on-ramp to computer science, which is currently highly gender imbalanced. However, within competitive robotics teams, student participation in programming is not universal. This study gathered surveys from over 500 elementary, middle, and high school robotics…

  3. Using a Robotic Arm to Evaluate the Programming Ability of K-12 Educators

    Directory of Open Access Journals (Sweden)

    Antoinette Bruciati

    2006-12-01

    Full Text Available This usability study measured the ability of educators to master advanced computer programming concepts through the OWI Robotic Arm Trainer and PC Interface. Research findings revealed that the lack of prior computer programming experience did not impact the ability of each participant to successfully program his/her robotic arm. However, the absence of a detailed instructional manual detracted from the product

  4. 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.

  5. Robotics

    Indian Academy of Sciences (India)

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

  6. Residency Training in Robotic General Surgery: A Survey of Program Directors

    Directory of Open Access Journals (Sweden)

    Lea C. George

    2018-01-01

    Full Text Available Objective. Robotic surgery continues to expand in minimally invasive surgery; however, the literature is insufficient to understand the current training process for general surgery residents. Therefore, the objectives of this study were to identify the current approach to and perspectives on robotic surgery training. Methods. An electronic survey was distributed to general surgery program directors identified by the Accreditation Council for Graduate Medical Education website. Multiple choice and open-ended questions regarding current practices and opinions on robotic surgery training in general surgery residency programs were used. Results. 20 program directors were surveyed, a majority being from medium-sized programs (4–7 graduating residents per year. Most respondents (73.68% had a formal robotic surgery curriculum at their institution, with 63.16% incorporating simulation training. Approximately half of the respondents believe that more time should be dedicated to robotic surgery training (52.63%, with simulation training prior to console use (84.21%. About two-thirds of the respondents (63.16% believe that a formal robotic surgery curriculum should be established as a part of general surgery residency, with more than half believing that exposure should occur in postgraduate year one (55%. Conclusion. A formal robotics curriculum with simulation training and early surgical exposure for general surgery residents should be given consideration in surgical residency training.

  7. Residency Training in Robotic General Surgery: A Survey of Program Directors.

    Science.gov (United States)

    George, Lea C; O'Neill, Rebecca; Merchant, Aziz M

    2018-01-01

    Robotic surgery continues to expand in minimally invasive surgery; however, the literature is insufficient to understand the current training process for general surgery residents. Therefore, the objectives of this study were to identify the current approach to and perspectives on robotic surgery training. An electronic survey was distributed to general surgery program directors identified by the Accreditation Council for Graduate Medical Education website. Multiple choice and open-ended questions regarding current practices and opinions on robotic surgery training in general surgery residency programs were used. 20 program directors were surveyed, a majority being from medium-sized programs (4-7 graduating residents per year). Most respondents (73.68%) had a formal robotic surgery curriculum at their institution, with 63.16% incorporating simulation training. Approximately half of the respondents believe that more time should be dedicated to robotic surgery training (52.63%), with simulation training prior to console use (84.21%). About two-thirds of the respondents (63.16%) believe that a formal robotic surgery curriculum should be established as a part of general surgery residency, with more than half believing that exposure should occur in postgraduate year one (55%). A formal robotics curriculum with simulation training and early surgical exposure for general surgery residents should be given consideration in surgical residency training.

  8. Generative Programming for Functional Safety in Mobile Robots

    DEFF Research Database (Denmark)

    Adam, Marian Sorin

    2018-01-01

    execution environment. The effective usage of DeRoS to specify safetyrelated properties of mobile robots and generation of a runtime verification infrastructure for the different controllers has been experimentally demonstrated on ROS-based systems, safety PLCs and microcontrollers. The key issue of making......Safety is a major challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. Safety certification is desired for commercial robots, but the existing approaches for addressing safety do not provide a clearly defined and isolated programmatic safety...... layer, with an easily understandable specification for facilitating safety certification. Moreover, mobile robots are advanced systems often implemented using a distributed architecture where software components are deployed on heterogeneous hardware modules. Many components are key to the overall...

  9. Starting a robotic program in general thoracic surgery: why, how, and lessons learned.

    Science.gov (United States)

    Cerfolio, Robert J; Bryant, Ayesha S; Minnich, Douglas J

    2011-06-01

    We report our experience in starting a robotic program in thoracic surgery. We retrospectively reviewed our experience in starting a robotic program in general thoracic surgery on a consecutive series of patients. Between February 2009 and September 2010, 150 patients underwent robotic operations. Types of procedures were lobectomy in 62, thymectomy in 30, and benign esophageal procedures in 6. No thymectomy or esophageal procedures required conversion. One conversion was needed for suspected bleeding for a mediastinal mass. Twelve patients were converted for lobectomy (none for bleeding, 1 in the last 24). Median operative time for robotic thymectomy was 119 minutes, and median length of stay was 1 day. The median time for robotic lobectomy was 185 minutes, and median length of stay was 2 days. There were no operative deaths. Morbidity occurred in 23 patients (15%). All patients with cancer had R0 resections and resection of all visible mediastinal and hilar lymph nodes. Robotic surgery is safe and oncologically sound. It requires training of the entire operating room team. The learning curve is steep, involving port placement, availability of the proper instrumentation, use of the correct robotic arms, and proper patient positioning. The robot provides an ideal surgical approach for thymectomy and other mediastinal tumors. Its advantage over thoracoscopy for pulmonary resection is unproven; however, we believe complete thoracic lymph node dissection and teaching is easier. Importantly, defined credentialing for surgeons and cost analysis studies are needed. Copyright © 2011 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

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

    Science.gov (United States)

    2017-02-19

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

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

    Directory of Open Access Journals (Sweden)

    Axel Waggershauser

    2008-11-01

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

  12. A Concurrent Programming Language for Arduino and Educational Robotics

    OpenAIRE

    Morán, Ricardo; Teragni, Matías; Zabala, Gonzalo

    2017-01-01

    Arduino is currently one of the most popular platforms for educational robotics due to its low cost and large amount of available resources online. The Arduino software library provides an abstraction layer over the hardware details, making it possible for novices to build interesting projects. However, its lack of support for concurrency makes some educational robotics projects difficult. In this paper, we explore different approaches to solve this problem and we propose the implementation o...

  13. Feasibility and acceptance of a robotic surgery ergonomic training program.

    Science.gov (United States)

    Franasiak, Jason; Craven, Renatta; Mosaly, Prithima; Gehrig, Paola A

    2014-01-01

    Assessment of ergonomic strain during robotic surgery indicates there is a need for intervention. However, limited data exist detailing the feasibility and acceptance of ergonomic training (ET) for robotic surgeons. This prospective, observational pilot study evaluates the implementation of an evidence-based ET module. A two-part survey was conducted. The first survey assessed robotic strain using the Nordic Musculoskeletal Questionnaire (NMQ). Participants were given the option to participate in either an online or an in-person ET session. The ET was derived from Occupational Safety and Health Administration guidelines and developed by a human factors engineer experienced with health care ergonomics. After ET, a follow-up survey including the NMQ and an assessment of the ET were completed. The survey was sent to 67 robotic surgeons. Forty-two (62.7%) responded, including 18 residents, 8 fellows, and 16 attending physicians. Forty-five percent experienced strain resulting from performing robotic surgery and 26.3% reported persistent strain. Only 16.6% of surgeons reported prior ET in robotic surgery. Thirty-five (78%) surgeons elected to have in-person ET, which was successfully arranged for 32 surgeons (91.4%). Thirty-seven surgeons (88.1%) completed the follow-up survey. All surgeons participating in the in-person ET found it helpful and felt formal ET should be standard, 88% changed their practice as a result of the training, and 74% of those reporting strain noticed a decrease after their ET. Thus, at a high-volume robotics center, evidence-based ET was easily implemented, well-received, changed some surgeons' practice, and decreased self-reported strain related to robotic surgery.

  14. A multifunction editor for programming control sequences for a robot based radiopharmaceutical synthesis system

    International Nuclear Information System (INIS)

    Appelquist, G.; Bohm, C.

    1990-01-01

    A Multifunction Editor is a development tool for building control sequences for a robotized production system for positron emitting radiopharmaceuticals. This system consists of SCARA robot and a PC-AT personal computer as a controller together with general and synthesis specific chemistry equipment. The general equipment, which is common for many synthesis, is fixed to the wall of the hotcell, while the specific equipment, dedicated to the given synthesis, is located on a removable tray. The program recognizes commands to move the robot, to control valves and to control the computer screen. From within the editor it is possible to run the control sequence forward or backward to test it and to use the single step feature to debug. The editor commands include insert, replace and delete of commands in the sequence. When programming or editing robot movements the robot may be controlled by the mouse, from the keyboard or from a remote control box. The robot control sequence consists of a succession of stored robot positions. The screen control is used to display dynamic flowchart diagrams. This is achieved by displaying a modified picture on the screen whenever the system state has been changed significantly

  15. Outcomes and cost comparisons after introducing a robotics program for endometrial cancer surgery.

    Science.gov (United States)

    Lau, Susie; Vaknin, Zvi; Ramana-Kumar, Agnihotram V; Halliday, Darron; Franco, Eduardo L; Gotlieb, Walter H

    2012-04-01

    To evaluate the effect of introducing a robotic program on cost and patient outcome. This was a prospective evaluation of clinical outcome and cost after introducing a robotics program for the treatment of endometrial cancer and a retrospective comparison to the entire historical cohort. Consecutive patients with endometrial cancer who underwent robotic surgery (n=143) were compared with all consecutive patients who underwent surgery (n=160) before robotics. The rate of minimally invasive surgery increased from 17% performed by laparoscopy to 98% performed by robotics in 2 years. The patient characteristics were comparable in both eras, except for a higher body mass index in the robotics era (median 29.8 compared with 27.6; Probotics had longer operating times (233 compared with 206 minutes), but fewer adverse events (13% compared with 42%; Probotics compared with the historical group (Can$7,644 compared with Can$10,368 [Canadian dollars]; Psurgery, the short-term recurrence rate appeared lower in the robotics group compared with the historic cohort (11 recurrences compared with 19 recurrences; Probotics for endometrial cancer surgery increased the proportion of patients benefitting from minimally invasive surgery, improved short-term outcomes, and resulted in lower hospital costs. II.

  16. ANALISIS GERAK ROBOT LINE TRACER DENGAN PROGRAM ARTIFICIAL INTELLEGENCE MENGGUNAKAN MICROCONTROLLER AT89S51

    Directory of Open Access Journals (Sweden)

    I Wayan Widhiada

    2012-11-01

    Full Text Available The research discussed about the work system of The Line Tracer Robot movement analysis, with using the AI program and assembler programming language. The tools that used are microcontroller type AT89S51, Meitan ASM 2005 Standard Edition version 1.00 as development tools and Meitan 2005 as the hardware tools modul. From the result of research, it can be known that The Line Tracer Robot with AI program is able to show differences, among the white as a based colour and black as a line colour. The AI program is able to accelerate/coordinate the system of work, between the censor and the parts of driver motor combinations. The robot that did not use AI program can not run well, and the wheel just able to rotate in one direction.

  17. Verification of a Program for the Control of a Robotic Workcell with the Use of AR

    Directory of Open Access Journals (Sweden)

    Jozef Novak-Marcincin

    2012-08-01

    Full Text Available This paper contributes in the form of a theoretical discussion and also, by the presentation of a practical example, brings information about the utilization possibilities of elements of augmented reality for the creation of programs for the control of a robotic workplace and for their simulated verification. In the beginning it provides an overview of the current state in the area of robotic systems with the use of unreal objects and describes existing and assumed attitudes. The next part describes an experimental robotic workplace. Then it clarifies the realization of a new way of verification of the program for robotic workplace control and provides information about the possibilities for further development of created functioning concepts.

  18. A model technology transfer program for independent operators

    Energy Technology Data Exchange (ETDEWEB)

    Schoeling, L.G.

    1996-08-01

    In August 1992, the Energy Research Center (ERC) at the University of Kansas was awarded a contract by the US Department of Energy (DOE) to develop a technology transfer regional model. This report describes the development and testing of the Kansas Technology Transfer Model (KTTM) which is to be utilized as a regional model for the development of other technology transfer programs for independent operators throughout oil-producing regions in the US. It describes the linkage of the regional model with a proposed national technology transfer plan, an evaluation technique for improving and assessing the model, and the methodology which makes it adaptable on a regional basis. The report also describes management concepts helpful in managing a technology transfer program.

  19. The Effect of a Classroom-Based Intensive Robotics and Programming Workshop on Sequencing Ability in Early Childhood

    Science.gov (United States)

    Kazakoff, Elizabeth R.; Sullivan, Amanda; Bers, Marina U.

    2013-01-01

    This paper examines the impact of programming robots on sequencing ability during a 1-week intensive robotics workshop at an early childhood STEM magnet school in the Harlem area of New York City. Children participated in computer programming activities using a developmentally appropriate tangible programming language CHERP, specifically designed…

  20. ANALISIS GERAK ROBOT LINE TRACER DENGAN PROGRAM ARTIFICIAL INTELLEGENCE MENGGUNAKAN MICROCONTROLLER AT89S51

    OpenAIRE

    I Wayan Widhiada

    2012-01-01

    The research discussed about the work system of The Line Tracer Robot movement analysis, with using the AI program and assembler programming language. The tools that used are microcontroller type AT89S51, Meitan ASM 2005 Standard Edition version 1.00 as development tools and Meitan 2005 as the hardware tools modul. From the result of research, it can be known that The Line Tracer Robot with AI program is able to show differences, among the white as a based colour and black as a line colour. T...

  1. DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform

    Directory of Open Access Journals (Sweden)

    Roni Permana Saputra

    2012-03-01

    Full Text Available This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11. The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform. 

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

    NARCIS (Netherlands)

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

    2014-01-01

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

  3. Adapting a robotics program to enhance participation and interest in STEM among children with disabilities: a pilot study.

    Science.gov (United States)

    Lindsay, Sally; Hounsell, Kara Grace

    2017-10-01

    Youth with disabilities are under-represented in science, technology, engineering, and math (STEM) in school and in the workforce. One encouraging approach to engage youth's interest in STEM is through robotics; however, such programs are mostly for typically developing youth. The purpose of this study was to understand the development and implementation of an adapted robotics program for children and youth with disabilities and their experiences within it. Our mixed methods pilot study (pre- and post-workshop surveys, observations, and interviews) involved 41 participants including: 18 youth (aged 6-13), 12 parents and 11 key informants. The robotics program involved 6, two-hour workshops held at a paediatric hospital. Our findings showed that several adaptations made to the robotics program helped to enhance the participation of children with disabilities. Adaptations addressed the educational/curriculum, cognitive and learning, physical and social needs of the children. In regards to experiences within the adapted hospital program, our findings highlight that children enjoyed the program and learned about computer programming and building robots. Clinicians and educators should consider engaging youth with disabilities in robotics to enhance learning and interest in STEM. Implications for Rehabilitation Clinicians and educators should consider adapting curriculum content and mode of delivery of LEGO ® robotics programs to include youth with disabilities. Appropriate staffing including clinicians and educators who are knowledgeable about youth with disabilities and LEGO ® robotics are needed. Clinicians should consider engaging youth with disabilities in LEGO ® to enhance learning and interest in STEM.

  4. "I Want My Robot to Look for Food": Comparing Kindergartner's Programming Comprehension Using Tangible, Graphic, and Hybrid User Interfaces

    Science.gov (United States)

    Strawhacker, Amanda; Bers, Marina U.

    2015-01-01

    In recent years, educational robotics has become an increasingly popular research area. However, limited studies have focused on differentiated learning outcomes based on type of programming interface. This study aims to explore how successfully young children master foundational programming concepts based on the robotics user interface (tangible,…

  5. Robotics Technology Development Program Cross Cutting and Advanced Technology

    International Nuclear Information System (INIS)

    Harrigan, R.W.; Horschel, D.S.

    1994-01-01

    Need-based cross cutting technology is being developed which is broadly applicable to the clean up of hazardous and radioactive waste within the US Department of Energy's complex. Highly modular, reusable technologies which plug into integrated system architectures to meet specific robotic needs result from this research. In addition, advanced technologies which significantly extend current capabilities such as automated planning and sensor-based control in unstructured environments for remote system operation are also being developed and rapidly integrated into operating systems

  6. Overview of the NASA automation and robotics research program

    Science.gov (United States)

    Holcomb, Lee; Larsen, Ron

    1985-01-01

    NASA studies over the last eight years have identified five opportunities for the application of automation and robotics technology: (1) satellite servicing; (2) system monitoring, control, sequencing and diagnosis; (3) space manufacturing; (4) space structure assembly; and (5) planetary rovers. The development of these opportunities entails two technology R&D thrusts: telerobotics and system autonomy; both encompass such concerns as operator interface, task planning and reasoning, control execution, sensing, and systems integration.

  7. Maze solving algorithm and its programs using Z-80 assembler language for a robot

    Energy Technology Data Exchange (ETDEWEB)

    Takeno, J; Mukaidono, M

    1982-01-01

    In the first part the formation of a maze problem is introduced and the outline of this algorithm to solve a maze is explained in the second part. The third part describes the detail of this program, and the final part shows the program which has been developed using Z-80 assembler language. This program has portability for other robots using Z-80 microprocessors. 7 references.

  8. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

  9. From Intuitive Programming of Robotic Systems to Business Sustainability of Manufacturing SMEs

    Directory of Open Access Journals (Sweden)

    Bogdan Mocan

    2016-02-01

    Full Text Available Economic growth and sustainable development are issues which are becoming more and more important for nowadays companies. Sustainable development strives for moderate and responsible use within the economic and production activity the limited resources of our planet. Eco-innovations, eco-efficiency and corporate social responsibility practices define much of the current industrial sustainability agenda. While important, they are insufficient in themselves to deliver the holistic changes necessary to achieve long-term social and environmental sustainability. This paper proposed a framework for designing multimodal human-robot interfaces and a demonstrator that facilitate a sustainable use of robotic systems with positive effects on SMEs business sustainability. The proposed approach is intended to bring important contributions to the development of human robot interaction in order to facilitate intuitive programming and to enable easily adapting to changes in robot tasks and applications without the need of using skilled personnel. Our research emphasize the idea that new technologies in product and process create and enable new business strategies; and we demonstrate that changing the paradigm in programming industrial robotic systems it is possible by a “business case for sustainability” to have a sustainable development of the business, in special in case of SMEs.

  10. Enhancing Practice and Achievement in Introductory Programming with a Robot Olympics

    Science.gov (United States)

    Scott, Michael James; Counsell, Steve; Lauria, Stanislao; Swift, Stephen; Tucker, Allan; Shepperd, Martin; Ghinea, Gheorghita

    2015-01-01

    Computer programming is notoriously difficult to learn. To this end, regular practice in the form of application and reflection is an important enabler of student learning. However, educators often find that first-year B.Sc. students do not readily engage in such activities. Providing each student with a programmable robot, however, could be used…

  11. How to Build a Robot: Collaborating to Strengthen STEM Programming in a Citywide System

    Science.gov (United States)

    Groome, Meghan; Rodríguez, Linda M.

    2014-01-01

    You have to stick with it. It takes time, patience, trial and error, failure, and persistence. It is almost never perfect or finished, but, with a good team, you can build something that works. These are the lessons youth learn when building a robot, as many do in the out-of-school time (OST) programs supported by the initiative described in this…

  12. UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane III

    2006-02-15

    The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  13. How to successfully implement a robotic pediatric surgery program: lessons learned after 96 procedures.

    Science.gov (United States)

    de Lambert, Guénolée; Fourcade, Laurent; Centi, Joachim; Fredon, Fabien; Braik, Karim; Szwarc, Caroline; Longis, Bernard; Lardy, Hubert

    2013-06-01

    Both our teams were the first to implement pediatric robotic surgery in France. The aim of this study was to define the key points we brought to light so other pediatric teams that want to set up a robotic surgery program will benefit. We reviewed the medical records of all children who underwent robotic surgery between Nov 2007 and June 2011 in both departments, including patient data, installation and changes, operative time, hospital stay, intraoperative complications, and postoperative outcome. The department's internal organization, the organization within the hospital complex, and cost were evaluated. A total of 96 procedures were evaluated. There were 38 girls and 56 boys with average age at surgery of 7.6 years (range, 0.7-18 years) and average weight of 26 kg (range, 6-77 kg). Thirty-six patients had general surgery, 57 patients urologic surgery, and 1 thoracic surgery. Overall average operative time was 189 min (range, 70-550 min), and average hospital stay was 6.4 days (range, 2-24 days). The procedures of 3 patients were converted. Median follow-up was 18 months (range, 0.5-43 months). Robotic surgical procedure had an extra cost of 1934 compared to conventional open surgery. Our experience was similar to the findings described in the literature for feasibility, security, and patient outcomes; we had an overall operative success rate of 97 %. Three main actors are concerned in the implementation of a robotic pediatric surgery program: surgeons and anesthetists, nurses, and the administration. The surgeon is at the starting point with motivation for minimally invasive surgery without laparoscopic constraints. We found that it was possible to implement a long-lasting robotic surgery program with comparable quality of care.

  14. 75 FR 13521 - Centers for Independent Living Program-Training and Technical Assistance

    Science.gov (United States)

    2010-03-22

    ... DEPARTMENT OF EDUCATION Centers for Independent Living Program--Training and Technical Assistance... for Independent Living Program--Training and Technical Assistance (CIL-TA program). The Assistant... appropriated for the CIL program to provide training and technical assistance to CILs, agencies eligible to...

  15. Constrained Quadratic Programming and Neurodynamics-Based Solver for Energy Optimization of Biped Walking Robots

    Directory of Open Access Journals (Sweden)

    Liyang Wang

    2017-01-01

    Full Text Available The application of biped robots is always trapped by their high energy consumption. This paper makes a contribution by optimizing the joint torques to decrease the energy consumption without changing the biped gaits. In this work, a constrained quadratic programming (QP problem for energy optimization is formulated. A neurodynamics-based solver is presented to solve the QP problem. Differing from the existing literatures, the proposed neurodynamics-based energy optimization (NEO strategy minimizes the energy consumption and guarantees the following three important constraints simultaneously: (i the force-moment equilibrium equation of biped robots, (ii frictions applied by each leg on the ground to hold the biped robot without slippage and tipping over, and (iii physical limits of the motors. Simulations demonstrate that the proposed strategy is effective for energy-efficient biped walking.

  16. Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

    OpenAIRE

    Marcin Szuster; Zenon Hendzel

    2014-01-01

    Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal...

  17. Tema 2: Open Roberta - A Web Based Approach to Visually Program Real Educational Robots

    Directory of Open Access Journals (Sweden)

    Markus Ketterl

    2016-01-01

    Full Text Available The aim of the Open Roberta initiative is to support visual online programming of educational robots. The goal is to overcome technical and professional barriers for teachers and students alike at home or in the classrooms. The free to use cloud-based Open Roberta Lab consists of graphical programming tools for the browser that enable beginners to seamlessly start coding without long-winded system installations, setups or additional technology getting in the way. Open Roberta is a project within the Fraunhofer initiative ”Roberta - Learning with Robots”. A further aspect of the paper is the introduction of the NEPOR meta programming language as a core concept for coupling real educational robot systems.

  18. A Mobile Application That Allows Children in the Early Childhood to Program Robots

    Directory of Open Access Journals (Sweden)

    Kryscia Ramírez-Benavides

    2016-01-01

    Full Text Available Children born in the Information Age are digital natives; this characteristic should be exploited to improve the learning process through the use of technology. This paper addresses the design, construction, and evaluation process of TITIBOTS, a programming assistance tool for mobile devices that allows children in the early childhood to create programs and execute them using robots. We present the results of using TITIBOTS in different scenarios with children between 4 and 6 years old. The insight obtained in the development and evaluation of the tool could be useful when creating applications for children in the early childhood. The results were promising; children liked the application and were willing to continue using it to program robots to solve specific tasks, developing the skills of the 21st century.

  19. Tema 2: Open Roberta - A Web Based Approach to Visually Program Real Educational Robots

    Directory of Open Access Journals (Sweden)

    Markus Ketterl

    2015-12-01

    Full Text Available The aim of the Open Roberta initiative is to support visual online programming of educational robots. The goal is to overcome technical and professional barriers for teachers and students alike at home or in the classrooms. The free to use cloud-based Open Roberta Lab consists of graphical programming tools for the browser that enable beginners to seamlessly start coding without long-winded system installations, setups or additional technology getting in the way. Open Roberta is a project within the Fraunhofer initiative ”Roberta - Learning with Robots”. A further aspect of the paper is the introduction of the NEPOR meta programming language as a core concept for coupling real educational robot systems.

  20. Systematic Literature Review Protocol: Teaching Novices Programming Using Robots

    Science.gov (United States)

    Major, Louis

    2010-01-01

    Teaching computer programming to novices is a difficult task due to the complex nature of the subject, as negative stereotypes are associated with programming and because introductory programming courses often fail to encourage student understanding. This Protocol outlines the plan that is to be followed in order to investigate the effectiveness…

  1. Children's scientific thinking skills for programming a robotic car

    NARCIS (Netherlands)

    Sande, E. van de; Kleemans, M.A.J.; Verhoeven, L.T.W.; Segers, P.C.J.

    2017-01-01

    Although the need and popularity for programming experiences in young children rapidly increase, it is by no means clear how children perform while programming. Moreover, very little empirical studies to date have focused on the widespread claim that programming is a rich learning environment to

  2. Implementing a robotics curriculum at an academic general surgery training program: our initial experience.

    Science.gov (United States)

    Winder, Joshua S; Juza, Ryan M; Sasaki, Jennifer; Rogers, Ann M; Pauli, Eric M; Haluck, Randy S; Estes, Stephanie J; Lyn-Sue, Jerome R

    2016-09-01

    The robotic surgical platform is being utilized by a growing number of hospitals across the country, including academic medical centers. Training programs are tasked with teaching their residents how to utilize this technology. To this end, we have developed and implemented a robotic surgical curriculum, and share our initial experience here. Our curriculum was implemented for all General Surgical residents for the academic year 2014-2015. The curriculum consisted of online training, readings, bedside training, console simulation, participating in ten cases as bedside first assistant, and operating at the console. 20 surgical residents were included. Residents were provided the curriculum and notified the department upon completion. Bedside assistance and operative console training were completed in the operating room through a mix of biliary, foregut, and colorectal cases. During the fiscal years of 2014 and 2015, there were 164 and 263 robot-assisted surgeries performed within the General Surgery Department, respectively. All 20 residents completed the online and bedside instruction portions of the curriculum. Of the 20 residents trained, 13/20 (65 %) sat at the Surgeon console during at least one case. Utilizing this curriculum, we have trained and incorporated residents into robot-assisted cases in an efficient manner. A successful curriculum must be based on didactic learning, reading, bedside training, simulation, and training in the operating room. Each program must examine their caseload and resident class to ensure proper exposure to this platform.

  3. Independent Panel Evaluation of Dry Sludge PISA Program

    International Nuclear Information System (INIS)

    Fondeur, F.F.

    1999-01-01

    Dr. Kirk Yeager and Mr. Marvin Banks from Energetic Material Research and Technology Center (EMRTC) evaluated the Savannah River Site (SRS) efforts in the Dry Sludge program. They evaluated four program areas: energetic material formation, stability, initiation, and propagation. The panel evaluation included a site visit (July 13, 1999 and July 14, 1999) as well as a review of various reports and presentations by researchers involved in the program

  4. Independent Panel Evaluation of Dry Sludge PISA Program

    Energy Technology Data Exchange (ETDEWEB)

    Fondeur, F.F.

    1999-10-20

    Dr. Kirk Yeager and Mr. Marvin Banks from Energetic Material Research and Technology Center (EMRTC) evaluated the Savannah River Site (SRS) efforts in the Dry Sludge program. They evaluated four program areas: energetic material formation, stability, initiation, and propagation. The panel evaluation included a site visit (July 13, 1999 and July 14, 1999) as well as a review of various reports and presentations by researchers involved in the program.

  5. Distributed management system of a scanning robot programmed real time in APL language

    International Nuclear Information System (INIS)

    Liabot, M.-J.

    1980-08-01

    The aim of this work is to propose an original solution in order to implement the control operating system of a robot designed to travel between the main tank and the safety tank of the SUPERPHENIX reactor for scanning up the welding by ultrasound measurements. The system consists of: - a MITRA mini-computer programmed in APL, that manages the driving unit and defines the scanning strategy (visual unit, cheking board...). - a microprocessor that realizes the connection between the MITRA and the robot on wich the motor commands and the safety fonctions are placed. Such a solution allows to limit input output volume in the MITRA and gives the possibility to program the system in real time in APL language [fr

  6. Development of programming techniques for behaviors of nuclear robot in real environment

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Ogasawara, Tsukasa; Hirukawa, Hirohisa; Kitagaki, Kosei; Onda, Hiromu; Nakamura, Akira

    1999-01-01

    This study aims at establishment of synthetic autonomous technique on nuclear robot for a basic technique to realize remote control and automation of works in a nuclear plant by means of development on action programming function under actual environment. Before 1997 fiscal year, development of manipulation description system due to contact state transition series, development of mechanical assembly work instruction system using contact actuating system, development of new manipulator system with excellent controllability, development of quasi contact point monitoring method, and development of environmental model construction method using range finder and instruction tree, had been conducted. In 1997 fiscal year, probability of nuclear robot, on synthetic autonomous technique was shown by synthesis of many results on action programming planning function into a prototype system under an actual environment obtained by those developments. (G.K.)

  7. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  8. Industrial Robot Programming and UPnP Services Orchestration for the Automation of Factories

    Directory of Open Access Journals (Sweden)

    A. Valera

    2012-10-01

    Full Text Available The integration of equipment and other devices built into industrial robot cells with modern Ethernet interface technologies and low-cost mass produced devices (such as vision systems, laser scanners, force torque-sensors, PLCs and PDAs etc. enables integrators to offer more powerful and smarter solutions. Nevertheless, the programming of all these devices efficiently requires very specific knowledge about them, such as their hardware architectures and specific programming languages as well as details about the system's low level communication protocols. To address these issues, this paper describes and analyses the Plug-and-Play architecture. This is one of the most interesting service-oriented architectures (SOAs available, which exhibits characteristics that are well adapted to industrial robotics cells. To validate their programming features and applicability, a test bed was specially designed. This provides a new graphical service orchestration which was implemented using Workflow Foundation 4 of .NET. The obtained results allowed us to verify that the use of integration schemes based on SOAs reduces the system integration time and is better adapted to industrial robotic cell system integrators.

  9. Independent Evaluators of Federal Programs: Approaches, Devices, and Examples

    Science.gov (United States)

    2010-08-16

    rehabilitation of the disorder; the status of studies and clinical trials involving innovative treatments; a description of each treatment program and a...Transit Administration ( FTA ), a part of the Department of Transportation (DOT), oversees the safety and security of rail transit agencies which...an oversight body for each jurisdiction. The program is designed, according to a GAO summary, “as one in which FTA , other federal agencies, states

  10. A Case Study on a Capsule Robot in the Gastrointestinal Tract to Teach Robot Programming and Navigation

    Science.gov (United States)

    Guo, Yi; Zhang, Shubo; Ritter, Arthur; Man, Hong

    2014-01-01

    Despite the increasing importance of robotics, there is a significant challenge involved in teaching this to undergraduate students in biomedical engineering (BME) and other related disciplines in which robotics techniques could be readily applied. This paper addresses this challenge through the development and pilot testing of a bio-microrobotics…

  11. Visualization of independence and dependence for program concurrency

    International Nuclear Information System (INIS)

    Belady, L.A.; Hosokawa, K.

    1984-01-01

    In order to fully utilize the CRT device's dynamic and two dimensional capabilities, a new way of thinking about programs and an associated notation are proposed. The scheme permits the explicit indication of the program's potential for parallel execution. The image created by the programmer on the screen provides the compiler with sequencing and concurrency information, while at the same time serves as a visual feedback to the programmer. So far the way of programming in two dimensions is just an idea and has not yet been tried either on a real life problem or by employing real life programmers. The authors are attempting a quick implementation in the form of a front end to an existing language

  12. Leisure robotics: an African child's gateway to programming

    CSIR Research Space (South Africa)

    Smith, Andrew C

    2009-11-01

    Full Text Available This paper describes an alternative programming system which can be constructed with minimal mechanical and electronic knowledge in an environment such as FabLab. This sytem, dubbed GameBlocks, makes use of tangible interfaces to control...

  13. 48 CFR 45.303 - Use of Government property on independent research and development programs.

    Science.gov (United States)

    2010-10-01

    ... development programs. The contracting officer may authorize a contractor to use the property on an independent... 48 Federal Acquisition Regulations System 1 2010-10-01 2010-10-01 false Use of Government property on independent research and development programs. 45.303 Section 45.303 Federal Acquisition...

  14. How robotics programs influence young women's career choices : a grounded theory model

    Science.gov (United States)

    Craig, Cecilia Dosh-Bluhm

    The fields of engineering, computer science, and physics have a paucity of women despite decades of intervention by universities and organizations. Women's graduation rates in these fields continue to stagnate, posing a critical problem for society. This qualitative grounded theory (GT) study sought to understand how robotics programs influenced young women's career decisions and the program's effect on engineering, physics, and computer science career interests. To test this, a study was mounted to explore how the FIRST (For Inspiration and Recognition of Science and Technology) Robotics Competition (FRC) program influenced young women's college major and career choices. Career theories suggested that experiential programs coupled with supportive relationships strongly influence career decisions, especially for science, technology, engineering, and mathematics careers. The study explored how and when young women made career decisions and how the experiential program and! its mentors and role models influenced career choice. Online focus groups and interviews (online and face-to-face) with 10 female FRC alumnae and GT processes (inductive analysis, open coding, categorizations using mind maps and content clouds) were used to generate a general systems theory style model of the career decision process for these young women. The study identified gender stereotypes and other career obstacles for women. The study's conclusions include recommendations to foster connections to real-world challenges, to develop training programs for mentors, and to nurture social cohesion, a mostly untapped area. Implementing these recommendations could help grow a critical mass of women in engineering, physics, and computer science careers, a social change worth pursuing.

  15. Independent Teacher Education Programs: Apocryphal Claims, Illusory Evidence

    Science.gov (United States)

    Zeichner, Ken

    2016-01-01

    Teacher education provided in U.S. colleges and universities has been routinely criticized since its inception in the early nineteenth century. These programs are uneven in quality and can be improved. Advocacy groups and self-proclaimed social entrepreneurs are working aggressively to deregulate the preparation of teachers and to expand…

  16. Motivating programming students by Problem Based Learning and LEGO robots

    DEFF Research Database (Denmark)

    Lykke, Marianne; Coto Chotto, Mayela; Mora, Sonia

    2014-01-01

    . For this reason the school is focusing on different teaching methods to help their students master these skills. This paper introduces an experimental, controlled comparison study of three learning designs, involving a problem based learning (PBL) approach in connection with the use of LEGO Mindstorms to improve...... students programming skills and motivation for learning in an introductory programming course. The paper reports the results related with one of the components of the study - the experiential qualities of the three learning designs. The data were collected through a questionnaire survey with 229 students...... from three groups exposed to different learning designs and through six qualitative walk-alongs collecting data from these groups by informal interviews and observations. Findings from the three studies were discussed in three focus group interviews with 10 students from the three experimental groups....

  17. Case Study Analyses of the Impact of Flipped Learning in Teaching Programming Robots

    Directory of Open Access Journals (Sweden)

    Majlinda Fetaji

    2016-11-01

    Full Text Available The focus of the research study was to investigate and find out the benefits of the flipped learning pedagogy on the student learning in teaching programming Robotics classes. Also, the assessment of whether it has any advantages over the traditional teaching methods in computer sciences. Assessment of learners on their attitudes, motivation, and effectiveness when using flipped classroom compared with traditional classroom has been realized. The research questions investigated are: “What kind of problems can we face when we have robotics classes in the traditional methods?”, “If we applied flipped learning method, can we solve these problems?”. In order to analyze all this, a case study experiment was realized and insights as well as recommendations are presented.

  18. Decentralized real time control system of inspection robot programmed in APL

    International Nuclear Information System (INIS)

    Dupeyrat, Benoit; Liabot, M.J.; Vertut, Jean

    1979-01-01

    The running of the SUPER PHENIX vessel inspection robot meets with special practical necessities: the distance between the robot and the computer responsible for its management is important since the piloting station is outside the safety enclosure. For this reason the control and alarm functions have been separated from those of strategy and readjustment. The system described here is thus made up of: a mini-computer to manage the piloting station and a microprocessor as close as possible to the machine for control and safety duties. This arrangement has the advantage of limiting the input/output volume of the mini-computer which can thus be programmed in APL, a language particularly efficient and well suited to the problem [fr

  19. US Department of Energy Nuclear Energy University program in robotics for advanced reactors: Program plan, FY 1987-1991

    International Nuclear Information System (INIS)

    Mann, R.C.; Gonzalez, R.C.; Tulenko, J.S.; Tesar, D.; Wehe, D.K.

    1987-07-01

    The US Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of an advanced robotic system capable of performing tasks that are hazardous to humans, that generate significant occupational radiation exposure, and/or whose execution times can be reduced if performed by an automated system. The goal is to develop a generation of advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. This goal will be achieved through a team effort among the Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory, and their industrial partners, Combustion Engineering, Martin Marietta Baltimore Aerospace, Odetics, Remotec, and Telerobotics International. Each of the universities and ORNL have ongoing activities and corresponding facilities in areas of R and D related to robotics. This program is designed to take full advantage of these existing resources at the participating institutions

  20. Intelligent robotics can boost America's economic growth

    Science.gov (United States)

    Erickson, Jon D.

    1994-01-01

    A case is made for strategic investment in intelligent robotics as a part of the solution to the problem of improved global competitiveness for U.S. manufacturing, a critical industrial sector. Similar cases are made for strategic investments in intelligent robotics for field applications, construction, and service industries such as health care. The scope of the country's problems and needs is beyond the capability of the private sector alone, government alone, or academia alone to solve independently of the others. National cooperative programs in intelligent robotics are needed with the private sector supplying leadership direction and aerospace and non-aerospace industries conducting the development. Some necessary elements of such programs are outlined. The National Aeronautics and Space Administration (NASA) and the Lyndon B. Johnson Space Center (JSC) can be key players in such national cooperative programs in intelligent robotics for several reasons: (1) human space exploration missions require supervised intelligent robotics as enabling tools and, hence must develop supervised intelligent robotic systems; (2) intelligent robotic technology is being developed for space applications at JSC (but has a strong crosscutting or generic flavor) that is advancing the state of the art and is producing both skilled personnel and adaptable developmental infrastructure such as integrated testbeds; and (3) a NASA JSC Technology Investment Program in Robotics has been proposed based on commercial partnerships and collaborations for precompetitive, dual-use developments.

  1. Experiences in Developing an Experimental Robotics Course Program for Undergraduate Education

    Science.gov (United States)

    Jung, Seul

    2013-01-01

    An interdisciplinary undergraduate-level robotics course offers students the chance to integrate their engineering knowledge learned throughout their college years by building a robotic system. Robotics is thus a core course in system and control-related engineering education. This paper summarizes the experience of developing robotics courses…

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-11-01

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

  3. Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2014-01-01

    Full Text Available Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal. The structure of the supervisory term derives from the stability analysis realised using the Lyapunov stability theorem. The globalised dual heuristic dynamic programming algorithm consists of two structures: the actor and the critic, realised in a form of neural networks. The actor generates the suboptimal control law, while the critic evaluates the realised control strategy by approximation of value function from the Bellman’s equation. The presented discrete tracking control system works online, the neural networks’ weights adaptation process is realised in every iteration step, and the neural networks preliminary learning procedure is not required. The performance of the proposed control system was verified by a series of computer simulations and experiments realised using the wheeled mobile robot Pioneer 2-DX.

  4. Near-Optimal Tracking Control of Mobile Robots Via Receding-Horizon Dual Heuristic Programming.

    Science.gov (United States)

    Lian, Chuanqiang; Xu, Xin; Chen, Hong; He, Haibo

    2016-11-01

    Trajectory tracking control of wheeled mobile robots (WMRs) has been an important research topic in control theory and robotics. Although various tracking control methods with stability have been developed for WMRs, it is still difficult to design optimal or near-optimal tracking controller under uncertainties and disturbances. In this paper, a near-optimal tracking control method is presented for WMRs based on receding-horizon dual heuristic programming (RHDHP). In the proposed method, a backstepping kinematic controller is designed to generate desired velocity profiles and the receding horizon strategy is used to decompose the infinite-horizon optimal control problem into a series of finite-horizon optimal control problems. In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). The convergence property of the proposed method is analyzed and it is shown that the tracking control system based on RHDHP is asymptotically stable by using the Lyapunov approach. Simulation results on three tracking control problems demonstrate that the proposed method has improved control performance when compared with conventional model predictive control (MPC) and DHP. It is also illustrated that the proposed method has lower computational burden than conventional MPC, which is very beneficial for real-time tracking control.

  5. Dynamic modelling, identification and simulation of industrial robots – for off-line programming of robotised laser welding –

    NARCIS (Netherlands)

    Waiboer, R.R.

    2007-01-01

    Robotised laser welding is an innovative joining technique which is increasingly finding applications, especially in the automotive industry. In order to reduce the time needed to prepare and programthe laser welding robot, off-line programming systems are used. The off-line programming systems

  6. The Effectiveness of Simulated Robots for Supporting the Learning of Introductory Programming: A Multi-Case Case Study

    Science.gov (United States)

    Major, Louis; Kyriacou, Theocharis; Brereton, Pearl

    2014-01-01

    This work investigates the effectiveness of simulated robots as tools to support the learning of programming. After the completion of a systematic review and exploratory research, a multi-case case study was undertaken. A simulator, named Kebot, was developed and used to run four 10-hour programming workshops. Twenty-three student participants…

  7. Mindstorms robots and the application of cognitive load theory in introductory programming

    Science.gov (United States)

    Mason, Raina; Cooper, Graham

    2013-12-01

    This paper reports on a series of introductory programming workshops, initially targeting female high school students, which utilised Lego Mindstorms robots. Cognitive load theory (CLT) was applied to the instructional design of the workshops, and a controlled experiment was also conducted investigating aspects of the interface. Results indicated that a truncated interface led to better learning by novice programmers as measured by test performance by participants, as well as enhanced shifts in self-efficacy and lowered perception of difficulty. There was also a transfer effect to another programming environment (Alice). It is argued that the results indicate that for novice programmers, the mere presence on-screen of additional (redundant) entities acts as a form of tacit distraction, thus impeding learning. The utility of CLT to analyse, design and deliver aspects of computer programming environments and instructional materials is discussed.

  8. Girls, Boys, and Bots: Gender Differences in Young Children’s Performance on Robotics and Programming Tasks

    Directory of Open Access Journals (Sweden)

    Amanda Sullivan

    2016-08-01

    Full Text Available Prior work demonstrates the importance of introducing young children to programming and engineering content before gender stereotypes are fully developed and ingrained in later years. However, very little research on gender and early childhood technology interventions exist. This pilot study looks at N=45 children in kindergarten through second grade who completed an eight-week robotics and programming curriculum using the KIWI robotics kit. KIWI is a developmentally appropriate robotics construction set specifically designed for use with children ages 4 to 7 years old. Qualitative pre-interviews were administered to determine whether participating children had any gender-biased attitudes toward robotics and other engineering tools prior to using KIWI in their classrooms. Post-tests were administered upon completion of the curriculum to determine if any gender differences in achievement were present. Results showed that young children were beginning to form opinions about which technologies and tools would be better suited for boys and girls. While there were no significant differences between boys and girls on the robotics and simple programming tasks, boys performed significantly better than girls on the advanced programming tasks such as, using repeat loops with sensor parameters. Implications for the design of new technological tools and curriculum that are appealing to boys and girls are discussed.

  9. 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

  10. Robotized workplaces vs. economic impacts on power engineering

    International Nuclear Information System (INIS)

    Iring, P.; Tothova, M.; Bozek, P.

    2012-01-01

    Virtual technology is a unique tool for saving energy and environment. The cost for programming real workplace is substantially higher than the programming virtual workplace. The paper deals with the creation and programming of virtual Robotized workplace. In practice of technology workplaces with robots, the computer technology is used. The used technology should be independent on the platform it will be presented on as well as the newest standards in computer technologies should be used. (Authors)

  11. The CAD drawing as a source of data for robot programming purposes – a review

    Directory of Open Access Journals (Sweden)

    Foit Krzysztof

    2017-01-01

    Full Text Available Industrial robots are widely used in mass production, successfully replacing the workers during repetitive tasks. The lack of direct human participation in the production process involves the necessity of programming of the machines, which is mostly the time-consuming process. Most of the operations are well described in the process documentation, but some actions require the use of complicated paths, like for example welding, laser or water cutting, edge grinding, application of liquid sealants or films of paint etc. All of the mentioned activities need the precise movements of robot’s effector and this is - in many cases - connected with the necessity of entering of many points that approximate the path. One of the ways to solve this problem is the possibility of generating the complex path automatically, using the information from the technical documentation. This paper presents such approach that uses the CAD drawings as a data source. The available literature presents this problem mainly in the aspects of large software applications, but this paper was focused on presenting the problems of the proper analysis of the drawing and how to process the data to the form that can be used during robot programming.

  12. 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 ...

  13. 2010 Solar Program Peer Review Report: An Independent Evaluation of Program Activities for FY2009 and FY2010

    Energy Technology Data Exchange (ETDEWEB)

    DOE Solar Energy Technologies Program

    2010-12-01

    This document summarizes the recommendations and evaluations provided by an independent external panel of experts at the DOE Solar Energy Technologies Program's 2010 Program Review meeting, held on May 24?27, 2010, in Washington, D.C.

  14. Putting "The System" into a School Autonomy Reform: The Case of the Independent Public Schools Program

    Science.gov (United States)

    Gobby, Brad

    2016-01-01

    The Australian Federal and state governments have been introducing neoliberal reforms to the governance of their education systems for a number of decades. One of the most recent programs of reform is the Western Australian Independent Public Schools (IPS) initiative. Similar to decentralizing reforms around the world, the IPS program seeks…

  15. Study fidelity spatial contours of industrial robots

    Directory of Open Access Journals (Sweden)

    A. V. Ivanova

    2014-01-01

    Full Text Available The purpose of this paper to identify deviations fidelity spatial contours of industrial robots, determine the error pattern detected, and define the ways to solve the problem.The paper presents the research results of fidelity spatial contours done by Fanuc M- 710iC/50 industrial robot when moving along a predetermined path. The proposed method uses a QC20-W ballbar wireless system of Renishaw company, designed to diagnose the state of the measurement and playback linear and angular displacements of the CNC.The solutions to adapt the QC20-W ballbar system to the constructive peculiarities of industrial robots with five or more independently controlled axes are given. The stages of the preparation of diagnostic systems and software robot movements are described.According to study results of errors that arise while playing back the programmed motions of a fixed point of robot capture in three mutually perpendicular planes its practical accuracy has been defined when performing movements in a given region of the working area, thereby allowing us, eventually, to draw a conclusion on the possibility to use a robot in one technological process or another.The study has resulted in emerging the guidelines for the operation of industrial robots with five or more independently controlled axes. Using these guidelines enables us to increase the playback accuracy of the industrial robot to 0.01 mm.

  16. Preparation of a program for the independent verification of the brachytherapy planning systems calculations

    International Nuclear Information System (INIS)

    V Carmona, V.; Perez-Calatayud, J.; Lliso, F.; Richart Sancho, J.; Ballester, F.; Pujades-Claumarchirant, M.C.; Munoz, M.

    2010-01-01

    In this work a program is presented that independently checks for each patient the treatment planning system calculations in low dose rate, high dose rate and pulsed dose rate brachytherapy. The treatment planning system output text files are automatically loaded in this program in order to get the source coordinates, the desired calculation point coordinates and the dwell times when it is the case. The source strength and the reference dates are introduced by the user. The program allows implementing the recommendations about independent verification of the clinical brachytherapy dosimetry in a simple and accurate way, in few minutes. (Author).

  17. GyroBoy – a self-balancing robot programmed in JAVA with leJOS EV3

    DEFF Research Database (Denmark)

    Christensen, Bjørn Klint

    GyroBoy is a self-balancing robot created by LEGO as a demonstration of what you can build with the EV3 LEGO Mindstorms education kit. The kit includes building instructions as well as a control program for GyroBoy developed in LEGO´s so called block-programming language. In this article I will p...... will present a similar control program developed in Java using the leJOS EV3 class library.......GyroBoy is a self-balancing robot created by LEGO as a demonstration of what you can build with the EV3 LEGO Mindstorms education kit. The kit includes building instructions as well as a control program for GyroBoy developed in LEGO´s so called block-programming language. In this article I...

  18. A singular value decomposition linear programming (SVDLP) optimization technique for circular cone based robotic radiotherapy

    Science.gov (United States)

    Liang, Bin; Li, Yongbao; Wei, Ran; Guo, Bin; Xu, Xuang; Liu, Bo; Li, Jiafeng; Wu, Qiuwen; Zhou, Fugen

    2018-01-01

    With robot-controlled linac positioning, robotic radiotherapy systems such as CyberKnife significantly increase freedom of radiation beam placement, but also impose more challenges on treatment plan optimization. The resampling mechanism in the vendor-supplied treatment planning system (MultiPlan) cannot fully explore the increased beam direction search space. Besides, a sparse treatment plan (using fewer beams) is desired to improve treatment efficiency. This study proposes a singular value decomposition linear programming (SVDLP) optimization technique for circular collimator based robotic radiotherapy. The SVDLP approach initializes the input beams by simulating the process of covering the entire target volume with equivalent beam tapers. The requirements on dosimetry distribution are modeled as hard and soft constraints, and the sparsity of the treatment plan is achieved by compressive sensing. The proposed linear programming (LP) model optimizes beam weights by minimizing the deviation of soft constraints subject to hard constraints, with a constraint on the l 1 norm of the beam weight. A singular value decomposition (SVD) based acceleration technique was developed for the LP model. Based on the degeneracy of the influence matrix, the model is first compressed into lower dimension for optimization, and then back-projected to reconstruct the beam weight. After beam weight optimization, the number of beams is reduced by removing the beams with low weight, and optimizing the weights of the remaining beams using the same model. This beam reduction technique is further validated by a mixed integer programming (MIP) model. The SVDLP approach was tested on a lung case. The results demonstrate that the SVD acceleration technique speeds up the optimization by a factor of 4.8. Furthermore, the beam reduction achieves a similar plan quality to the globally optimal plan obtained by the MIP model, but is one to two orders of magnitude faster. Furthermore, the SVDLP

  19. A singular value decomposition linear programming (SVDLP) optimization technique for circular cone based robotic radiotherapy.

    Science.gov (United States)

    Liang, Bin; Li, Yongbao; Wei, Ran; Guo, Bin; Xu, Xuang; Liu, Bo; Li, Jiafeng; Wu, Qiuwen; Zhou, Fugen

    2018-01-05

    With robot-controlled linac positioning, robotic radiotherapy systems such as CyberKnife significantly increase freedom of radiation beam placement, but also impose more challenges on treatment plan optimization. The resampling mechanism in the vendor-supplied treatment planning system (MultiPlan) cannot fully explore the increased beam direction search space. Besides, a sparse treatment plan (using fewer beams) is desired to improve treatment efficiency. This study proposes a singular value decomposition linear programming (SVDLP) optimization technique for circular collimator based robotic radiotherapy. The SVDLP approach initializes the input beams by simulating the process of covering the entire target volume with equivalent beam tapers. The requirements on dosimetry distribution are modeled as hard and soft constraints, and the sparsity of the treatment plan is achieved by compressive sensing. The proposed linear programming (LP) model optimizes beam weights by minimizing the deviation of soft constraints subject to hard constraints, with a constraint on the l 1 norm of the beam weight. A singular value decomposition (SVD) based acceleration technique was developed for the LP model. Based on the degeneracy of the influence matrix, the model is first compressed into lower dimension for optimization, and then back-projected to reconstruct the beam weight. After beam weight optimization, the number of beams is reduced by removing the beams with low weight, and optimizing the weights of the remaining beams using the same model. This beam reduction technique is further validated by a mixed integer programming (MIP) model. The SVDLP approach was tested on a lung case. The results demonstrate that the SVD acceleration technique speeds up the optimization by a factor of 4.8. Furthermore, the beam reduction achieves a similar plan quality to the globally optimal plan obtained by the MIP model, but is one to two orders of magnitude faster. Furthermore, the SVDLP

  20. E-Learning System for Learning Virtual Circuit Making with a Microcontroller and Programming to Control a Robot

    Science.gov (United States)

    Takemura, Atsushi

    2015-01-01

    This paper proposes a novel e-Learning system for learning electronic circuit making and programming a microcontroller to control a robot. The proposed e-Learning system comprises a virtual-circuit-making function for the construction of circuits with a versatile, Arduino microcontroller and an educational system that can simulate behaviors of…

  1. Research on the inspection robot for cable tunnel

    Science.gov (United States)

    Xin, Shihao

    2017-03-01

    Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

  2. Technology evaluation report for the Buried Waste Robotics Program Subsurface Mapping Project

    International Nuclear Information System (INIS)

    Griebenow, B.E.

    1992-01-01

    This document presents a summary of the work performed in support of the Buried Waste Robotics Program Subsurface Mapping Project. The project objective was to demonstrate the feasibility of remotely characterizing buried waste sites. To fulfill this objective, a remotely-operated vehicle, equipped with several sensors, was deployed at the Idaho National Engineering Laboratory. Descriptions of the equipment and areas involved in the project are included in this report. Additionally, this document provides data that was obtained during characterization operations at the Cold Test Pit and the Subsurface Disposal Area, both at the Idaho National Engineering Laboratory's Radioactive Waste Management Complex, and at the Idaho Chemical Processing Plant. The knowledge gained from the experience, that can be applied to the next generation remote-characterization system, is extensive and is presented in this report

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

    Science.gov (United States)

    Erikson, Jon D.

    1994-01-01

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

  4. [Gait, balance and independence rehabilitation program in elderly adults in a primary care unit].

    Science.gov (United States)

    Espinosa-Cuervo, Gisela; López-Roldán, Verónica Miriam; Escobar-Rodríguez, David Alvaro; Conde-Embarcadero, Margarita; Trejo-León, Gerardo; González-Carmona, Beatriz

    2013-01-01

    to evaluate the effect of a supervised rehabilitation program to improve gait, balance and independence in elderly patients attending a family medicine unit. we conducted a quasi-experimental study over a period of four weeks in a group of 72 patients older than 65 years. a supervised program regarding the risk factors for falling, and balance, gait, coordination and oculovestibular system, the modalities to be done two or three times a week in the primary care unit or at home. An analysis of both tests was performed by "up and go," Tinetti scale and the Katz index. "intention to treat" and "by protocol." mean age was 72 ± 5 years, 67.8% were female and 81.9% of the patients completed the program. A significant clinical improvement with statistical level were evident for gait and balance (p = 0.001), independence showed only clinical improvement (p = 0.083). The efficacy for periodicity (two or three times/week) and performance place showed same clinical improvement and statistical level for gait and balance (p = 0.001 to 0.003) and independence showed only clinical improvement (p = 0.317 to 0.991). an integral rehabilitation program improved gait, balance and clinical independence significantly. The supervised program is applicable and can be reproduced at primary care unit or home for geriatric care and preventive actions.

  5. If We Build It, We Will Come: Impacts of a Summer Robotics Program on Regular Year Attendance in Middle School. Policy Brief

    Science.gov (United States)

    Mac Iver, Martha Abele; Mac Iver, Douglas J.

    2014-01-01

    Recognizing the importance of both keeping middle school students engaged and improving their math skills, Baltimore City Public Schools (City Schools) developed a summer school STEM program involving not only math and science instruction but also the experience of building a robot and competing with those robots in a city-wide tournament.…

  6. Experience with an Independent Study Program in Pathophysiology for Doctor of Pharmacy Students.

    Science.gov (United States)

    Nahata, Milap C.

    1986-01-01

    A pharmacy doctoral program's independent-study component in pathophysiology, supported by computer-assisted instruction and self-evaluation, has the advantages of self-pacing, reduced faculty time commitment, and increased ability to work effectively with physicians. Disadvantages include student feeling of isolation, imbalanced content, and…

  7. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  8. Monitoring of good practices programs and independence for electricity and natural gas system operators. 2010 report

    International Nuclear Information System (INIS)

    2011-01-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 6. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the year 2010. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in late 2010 and audits carried out by the CRE services in these companies in 2010

  9. Monitoring of good practices programs and independence for electricity and natural gas system operators. Report 2012

    International Nuclear Information System (INIS)

    2013-09-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 8. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the year 2012. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in late 2012 and audits carried out by the CRE services in these companies in 2012

  10. An independent investigation into the deployment of the federal communications commissions' rural health care pilot program.

    Science.gov (United States)

    Whitten, Pamela; Holtz, Bree; Laplante, Carolyn; Alverson, Dale; Krupinski, Elizabeth

    2010-12-01

    the goal of this study was to provide an independent and objective evaluation of the implementation of the Federal Communications Commission's Rural Health Care Pilot Program. thirty-nine of the programs that were provided funding through this program were interviewed and asked about their project deployment, network planning, and the involvement of their state in implementation. RESULTS showed that programs recruited project team members from a variety of fields to fulfill different roles. Network partners were often chosen because they were stakeholders in the outcome of the project and because they had a past working relationship with the grant-receiving programs. In terms of deployment, many programs had made progress in filling out necessary paperwork and were tracking milestones, but had experienced changes since first receiving funding, such as losing participants. Additionally, many encountered challenges that inhibited deployment, such as coping with rule fluctuations. Many of the programs received support from their respective state governments in project development, often through matching funds, but few states were involved in the actual management of projects. as rural healthcare facilities often lack the information technology infrastructure compared with many urban facilities, it is important to understand the implementation process for programs such as the Rural Health Care Pilot Program and to examine what contributes to progress, stagnation, or disintegration. Although the programs reported some success, almost all had encountered challenges that inhibited implementation. A follow-up study is planned to further investigate deployment and determine the implications of Federal Communications Commission funding.

  11. An overview of the program to place advanced automation and robotics on the Space Station

    Science.gov (United States)

    Heydorn, Richard P.

    1987-01-01

    The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

  12. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  13. 34 CFR 367.1 - What is the Independent Living Services for Older Individuals Who Are Blind program?

    Science.gov (United States)

    2010-07-01

    ... Individuals Who Are Blind program? 367.1 Section 367.1 Education Regulations of the Offices of the Department... EDUCATION INDEPENDENT LIVING SERVICES FOR OLDER INDIVIDUALS WHO ARE BLIND General § 367.1 What is the Independent Living Services for Older Individuals Who Are Blind program? This program supports projects that...

  14. Regulatory challenges for independent organization and licensing procedures for Egypt first nuclear power program

    International Nuclear Information System (INIS)

    Elsheikh, B.M.

    2012-01-01

    In March 2010 the Government of Egypt issued an Ordinance creating an independent regulatory body the Egypt Nuclear and Radiological Regulatory Authority (NRRA) reporting directly to the Prime Minister and responsible for matters dealing with protection of the radiation worker, public and environment from the harmful effects of ionizing radiation. A little more than 2 years have elapsed since this date. Some of the challenges faced by NRRA to its regulatory independence are given below. This paper will discuss the major challenges relating to Egyptian nuclear power program and specially the regulatory effectiveness and licensing procedures compared to international comparison.

  15. Obedience to compliance programs and independence for electricity and natural gas system operators. 2009 report

    International Nuclear Information System (INIS)

    2009-12-01

    In France, system operators belong to groups that also conduct business in the energy sector, in fields governed by competition rules. They could therefore be tempted to use their privileged position to their group's benefit, which would disadvantage end consumers. Non-discriminatory access to electricity and gas transmission and distribution networks is at the core of the market opening to competition approach implemented by the European Union since the end of the 1990's. EU and national enactments in force highlight two tools to ensure nondiscrimination: compliance programmes and independence of system operators with regard to their parent companies. Firstly, compliance programs contain measures taken to ensure that discrimination is completely excluded and that their application is subject to appropriate monitoring. Secondly, system operator independence plays a part in preventing discrimination against competitors with other business activities (generation, supply, etc.) within the same group. In application of these enactments, every electricity or natural gas transmission or distribution system operator serving more than 100,000 customers provided CRE, the Energy Regulatory Commission, with their annual reports on the application of their compliance programs. This document is CRE's 2009 report about compliance programmes and independence of electricity and natural gas system operators. Its content can be summarized as follows: 1 - system operator independence serving consumers: Non-discriminatory access to networks is essential for the development of competitive markets, System operator compliance programs and independence act as a guarantee of nondiscrimination, The legal context in which these issues are addressed is set to change in the near future; 2 - A high level of obedience to compliance programs: The continued efforts of system operators prevent discrimination, CR E has assessed distribution system operators by means of a mystery

  16. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  17. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

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

  18. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  19. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

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

  20. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  1. Perceptions of Professional and Educational Skills Learning Opportunities Made Available through K-12 Robotics Programming

    Science.gov (United States)

    Bakke, Christine K.

    2013-01-01

    The purpose of this study is to examine whether participation in robotics provides opportunities for educational and professional skill development, significant enough to merit the recommendation of robotics courses as a part of mainstream curriculum offerings in K-12 schools. This non-experimental, mixed methods study examined current junior high…

  2. Let's Dance the "Robot Hokey-Pokey!": Children's Programming Approaches and Achievement throughout Early Cognitive Development

    Science.gov (United States)

    Flannery, Louise P.; Bers, Marina Umaschi

    2013-01-01

    Young learners today generate, express, and interact with sophisticated ideas using a range of digital tools to explore interactive stories, animations, computer games, and robotics. In recent years, new developmentally appropriate robotics kits have been entering early childhood classrooms. This paper presents a retrospective analysis of one…

  3. Using Haptic and Auditory Interaction Tools to Engage Students with Visual Impairments in Robot Programming Activities

    Science.gov (United States)

    Howard, A. M.; Park, Chung Hyuk; Remy, S.

    2012-01-01

    The robotics field represents the integration of multiple facets of computer science and engineering. Robotics-based activities have been shown to encourage K-12 students to consider careers in computing and have even been adopted as part of core computer-science curriculum at a number of universities. Unfortunately, for students with visual…

  4. Robotic pulmonary lobectomy for lung cancer treatment: program implementation and initial experience.

    Science.gov (United States)

    Terra, Ricardo Mingarini; Araujo, Pedro Henrique Xavier Nabuco de; Lauricella, Leticia Leone; Campos, José Ribas Milanez de; Costa, Herbert Felix; Pego-Fernandes, Paulo Manuel

    2016-01-01

    To describe the implementation of a robotic thoracic surgery program at a public tertiary teaching hospital and to analyze its initial results. This was a planned interim analysis of a randomized clinical trial aimed at comparing video-assisted thoracoscopic surgery and robotic surgery in terms of the results obtained after pulmonary lobectomy. The robotic surgery program developed at the Instituto do Câncer do Estado de São Paulo, in the city of São Paulo, Brazil, is a multidisciplinary initiative involving various surgical specialties, as well as anesthesiology, nursing, and clinical engineering teams. In this analysis, we evaluated the patients included in the robotic lobectomy arm of the trial during its first three months (from April to June of 2015). Ten patients were included in this analysis. There were eight women and two men. The mean age was 65.1 years. All of the patients presented with peripheral tumors. We performed right upper lobectomy in four patients, right lower lobectomy in four, and left upper lobectomy in two. Surgical time varied considerably (range, 135-435 min). Conversion to open surgery or video-assisted thoracoscopic surgery was not necessary in any of the cases. Intraoperative complications were not found. Only the first patient required postoperative transfer to the ICU. There were no deaths or readmissions within the first 30 days after discharge. The only postoperative complication was chest pain (grade 3), in two patients. Pathological examination revealed complete tumor resection in all cases. When there is integration and proper training of all of the teams involved, the implementation of a robotic thoracic surgery program is feasible and can reduce morbidity and mortality. Descrever a implantação de um programa de cirurgia torácica robótica em um hospital terciário público universitário e analisar seus resultados iniciais. Este estudo é uma análise interina planejada de um ensaio clínico aleatorizado cujo objetivo

  5. Second AIAA/NASA USAF Symposium on Automation, Robotics and Advanced Computing for the National Space Program

    Science.gov (United States)

    Myers, Dale

    1987-01-01

    An introduction is given to NASA goals in the development of automation (expert systems) and robotics technologies in the Space Station program. Artificial intelligence (AI) has been identified as a means to lowering ground support costs. Telerobotics will enhance space assembly, servicing and repair capabilities, and will be used for an estimated half of the necessary EVA tasks. The general principles guiding NASA in the design, development, ground-testing, interactions with industry and construction of the Space Station component systems are summarized. The telerobotics program has progressed to a point where a telerobot servicer is a firm component of the first Space Station element launch, to support assembly, maintenance and servicing of the Station. The University of Wisconsin has been selected for the establishment of a Center for the Commercial Development of Space, specializing in space automation and robotics.

  6. Building and Programming a Smart Robotic System for Distinguishing Objects Based on their Shape and Colour

    Science.gov (United States)

    Sharari, T. M.

    2015-03-01

    This paper presents a robotic system designed for holding and placing objects based on their colour and shape. The presented robot is given a complete set of instructions of positions and orientation angles for each manipulation motion. The main feature in this paper is that the developed robot used a combination of vision and motion systems for holding and placing the work-objects, mounted on the flat work-plane, based on their shapes and colors. This combination improves the flexibility of manipulation which may help eliminate the use of some expensive manipulation tasks in a variety of industrial applications. The robotic system presented in this paper is designed as an educational robot that possesses the ability for holding-and-placing operations with limited load. To process the various instructions for holding and placing the work objects, a main control unit - Manipulation Control Unit (MCU) is used as well as a slave unit that performed the actual instructions from the MCU.

  7. A journey from robot to digital human mathematical principles and applications with MATLAB programming

    CERN Document Server

    Gu, Edward Y L

    2013-01-01

    This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLAB™ codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLAB™, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students....

  8. A PLC platform-independent structural analysis on FBD programs for digital reactor protection systems

    International Nuclear Information System (INIS)

    Jung, Sejin; Yoo, Junbeom; Lee, Young-Jun

    2017-01-01

    Highlights: • FBD has been widely used to implement safety-critical software for PLC-based systems. • The safety-critical software should be developed strictly with safety programming guidelines. • There are no argued rules that have specific links to higher guidelines NUREG/CR-6463 PLC platform-independently. • This paper proposes a set of rules on the structure of FBD programs with providing specific links to higher guidelines. • This paper also provides CASE tool ‘FBD Checker’ for analyzing the structure of FBD. - Abstract: FBD (function block diagram) has been widely used to implement safety-critical software for PLC (programmable logic controller)-based digital nuclear reactor protection systems. The software should be developed strictly in accordance with safety programming guidelines such as NUREG/CR-6463. Software engineering tools of PLC vendors enable us to present structural analyses using FBD programs, but specific rules pertaining to the guidelines are enclosed within the commercial tools, and specific links to the guidelines are not clearly communicated. This paper proposes a set of rules on the structure of FBD programs in accordance with guidelines, and we develop an automatic analysis tool for FBD programs written in the PLCopen TC6 format. With the proposed tool, any FBD program that is transformed into an open format can be analyzed the PLC platform-independently. We consider a case study on FBD programs obtained from a preliminary version of a Korean nuclear power plant, and we demonstrate the effectiveness and potential of the proposed rules and analysis tool.

  9. Independent technical review of the Bin and Alcove test programs at the Waste Isolation Pilot Plant

    International Nuclear Information System (INIS)

    1993-12-01

    This Independent Technical Review (ITR) assessed the need for and technical validity of the proposed Bin and Alcove test programs using TRU-waste at the WIPP site. The ITR Team recommends that the planned Bin and Alcove tests be abandoned, and that new activities be initiated in support of the WIPP regulatory compliance processes. Recommendations in this report offer an alternate path for expeditiously attaining disposal certification and permitting

  10. Acropolis: A Fast Protoyping Robotic Application

    Directory of Open Access Journals (Sweden)

    Vincent Zalzal

    2009-03-01

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

  11. Fast intersection detection algorithm for PC-based robot off-line programming

    Science.gov (United States)

    Fedrowitz, Christian H.

    1994-11-01

    This paper presents a method for fast and reliable collision detection in complex production cells. The algorithm is part of the PC-based robot off-line programming system of the University of Siegen (Ropsus). The method is based on a solid model which is managed by a simplified constructive solid geometry model (CSG-model). The collision detection problem is divided in two steps. In the first step the complexity of the problem is reduced in linear time. In the second step the remaining solids are tested for intersection. For this the Simplex algorithm, which is known from linear optimization, is used. It computes a point which is common to two convex polyhedra. The polyhedra intersect, if such a point exists. Regarding the simplified geometrical model of Ropsus the algorithm runs also in linear time. In conjunction with the first step a resultant collision detection algorithm is found which requires linear time in all. Moreover it computes the resultant intersection polyhedron using the dual transformation.

  12. Final report of the UMTRA independent technical review of TAC audit programs

    International Nuclear Information System (INIS)

    1994-10-01

    This report details the findings of an Independent Technical Review (ITR) of practices and procedures for the Uranium Mill Tailings Remedial Action (UMTRA) Project audit program. The audit program is conducted by Jacobs Engineering Group Inc., the Technical Assistance Contractor (TAC) for the UMTRA Project. The purpose of the ITR was to ensure that the TAC audit program is effective and is conducted efficiently. The ITR was conducted from May 16-20, 1994. A review team observed audit practices in the field, reviewed the TAC audit program's documentation, and discussed the program with TAC staff and management. The format of this report has been developed around EPA guidelines; they comprise most of the major section headings. Each section begins by identifying the criteria that the TAC program is measured against, then describing the approach used by the ITR team to measure each TAC audit program against the criteria. An assessment of each type of audit is then summarized for each component in the following order: Radiological audit summary; Health and safety audit summary; Environmental audit summary; Quality assurance audit summary

  13. Robot modelling; Control and applications with software

    Energy Technology Data Exchange (ETDEWEB)

    Ranky, P G; Ho, C Y

    1985-01-01

    This book provides a ''picture'' of robotics covering both the theoretical aspect of modeling as well as the practical and design aspects of: robot programming; robot tooling and automated hand changing; implementation planning; testing; and software design for robot systems. The authors present an introduction to robotics with a systems approach. They describe not only the tasks relating to a single robot (or arm) but also systems of robots working together on a product or several products.

  14. SU-E-T-455: Impact of Different Independent Dose Verification Software Programs for Secondary Check

    International Nuclear Information System (INIS)

    Itano, M; Yamazaki, T; Kosaka, M; Kobayashi, N; Yamashita, M; Ishibashi, S; Higuchi, Y; Tachibana, H

    2015-01-01

    Purpose: There have been many reports for different dose calculation algorithms for treatment planning system (TPS). Independent dose verification program (IndpPro) is essential to verify clinical plans from the TPS. However, the accuracy of different independent dose verification programs was not evident. We conducted a multi-institutional study to reveal the impact of different IndpPros using different TPSs. Methods: Three institutes participated in this study. They used two different IndpPros (RADCALC and Simple MU Analysis (SMU), which implemented the Clarkson algorithm. RADCALC needed the input of radiological path length (RPL) computed by the TPSs (Eclipse or Pinnacle3). SMU used CT images to compute the RPL independently from TPS). An ion-chamber measurement in water-equivalent phantom was performed to evaluate the accuracy of two IndpPros and the TPS in each institute. Next, the accuracy of dose calculation using the two IndpPros compared to TPS was assessed in clinical plan. Results: The accuracy of IndpPros and the TPSs in the homogenous phantom was +/−1% variation to the measurement. 1543 treatment fields were collected from the patients treated in the institutes. The RADCALC showed better accuracy (0.9 ± 2.2 %) than the SMU (1.7 ± 2.1 %). However, the accuracy was dependent on the TPS (Eclipse: 0.5%, Pinnacle3: 1.0%). The accuracy of RADCALC with Eclipse was similar to that of SMU in one of the institute. Conclusion: Depending on independent dose verification program, the accuracy shows systematic dose accuracy variation even though the measurement comparison showed a similar variation. The variation was affected by radiological path length calculation. IndpPro with Pinnacle3 has different variation because Pinnacle3 computed the RPL using physical density. Eclipse and SMU uses electron density, though

  15. Independent review of Oak Ridge HCTW test program and development of seismic evaluation criteria

    International Nuclear Information System (INIS)

    1995-05-01

    Many of the existing buildings at the Oak Ridge Y-12 Plant are steel frame construction with unreinforced hollow clay tile infill walls (HCTW). The HCTW infill provides some lateral seismic resistance to the design/evaluation basis earthquake; however acceptance criteria for this construction must be developed. The basis for the development of seismic criteria is the Oak Ridge HCTW testing and analysis program and the target performance goals of DOE 5480.28 and DOE-STD-1020-94. This report documents and independent review of the testing and analysis program and development of recommended acceptance criteria for Oak Ridge HCTW construction. The HCTW test program included ''macro'' wall in-plane and out-of-plane tests, full-scale wall in-plane and out-of-plane tests, in-situ out-of-plane test, shake table tests, and masonry component tests

  16. ROBOT3: a computer program to calculate the in-pile three-dimensional bowing of cylindrical fuel rods (AWBA Development Program)

    International Nuclear Information System (INIS)

    Kovscek, S.E.; Martin, S.E.

    1982-10-01

    ROBOT3 is a FORTRAN computer program which is used in conjunction with the CYGRO5 computer program to calculate the time-dependent inelastic bowing of a fuel rod using an incremental finite element method. The fuel rod is modeled as a viscoelastic beam whose material properties are derived as perturbations of the CYGRO5 axisymmetric model. Fuel rod supports are modeled as displacement, force, or spring-type nodal boundary conditions. The program input is described and a sample problem is given

  17. University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane

    2007-12-13

    The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  18. The Strategic Technologies for Automation and Robotics (STEAR) program: Protection of materials in the space environment subprogram

    Science.gov (United States)

    Schmidt, Lorne R.; Francoeur, J.; Aguero, Alina; Wertheimer, Michael R.; Klemberg-Sapieha, J. E.; Martinu, L.; Blezius, J. W.; Oliver, M.; Singh, A.

    1995-01-01

    Three projects are currently underway for the development of new coatings for the protection of materials in the space environment. These coatings are based on vacuum deposition technologies. The projects will go as far as the proof-of-concept stage when the commercial potential for the technology will be demonstrated on pilot-scale fabrication facilities in 1996. These projects are part of a subprogram to develop supporting technologies for automation and robotics technologies being developed under the Canadian Space Agency's STEAR Program, part of the Canadian Space Station Program.

  19. Research on Inverse Kinematics Program Optimization of 6R Decoupled Robot

    Directory of Open Access Journals (Sweden)

    Daode ZHANG

    2014-02-01

    Full Text Available According to complex analytic formula for the six degrees of freedom decoupled robot, a detailed analysis of the six degrees of freedom decoupled robot analytic formula of export process, as well the causes of multiple solutions. The method of increasing the local variables to avoid processor running the same statement repeatedly is proposed. The method to find the most frequency formula appeared in analytic solution replaced with local variables facilitate the use of loop to reduce the amount of code. It effectively reduces the computation time, optimize the computing process. Finally, taking PUMA560-like robot as an example, the calculation result is verified and simulated in Robotics Toolbox of MATLAB.

  20. 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

  1. University of Michigan workscope for 1991 DOE University program in robotics for advanced reactors

    International Nuclear Information System (INIS)

    Wehe, D.K.

    1990-01-01

    The University of Michigan (UM) is a member of a team of researchers, including the universities of Florida, Texas, and Tennessee, along with Oak Ridge National Laboratory, developing robotic for hazardous environments. The goal of this research is to develop the intelligent and capable robots which can perform useful functions in the new generation of nuclear reactors currently under development. By augmenting human capabilities through remote robotics, increased safety, functionality, and reliability can be achieved. In accordance with the established lines of research responsibilities, our primary efforts during 1991 will continue to focus on the following areas: radiation imaging; mobile robot navigation; three-dimensional vision capabilities for navigation; and machine-intelligence. This report discuss work that has been and will be done in these areas

  2. 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.

  3. The Age of Robotic Milk: Data Output Analysis of LELY Astronaut Computer Program

    OpenAIRE

    Christensen, Jessica R

    2017-01-01

    LELY is one of the major companies in the world that manufactures robotic dairy milkers. While Lely is a worldwide company based in Holland, It entered the United States market only within the past few years. Dairy robotics is a new field that has great potential for innovation, but it still has relatively unknown effects on dairy farms, dairy production, and dairy farmers. During the summer of 2016, the research conducted centered on a data output analysis of the LELY Astronaut computer prog...

  4. A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

    Directory of Open Access Journals (Sweden)

    Vicente Román-Ibáñez

    2018-04-01

    Full Text Available Laboratory tasks are a powerful pedagogical strategy for developing competences in science and engineering degrees, making students understand in a practical way the theoretical topics explained in the classroom. However, performing experiments in real conditions is usually expensive in terms of time, money and energy, as it requires expensive infrastructures that are generally difficult to maintain in good conditions. To overcome this problem, virtual reality has proven to be a powerful tool to achieve sustainability, making it easy to update laboratories without the need to acquire new equipment. Moreover, the ability to introduce practical knowledge into classrooms without leaving them, makes virtual laboratories capable of simulating typical operating environments as well as extreme situations in the operation of different devices. A typical subject in which students can benefit from the use of virtual laboratories is robotics. In this work we will develop an immersive virtual reality (VR pedagogical simulator of industrial robotic arms for engineering students. With the proposed system, students will know the effects of their own designed trajectories on several different robotic arms and cell environments without having to buy all of them and being safe of damaging the cell components. The simulation will be checking for collisions of the elements in the scene and alert the student when they happen. This can be achieved with a robotic simulator, but the integration with immersive VR is intended to help students better understand robotics. Moreover, even having a real robotic arm available for students, with this proposed VR method, all the students have the opportunity to manage and learn his own version of the robotic cell, without waiting times generated by having less robotic arms than students in classroom.

  5. Executive functioning, motor programming, and functional independence: accounting for variance, people, and time.

    Science.gov (United States)

    Kraybill, Matthew L; Suchy, Yana

    2011-02-01

    Assessing functional independence is an important part of making diagnostic decisions and treatment recommendations but is often complicated by the limitations of self-report and behavioral measures. Alternatively, it may be worthwhile to investigate neurocognitive correlates of incipient functional declines including using tests of executive functioning (EF) and motor programming (MP). The current study examined an electronic MP task and pitted it against other assessment instruments to evaluate its relative utility in assessing both EF and functional independence. Participants were 72 community-dwelling older adults. Results of this study showed that the MP task was correlated with other measures of EF, an efficient and reliable predictor of functionality, useful for identifying at-risk patients, and comparable to a longer battery in terms of sensitivity and specificity.

  6. Robotic surgical education: a collaborative approach to training postgraduate urologists and endourology fellows.

    Science.gov (United States)

    Mirheydar, Hossein; Jones, Marklyn; Koeneman, Kenneth S; Sweet, Robert M

    2009-01-01

    Currently, robotic training for inexperienced, practicing surgeons is primarily done vis-à-vis industry and/or society-sponsored day or weekend courses, with limited proctorship opportunities. The objective of this study was to assess the impact of an extended-proctorship program at up to 32 months of follow-up. An extended-proctorship program for robotic-assisted laparoscopic radical prostatectomy was established at our institution. The curriculum consisted of 3 phases: (1) completing an Intuitive Surgical 2-day robotic training course with company representatives; (2) serving as assistant to a trained proctor on 5 to 6 cases; and (3) performing proctored cases up to 1 year until confidence was achieved. Participants were surveyed and asked to evaluate on a 5-point Likert scale their operative experience in robotics and satisfaction regarding their training. Nine of 9 participants are currently performing robotic-assisted laparoscopic radical prostatectomy (RALP) independently. Graduates of our program have performed 477 RALP cases. The mean number of cases performed within phase 3 was 20.1 (range, 5 to 40) prior to independent practice. The program received a rating of 4.2/5 for effectiveness in teaching robotic surgery skills. Our robotic program, with extended proctoring, has led to an outstanding take-rate for disseminating robotic skills in a metropolitan community.

  7. Artificial intelligence and information-control systems of robots - 87

    International Nuclear Information System (INIS)

    Plander, I.

    1987-01-01

    Independent research areas of artificial intelligence represent the following problems: automatic problem solving and new knowledge discovering, automatic program synthesis, natural language, picture and scene recognition and understanding, intelligent control systems of robots equipped with sensoric subsystems, dialogue of two knowledge systems, as well as studying and modelling higher artificial intelligence attributes, such as emotionality and personality. The 4th Conference draws on the problems treated at the preceding Conferences, and presents the most recent knowledge on the following topics: theoretical problems of artificial intelligence, knowledge-based systems, expert systems, perception and pattern recognition, robotics, intelligent computer-aided design, special-purpose computer systems for artificial intelligence and robotics

  8. 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...

  9. Human Robotic Systems (HRS): Controlling Robots over Time Delay Element

    Data.gov (United States)

    National Aeronautics and Space Administration — This element involves the development of software that enables easier commanding of a wide range of NASA relevant robots through the Robot Application Programming...

  10. Theseus: tethered distributed robotics (TDR)

    Science.gov (United States)

    Digney, Bruce L.; Penzes, Steven G.

    2003-09-01

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

  11. Medication education and consultation at a senior dining program for independently living seniors.

    Science.gov (United States)

    Schmiedt, Dean; Ellingson, Jody

    2010-08-01

    To determine if pharmacist involvement within a senior dining program benefits diners by addressing their medication-related questions, using educational sessions, and providing individual consultations. Catholic Charities Senior Dining sites in central Minnesota. Pharmacists went to three senior dining sites, providing educational sessions and individual consultations to independently living senior diners. Pharmacists developed a program, in a nontraditional setting, that used educational sessions and individual consultations to assist seniors with their medication-related questions. The number of diner questions, significant issues raised, issues addressed, and level of diner satisfaction. Pharmacists made 36 visits from January to December 2009. During those visits they presented educational talks to 3,089 diners, and 12.4% of all diners spoke individually with pharmacists. Pharmacists addressed 581 questions or concerns from 384 diners. Significant issues were noted in 25.8% of individual consultations (144 questions). The most common significant issues included: adverse drug reactions (59), indications without treatment (27), and drug interactions (23). Nonopioid analgesics, antilipemics, and antihypertensive medications were most commonly involved in significant issues. Satisfaction surveys were strongly positive, with 97% indicating pharmacists had addressed their medication-related concern; only 3% did not reply. Almost half (42.7%) of satisfaction surveys indicated the diner would change something as a result of meeting with the pharmacist. Pharmacist availability in a nontraditional setting can assist seniors with addressing potentially significant medication-related issues. Independently living seniors will seek out information from a pharmacist in a convenient setting.

  12. The Carlsbad Environmental Monitoring and Research Center: An independent program for community information

    International Nuclear Information System (INIS)

    Fingleton, Donald J.; Bhada, Ron K.; Derald Morgan, J.; Julien, Howard

    1992-01-01

    The Waste Isolation Pilot Plant (WIPP) was designed and built as a research and development facility to obtain data to demonstrate the safe management, storage, and disposal of defense-related transuranic (TRU) waste. The WIPP facility, near Carlsbad, New Mexico, is scheduled to receive its first shipment of TRU waste in 1992. The citizens of Carlsbad requested the U.S. Department of Energy (DOE) to provide them with an independent organization that would monitor the entire area with state-of-the-art monitoring techniques and publish the data. As a follow-up, the DOE approved a proposal from the Waste-management Education and Research Consortium of New Mexico to develop and implement this program. The purpose of this paper is to (1) describe this innovative program to establish the Carlsbad Environmental Monitoring and Research Center, an independent university based center to study health and environmental impacts associated with technological development; (2) present the Center's mission and objectives; and (3) give an overview of the progress. (author)

  13. Minerva: using a software program to improve resident performance during independent call

    Science.gov (United States)

    Itri, Jason N.; Redfern, Regina O.; Cook, Tessa; Scanlon, Mary H.

    2010-03-01

    We have developed an application called Minerva that allows tracking of resident discrepancy rates and missed cases. Minerva mines the radiology information system (RIS) for preliminary interpretations provided by residents during independent call and copies both the preliminary and final interpretations to a database. Both versions are displayed for direct comparison by Minerva and classified as 'in agreement', 'minor discrepancy' or 'major discrepancy' by the resident program director. Minerva compiles statistics comparing minor, major and total discrepancy rates for individual residents relative to the overall group. Discrepant cases are categorized according to date, modality and body part and reviewed for trends in missed cases. The rate of minor, major and total discrepancies for residents on-call at our institution was similar to rates previously published, including a 2.4% major discrepancy rate for second year radiology residents in the DePICTORS study and a 2.6% major discrepancy rate for resident at a community hospital. Trend analysis of missed cases was used to generate a topic-specific resident missed case conference on acromioclavicular (AC) joint separation injuries, which resulted in a 75% decrease in the number of missed cases related to AC separation subsequent to the conference. Using a software program to track of minor and major discrepancy rates for residents taking independent call using modified RadPeer scoring guidelines provides a competency-based metric to determine resident performance. Topic-specific conferences using the cases identified by Minerva can result in a decrease in missed cases.

  14. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  15. Gas supply for independent power projects: Drilling programs and reserve acquisitions

    International Nuclear Information System (INIS)

    Lambert, J.D.; Walker, R.K.

    1990-01-01

    Developers of gas-fired independent power projects, although drawn to gas as the fuel of choice for economic and environmental reasons, are finding the problem of cost-effective gas supply to be intractable. By one estimate, there are $6 billion worth of gas-fired projects languishing in the planning stage for want of long-term gas supply that is acceptable to project lenders. Worse still, as the authors are aware, some currently operating gas-fired projects lack such a supply, thus forcing the developer to rely on the spot market for gas as an interim (and unsatisfactory) solution. Although spot market prices in the deregulated natural gas industry have remained relatively low over several years, long-term gas supply has become problematic, particularly for power projects whose economics typically require an assured supply at a determined price over a multiyear period. In short, while there is an increasing demand for gas as a preferred source of fuel supply for power projects, there are discontinuities in the approaches taken to contracting for that supply by producers and developers. These concern primarily allocation of the risk of commodity-driven price increases during the term of the fuel supply contract. Without a means of accommodating price-related risk, the parties will inevitably find themselves at an impasse in contract negotiations. If there is a barrier to the independent power generation industry's vertical integration into gas production, it is the fundamental insularity of the two industries. As they have discovered, it may be indispensable for gas producers and power developers to employ intermediaries familiar with both industries in order to consummate appropriate joint-venture drilling programs and reserve acquisitions. Given the economic consequences of doing so successfully, however, they believe such programs and acquisitions may become an integral part of independent power developers' business strategy in the 1990s and beyond

  16. 30-day hospital readmission after robotic partial nephrectomy--are we prepared for Medicare readmission reduction program?

    Science.gov (United States)

    Brandao, Luis Felipe; Zargar, Homayoun; Laydner, Humberto; Akca, Oktay; Autorino, Riccardo; Ko, Oliver; Samarasekera, Dinesh; Li, Jianbo; Rabets, John; Krishnan, Jayram; Haber, Georges-Pascal; Kaouk, Jihad; Stein, Robert J

    2014-09-01

    After CMS introduced the concept of the Hospital Readmissions Reduction Program, hospitals and health care centers became financially penalized for exceeding specific readmission rates. We retrospectively reviewed our institutional review board approved database of patients undergoing robotic partial nephrectomy at our institution and included in our analysis patients who were readmitted to any hospital as an inpatient stay within 30 days from discharge home after robotic partial nephrectomy. From March 2006 to March 2013 a total of 627 patients underwent robotic partial nephrectomy at our center and 28 (4.46%) were readmitted within 30 days of surgery. Postoperative bleeding was responsible for 8 (28.5%) readmissions. Pulmonary embolism was reported in 3 cases and retroperitoneal abscess was diagnosed in 2. Urinary leak requiring surgical intervention developed in 2 patients, pneumonia was diagnosed in 2 and 2 patients were readmitted for chest pain. Overall 9 (32.1%) patients presented with major complications requiring intervention. On multivariable analysis Charlson comorbidity index score was the only factor significantly associated with a higher 30-day readmission rate (p = 0.03). If the Charlson score was 5 or greater the chance of hospital readmission would be 2.7 times higher. Increased comorbidity, specifically a Charlson score of 5 or greater, was the only significant predictor of a higher incidence of 30-day readmission. This information can be useful in counseling patients regarding robotic partial nephrectomy and in determining baseline rates if CMS expands the number of conditions they evaluate for excess 30-day readmissions. Copyright © 2014 American Urological Association Education and Research, Inc. Published by Elsevier Inc. All rights reserved.

  17. DSLs in robotics

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  18. Research fellowship programs as a pathway for training independent clinical pharmacy scientists.

    Science.gov (United States)

    Mueller, Eric W; Bishop, Jeffrey R; Kanaan, Abir O; Kiser, Tyree H; Phan, Hanna; Yang, Katherine Y

    2015-03-01

    The American College of Clinical Pharmacy (ACCP) Research Affairs Committee published a commentary in 2013 on training clinical pharmacy scientists in the context of changes in economic, professional, political, and research environments. The commentary centered on the opportunities for pharmacists in clinical/translational research including strategies for ACCP, colleges of pharmacy, and the profession to increase the number and impact of clinical pharmacy scientists. A postdoctoral fellowship is cited as a current training pathway, capable of producing independent and productive pharmacy researchers. However, a decline in the number of programs, decreased funding availability, and variability in fellowship program activities and research focus have brought into question the relevance of this research training pathway to meet demand and opportunities. In response to these points, this commentary examines the state of research fellowship training including the current ACCP research fellowship review process, the need for standardization of research fellowship programs, and strategies to strengthen and promote research fellowships as relevant researcher training pathways. © 2015 Pharmacotherapy Publications, Inc.

  19. An application of multiattribute decision analysis to the Space Station Freedom program. Case study: Automation and robotics technology evaluation

    Science.gov (United States)

    Smith, Jeffrey H.; Levin, Richard R.; Carpenter, Elisabeth J.

    1990-01-01

    The results are described of an application of multiattribute analysis to the evaluation of high leverage prototyping technologies in the automation and robotics (A and R) areas that might contribute to the Space Station (SS) Freedom baseline design. An implication is that high leverage prototyping is beneficial to the SS Freedom Program as a means for transferring technology from the advanced development program to the baseline program. The process also highlights the tradeoffs to be made between subsidizing high value, low risk technology development versus high value, high risk technology developments. Twenty one A and R Technology tasks spanning a diverse array of technical concepts were evaluated using multiattribute decision analysis. Because of large uncertainties associated with characterizing the technologies, the methodology was modified to incorporate uncertainty. Eight attributes affected the rankings: initial cost, operation cost, crew productivity, safety, resource requirements, growth potential, and spinoff potential. The four attributes of initial cost, operations cost, crew productivity, and safety affected the rankings the most.

  20. Programming industrial robots using advanced input-output devices: test-case example using a CAD package and a digital pen based on the Anoto technology

    Directory of Open Access Journals (Sweden)

    J. Norberto Pires

    2007-08-01

    Full Text Available Interaction with robot systems for specification of manufacturing tasks and motions needs to be simple, to enable wide-spread use of robots in SMEs. In the best case, existing practices from manual work could be used, to smoothly let current employees start using robot technology as a natural part of their work. Our aim is to simplify the robot programming task by allowing the user to simply make technical drawings on a sheet of paper. Craftsman use paper and raw sketches for several situations; to share ideas, to get a better imagination or to remember the customer situation. Currently these sketches have either to be interpreted by the worker when producing the final product by hand, or transferred into CAD file using an according tool. The former means that no automation is included, the latter means extra work and much experience in using the CAD tool. Our approach is to use the digital pen and paper from Anoto as input devices for SME robotic tasks, thereby creating simpler and more user friendly alternatives for programming, parameterization and commanding actions. To this end, the basic technology has been investigated and fully working prototypes have been developed to explore the possibilities and limitation in the context of typical SME applications. Based on the encouraging experimental results, we believe that drawings on digital paper will, among other means of human-robot interaction, play

  1. Active Learning Environments with Robotic Tangibles: Children's Physical and Virtual Spatial Programming Experiences

    Science.gov (United States)

    Burleson, Winslow S.; Harlow, Danielle B.; Nilsen, Katherine J.; Perlin, Ken; Freed, Natalie; Jensen, Camilla Nørgaard; Lahey, Byron; Lu, Patrick; Muldner, Kasia

    2018-01-01

    As computational thinking becomes increasingly important for children to learn, we must develop interfaces that leverage the ways that young children learn to provide opportunities for them to develop these skills. Active Learning Environments with Robotic Tangibles (ALERT) and Robopad, an analogous on-screen virtual spatial programming…

  2. Teaching of Computer Science Topics Using Meta-Programming-Based GLOs and LEGO Robots

    Science.gov (United States)

    Štuikys, Vytautas; Burbaite, Renata; Damaševicius, Robertas

    2013-01-01

    The paper's contribution is a methodology that integrates two educational technologies (GLO and LEGO robot) to teach Computer Science (CS) topics at the school level. We present the methodology as a framework of 5 components (pedagogical activities, technology driven processes, tools, knowledge transfer actors, and pedagogical outcomes) and…

  3. Improvement of local position accuracy of robots for off-line programming

    International Nuclear Information System (INIS)

    Borm, Jin Hwan; Choi, Jong Cheon

    1992-01-01

    For the implementation of industrial robots in a CIM environment, it is necessary to be able to position their end-effectors to an abstractly defined cartesian position with desired accuracy. In other words, it is necessary to find accurate actuator command values corresponding to given goal positions which are expressed with respect to a certain coordinate frame. If the teaching -by-doing method is used, very accurate actuator command values are obtained from transducer readings. For the case when the goal positions are mathematically expressed, however, the actuator command values for the goal positions must be calculated using robot kinematics. It is, however, well known that the position errors in the order of 10 mm is not unusual while many industrial robots have the repeatability in the order of 0.1mm. In here, the position error is referred to as the difference between the specified goal position and the position where a robot is actually controlled. To reduce the position errors, many researchers proposed calibration methods which are based on robot kinematic identification. However, those methods are quite complex and require an accurate position measuring device. In this paper, a new method which dose not require the accurate kinematic identification, is introduced. In this method, the accurate actuator command values are calculated using the nominal kinematic model which is appropriatly altered based on the available encoder readings of the several reference frames. To demonstrate the simplicity and the effectiveness of the method, computer simulations as well as experimental studies are performed and their results are discussed. (Author)

  4. A model technology transfer program for independent operators: Kansas Technology Transfer Model (KTTM)

    Energy Technology Data Exchange (ETDEWEB)

    Schoeling, L.G.

    1993-09-01

    This report describes the development and testing of the Kansas Technology Transfer Model (KTTM) which is to be utilized as a regional model for the development of other technology transfer programs for independent operators throughout oil-producing regions in the US. It describes the linkage of the regional model with a proposed national technology transfer plan, an evaluation technique for improving and assessing the model, and the methodology which makes it adaptable on a regional basis. The report also describes management concepts helpful in managing a technology transfer program. The original Tertiary Oil Recovery Project (TORP) activities, upon which the KTTM is based, were developed and tested for Kansas and have proved to be effective in assisting independent operators in utilizing technology. Through joint activities of TORP and the Kansas Geological Survey (KGS), the KTTM was developed and documented for application in other oil-producing regions. During the course of developing this model, twelve documents describing the implementation of the KTTM were developed as deliverables to DOE. These include: (1) a problem identification (PI) manual describing the format and results of six PI workshops conducted in different areas of Kansas, (2) three technology workshop participant manuals on advanced waterflooding, reservoir description, and personal computer applications, (3) three technology workshop instructor manuals which provides instructor material for all three workshops, (4) three technologies were documented as demonstration projects which included reservoir management, permeability modification, and utilization of a liquid-level acoustic measuring device, (5) a bibliography of all literature utilized in the documents, and (6) a document which describes the KTTM.

  5. Satisfaction and perceptions of long-term manual wheelchair users with a spinal cord injury upon completion of a locomotor training program with an overground robotic exoskeleton.

    Science.gov (United States)

    Gagnon, Dany H; Vermette, Martin; Duclos, Cyril; Aubertin-Leheudre, Mylène; Ahmed, Sara; Kairy, Dahlia

    2017-12-19

    The main objectives of this study were to quantify clients' satisfaction and perception upon completion of a locomotor training program with an overground robotic exoskeleton. A group of 14 wheelchair users with a spinal cord injury, who finished a 6-8-week locomotor training program with the robotic exoskeleton (18 training sessions), were invited to complete a web-based electronic questionnaire. This questionnaire encompassed 41 statements organized around seven key domains: overall satisfaction related to the training program, satisfaction related to the overground robotic exoskeleton, satisfaction related to the program attributes, perceived learnability, perceived health benefits and risks and perceived motivation to engage in physical activity. Each statement was rated using a visual analogue scale ranging from "0 = totally disagree" to "100 = completely agree". Overall, respondents unanimously considered themselves satisfied with the locomotor training program with the robotic exoskeleton (95.7 ± 0.7%) and provided positive feedback about the robotic exoskeleton itself (82.3 ± 6.9%), the attributes of the locomotor training program (84.5 ± 6.9%) and their ability to learn to perform sit-stand transfers and walk with the robotic exoskeleton (79.6 ± 17%). Respondents perceived some health benefits (67.9 ± 16.7%) and have reported no fear of developing secondary complications or of potential risk for themselves linked to the use of the robotic exoskeleton (16.7 ± 8.2%). At the end of the program, respondents felt motivated to engage in a regular physical activity program (91.3 ± 0.1%). This study provides new insights on satisfaction and perceptions of wheelchair users while also confirming the relevance to continue to improve such technologies, and informing the development of future clinical trials. Implications for Rehabilitation All long-term manual wheelchair users with a spinal cord injury who participated in the

  6. Pattern of improvement in upper limb pointing task kinematics after a 3-month training program with robotic assistance in stroke.

    Science.gov (United States)

    Pila, Ophélie; Duret, Christophe; Laborne, François-Xavier; Gracies, Jean-Michel; Bayle, Nicolas; Hutin, Emilie

    2017-10-13

    When exploring changes in upper limb kinematics and motor impairment associated with motor recovery in subacute post stroke during intensive therapies involving robot-assisted training, it is not known whether trained joints improve before non-trained joints and whether target reaching capacity improves before movement accuracy. Twenty-two subacute stroke patients (mean delay post-stroke at program onset 63 ± 29 days, M2) underwent 50 ± 17 (mean ± SD) 45-min sessions of robot-assisted (InMotion™) shoulder/elbow training over 3 months, in addition to conventional occupational therapy. Monthly evaluations (M2 to M5) included Fugl-Meyer Assessment (FM), with subscores per joint, and four robot-based kinematic measures: mean target distance covered, mean velocity, direction accuracy (inverse of root mean square error from straight line) and movement smoothness (inverse of mean number of zero-crossings in the velocity profile). We assessed delays to reach statistically significant improvement for each outcome measure. At M5, all clinical and kinematic parameters had markedly improved: Fugl-Meyer, +65% (median); distance covered, +87%; mean velocity, +101%; accuracy, +134%; and smoothness, +96%. Delays to reach statistical significance were M3 for the shoulder/elbow Fugl-Meyer subscore (+43%), M4 for the hand (+80%) and M5 for the wrist (+133%) subscores. For kinematic parameters, delays to significant improvements were M3 for distance (+68%), velocity (+65%) and smoothness (+50%), and M5 for accuracy (+134%). An intensive rehabilitation program combining robot-assisted shoulder/elbow training and conventional occupational therapy was associated with improvement in shoulder and elbow movements first, which suggests focal behavior-related brain plasticity. Findings also suggested that recovery of movement quantity related parameters (range of motion, velocity and smoothness) might precede that of movement quality (accuracy). EudraCT 2016-005121-36 . Date of

  7. Mobile robots in research and development programs at the Savannah River Site

    International Nuclear Information System (INIS)

    Martin, T.P.; Byrd, J.S.; Fisher, J.J.

    1987-01-01

    Savannah River Laboratory (SRL) is developing mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP). Teleoperated mobile vehicles have been successfully used for several onsite applications. Development work using two research vehicles is underway to demonstrate semi-autonomous intelligent expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes of these vehicles is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being developed at SRL to allow vehicles to autonomously navigate and perform tasks in known environments, without the need for large computer systems. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation functions, and to analyze sensory information

  8. Mobile robots in research and development programs at the Savannah River site

    International Nuclear Information System (INIS)

    Martin, T.P.; Byrd, J.S.; Fisher, J.J.

    1987-01-01

    Mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP) have been developed. Teleoperated mobile vehicles have been successfully used for several onsite applications. Development work using two research vehicles is underway to demonstrate semi-autonomous intelligent expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes of these vehicles is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being developed at SRL to allow vehicles to autonomously navigate and perform tasks in known environments, without the need for large computer systems. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation functions, and to analyze sensory information

  9. DOE/NE University Program in robotics for advanced reactors research

    International Nuclear Information System (INIS)

    Trivedi, M.M.

    1990-01-01

    The document presents the bimonthly progress reports published during 1990 regarding the US Department of Energy/NE-sponsored research at the University of Tennessee Knoxville under the DOE Robitics for Advanced Reactors Research Grant. Significant accomplishments are noted in the following areas: development of edge-segment based stereo matching algorithm; vision system integration in the CESAR laboratory; evaluation of algorithms for surface characterization from range data; comparative study of data fusion techniques; development of architectural framework, software, and graphics environment for sensor-based robots; algorithms for acquiring tactile images from planer surfaces; investigations in geometric model-based robotic manipulation; investigations of non-deterministic approaches to sensor fusion; and evaluation of sensor calibration techniques. (MB)

  10. Training in urological robotic surgery. Future perspectives.

    Science.gov (United States)

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

    2018-01-01

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

  11. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

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

  12. Pain medicine: The case for an independent medical specialty and training programs.

    Science.gov (United States)

    Dubois, Michel Y; Follett, Kenneth A

    2014-06-01

    Over the last 30 years, pain has become one of the most dynamic areas of medicine and a public health issue. According to a recent Institute of Medicine report, pain affects approximately 100 million Americans at an estimated annual economic cost of $560 to $635 billion and is poorly treated overall. The American Board of Medical Specialties (ABMS) recognizes a pain subspecialty, but pain care delivery has struggled with increasing demand and developed in an inconsistent and uncoordinated fashion. Pain education is insufficient and highly variable. Multiple pain professional organizations have led to fragmentation of the field and lack of interdisciplinary agreement, resulting in confusion regarding who speaks for pain medicine. In this Perspective, the authors argue that ABMS recognition of pain medicine as an independent medical specialty would provide much needed structure and oversight for the field and would generate credibility for the specialty and its providers among medical peers, payers, regulatory and legislative agencies, and the public at large. The existing system, managed by three ABMS boards, largely excludes other specialties that contribute to pain care, fails to provide leadership from a single professional organization, provides suboptimal training exposure to pain medicine, and lengthens training, which results in inefficient use of time and educational resources. The creation of a primary ABMS conjoint board in pain medicine with its own residency programs and departments would provide better coordinated training, ensure the highest degree of competence of pain medicine specialists, and improve the quality of pain care and patient safety.

  13. A Mini-Curriculum for Robotics Education.

    Science.gov (United States)

    Jones, Preston K.

    This practicum report documents the development of a four-lesson multimedia program for robotics instruction for fourth and seventh grade students. The commercial film "Robot Revolution" and the videocassette tape "Robotics" were used, along with two author-developed slide/audiotape presentations and 14 overhead transparency foils. Two robots,…

  14. NASA Goddard Space Flight Center Robotic Processing System Program Automation Systems, volume 2

    Science.gov (United States)

    Dobbs, M. E.

    1991-01-01

    Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form. Some of the areas covered include: (1) mission requirements; (2) automation management system; (3) Space Transportation System (STS) Hitchhicker Payload; (4) Spacecraft Command Language (SCL) scripts; (5) SCL software components; (6) RoMPS EasyLab Command & Variable summary for rack stations and annealer module; (7) support electronics assembly; (8) SCL uplink packet definition; (9) SC-4 EasyLab System Memory Map; (10) Servo Axis Control Logic Suppliers; and (11) annealing oven control subsystem.

  15. Robot skills for manufacturing

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath; Nalpantidis, Lazaros; Andersen, Rasmus Skovgaard

    2016-01-01

    -asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated...... products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self...... in running production facilities at an industrial partner. It follows from these experiments that the use of robot skills, and associated task-level programming framework, is a viable solution to introducing robots that can intuitively and on the fly be programmed to perform new tasks by factory workers....

  16. Spatial and Temporal Abstractions in POMDPs Applied to Robot Navigation

    National Research Council Canada - National Science Library

    Theocharous, Georgios; Mahadevan, Sridhar; Kaelbling, Leslie P

    2005-01-01

    Partially observable Markov decision processes (POMDPs) are a well studied paradigm for programming autonomous robots, where the robot sequentially chooses actions to achieve long term goals efficiently...

  17. Independent auto evaluation of an operative radiological protection program; Autoevaluacion independiente de un programa de proteccion radiologica operativa

    Energy Technology Data Exchange (ETDEWEB)

    Medrano L, M.A.; Rodriguez C, C.C.; Linares R, D.; Zarate M, N.; Zempoalteca B, R. [Gerencia Subsede Sureste Instituto Nacional de Investigaciones Nucleares, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: maam@nuclear.inin.mx

    2006-07-01

    The program of operative radiological protection of a nuclear power plant consists of multiple procedures and associate tasks that have as purpose the radiological protection of the workers of the power station. It is for this reason that the constant evaluation of the one it programs it is an important tool in the identification of their weaknesses (and strengths), so they can be assisted appropriately. In this work the main elements of the program of independent auto evaluation of the program of operative radiological protection of the Laguna Verde Central that has been developed and implemented by the National Institute of Nuclear Research are described. (Author)

  18. FIT: Computer Program that Interactively Determines Polynomial Equations for Data which are a Function of Two Independent Variables

    Science.gov (United States)

    Arbuckle, P. D.; Sliwa, S. M.; Roy, M. L.; Tiffany, S. H.

    1985-01-01

    A computer program for interactively developing least-squares polynomial equations to fit user-supplied data is described. The program is characterized by the ability to compute the polynomial equations of a surface fit through data that are a function of two independent variables. The program utilizes the Langley Research Center graphics packages to display polynomial equation curves and data points, facilitating a qualitative evaluation of the effectiveness of the fit. An explanation of the fundamental principles and features of the program, as well as sample input and corresponding output, are included.

  19. A generic template for automated bioanalytical ligand-binding assays using modular robotic scripts in support of discovery biotherapeutic programs.

    Science.gov (United States)

    Duo, Jia; Dong, Huijin; DeSilva, Binodh; Zhang, Yan J

    2013-07-01

    Sample dilution and reagent pipetting are time-consuming steps in ligand-binding assays (LBAs). Traditional automation-assisted LBAs use assay-specific scripts that require labor-intensive script writing and user training. Five major script modules were developed on Tecan Freedom EVO liquid handling software to facilitate the automated sample preparation and LBA procedure: sample dilution, sample minimum required dilution, standard/QC minimum required dilution, standard/QC/sample addition, and reagent addition. The modular design of automation scripts allowed the users to assemble an automated assay with minimal script modification. The application of the template was demonstrated in three LBAs to support discovery biotherapeutic programs. The results demonstrated that the modular scripts provided the flexibility in adapting to various LBA formats and the significant time saving in script writing and scientist training. Data generated by the automated process were comparable to those by manual process while the bioanalytical productivity was significantly improved using the modular robotic scripts.

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

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2004-03-01

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

  1. WebotsTM: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2008-11-01

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

  2. Tank-automotive robotics

    Science.gov (United States)

    Lane, Gerald R.

    1999-07-01

    To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

  3. The Power of Educational Robotics

    Science.gov (United States)

    Cummings, Timothy

    The purpose of this action research project was to investigate the impact a students' participation in educational robotics has on his or her performance in the STEM subjects. This study attempted to utilize educational robotics as a method for increasing student achievement and engagement in STEM subjects. Over the course of 12 weeks, an after-school robotics program was offered to students. Guided by the standards and principles of VEX IQ, a leading resource in educational robotics, students worked in collaboration on creating a design for their robot, building and testing their robot, and competing in the VEX IQ Crossover Challenge. Student data was gathered through a pre-participation survey, observations from the work they performed in robotics club, their performance in STEM subject classes, and the analysis of their end-of-the-year report card. Results suggest that the students who participate in robotics club experienced a positive impact on their performance in STEM subject classes.

  4. Full autonomous microline trace robot

    Science.gov (United States)

    Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

    2000-10-01

    Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

  5. Modelling of industrial robot in LabView Robotics

    Science.gov (United States)

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

    2017-08-01

    Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

  6. Handedness of a motor program in C. elegans is independent of left-right body asymmetry.

    Directory of Open Access Journals (Sweden)

    Joanna C Downes

    Full Text Available Complex animals display bilaterally asymmetric motor behavior, or "motor handedness," often revealed by preferential use of limbs on one side. For example, use of right limbs is dominant in a strong majority of humans. While the mechanisms that establish bilateral asymmetry in motor function are unknown in humans, they appear to be distinct from those for other handedness asymmetries, including bilateral visceral organ asymmetry, brain laterality, and ocular dominance. We report here that a simple, genetically homogeneous animal comprised of only ~1000 somatic cells, the nematode C. elegans, also shows a distinct motor handedness preference: on a population basis, males show a pronounced right-hand turning bias during mating. The handedness bias persists through much of adult lifespan, suggesting that, as in more complex animals, it is an intrinsic trait of each individual, which can differ from the population mean. Our observations imply that the laterality of motor handedness preference in C. elegans is driven by epigenetic factors rather than by genetic variation. The preference for right-hand turns is also seen in animals with mirror-reversed anatomical handedness and is not attributable to stochastic asymmetric loss of male sensory rays that occurs by programmed cell death. As with C. elegans, we also observed a substantial handedness bias, though not necessarily the same preference in direction, in several gonochoristic Caenorhabditis species. These findings indicate that the independence of bilaterally asymmetric motor dominance from overall anatomical asymmetry, and a population-level tendency away from ambidexterity, occur even in simple invertebrates, suggesting that these may be common features of bilaterian metazoans.

  7. Annual Radiological Environmental Monitoring Program Report for the Three Mile Island, Unit 2, Independent Spent Fuel Storage Installation

    International Nuclear Information System (INIS)

    Hall, Gregory Graham

    2002-01-01

    This report presents the results of the 2001 Radiological Environmental Monitoring Program conducted in accordance with 10 CFR 72.44 for the Three Mile Island, Unit 2, Independent Spent Fuel Storage Installation. A description of the facility and the monitoring program is provided. The results of monitoring the two predominant radiation exposure pathways, potential airborne radioactivity releases and direct radiation exposure, indicate the facility operation has not contributed to any increase in the estimated maximum potential dose commitment to the general public.

  8. Roles and Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan

    2007-01-01

    A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...

  9. International Conference Educational Robotics 2016

    CERN Document Server

    Moro, Michele; Menegatti, Emanuele

    2017-01-01

    This book includes papers presented at the International Conference “Educational Robotics 2016 (EDUROBOTICS)”, Athens, November 25, 2016. The papers build on constructivist and constructionist pedagogy and cover a variety of topics, including teacher education, design of educational robotics activities, didactical models, assessment methods, theater robotics, programming & making electronics with Snap4Arduino, the Duckietown project, robotics driven by tangible programming, Lego Mindstorms combined with App Inventor, the Orbital Education Platform, Anthropomorphic Robots and Human Meaning Makers in Education, and more. It provides researchers interested in educational robotics with the latest advances in the field with a focus on science, technology, engineering, arts and mathematics (STEAM) education. At the same time it offers teachers and educators from primary to secondary and tertiary education insights into how educational robotics can trigger the development of technological interest and 21st c...

  10. Development of programming techniques for behaviors of nuclear robot in real environment

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Ogasawara, Tsukasa; Hirukawa, Hirohisa; Kitagaki, Kosei; Onda, Hiromu; Nakamura, Akira

    1998-01-01

    Combinations of surface elements needed to determine the position and the posture of a robot have been investigated based on the morphological properties of each object and expressed in a tree form. Here, a way to construct an environment model using the task-directional instructing tree was introduced. Several surface elements to be used for modeling were prioritized taking consideration of the kind of tasks in the tree. This modeling with the instructing tree was found to be an effective method which allows to flexibly respond to severe environments including occlusion and specular reflexion, which often appear in nuclear installation. In addition, pseudo-contact point monitoring method was implemented into ''Takumi'', a sensor-based manipulation system developed in the previous year and the effectiveness of this system was examined through an experiment of putting a seal on a paper with the manipulator, suggesting availability in real working conditions. (M.N.)

  11. Algebraic Thinking in Solving Linier Program at High School Level: Female Student’s Field Independent Cognitive Style

    Science.gov (United States)

    Hardiani, N.; Budayasa, I. K.; Juniati, D.

    2018-01-01

    The aim of this study was to describe algebraic thinking of high school female student’s field independent cognitive style in solving linier program problem by revealing deeply the female students’ responses. Subjects in this study were 7 female students having field independent cognitive style in class 11. The type of this research was descriptive qualitative. The method of data collection used was observation, documentation, and interview. Data analysis technique was by reduction, presentation, and conclusion. The results of this study showed that the female students with field independent cognitive style in solving the linier program problem had the ability to represent algebraic ideas from the narrative question that had been read by manipulating symbols and variables presented in tabular form, creating and building mathematical models in two variables linear inequality system which represented algebraic ideas, and interpreting the solutions as variables obtained from the point of intersection in the solution area to obtain maximum benefit.

  12. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  13. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  14. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  15. Towards Simulation of Custom Industrial Robots

    OpenAIRE

    Marcu, Cosmin; Robotin, Radu

    2008-01-01

    In order to create a simulator for custom industrial robots, it is very important to know the forward and inverse kinematics equations of the robot structure, the controller output data and the limitations of the robot mechanical components. In this paper we presented the steps for building a simulation program for a custom industrial robot. The first step was the robot modeling where we obtained the forward and inverse kinematics equations used as motion laws both for the simulated and for t...

  16. Special Issue on Intelligent Robots

    Directory of Open Access Journals (Sweden)

    Genci Capi

    2013-08-01

    Full Text Available The research on intelligent robots will produce robots that are able to operate in everyday life environments, to adapt their program according to environment changes, and to cooperate with other team members and humans. Operating in human environments, robots need to process, in real time, a large amount of sensory data—such as vision, laser, microphone—in order to determine the best action. Intelligent algorithms have been successfully applied to link complex sensory data to robot action. This editorial briefly summarizes recent findings in the field of intelligent robots as described in the articles published in this special issue.

  17. 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

  18. The Home Independence Program with non-health professionals as care managers: an evaluation

    Directory of Open Access Journals (Sweden)

    Lewin G

    2016-06-01

    Full Text Available Gill Lewin,1 Karyn Concanen,2 David Youens3 1School of Nursing, Midwifery and Paramedicine, Curtin University, Perth, WA, Australia; 2Silver Chain Group, Osborne Park, WA, Australia; 3Faculty of Health Science, Curtin University, Perth, WA, Australia Abstract: The Home Independence Program (HIP, an Australian restorative home care/reablement service for older adults, has been shown to be effective in reducing functional dependency and increasing functional mobility, confidence in everyday activities, and quality of life. These gains were found to translate into a reduced need for ongoing care services and reduced health and aged care costs over time. Despite these positive outcomes, few Australian home care agencies have adopted the service model – a key reason being that few Australian providers employ health professionals, who act as care managers under the HIP service model. A call for proposals from Health Workforce Australia for projects to expand the scope of practice of health/aged care staff then provided the opportunity to develop, implement, and evaluate a service delivery model, in which nonprofessionals replaced the health professionals as Care Managers in the HIP service. Seventy older people who received the HIP Coordinator (HIPC service participated in the outcomes evaluation. On a range of personal outcome measures, the group showed statistically significant improvement at 3 and 12 months compared to baseline. On each outcome, the improvement observed was larger than that observed in a previous trial in which the service was delivered by health professionals. However, differences in the timing of data collection between the two studies mean that a direct comparison cannot be made. Clients in both studies showed a similarly reduced need for ongoing home care services at both follow-up points. The outcomes achieved by HIPC, with non-health professionals as Care Managers, were positive and can be considered to compare favorably

  19. Using Robotics to Improve Retention and Increase Comprehension in Introductory Programming Courses

    Science.gov (United States)

    Pullan, Marie

    2013-01-01

    Several college majors, outside of computer science, require students to learn computer programming. Many students have difficulty getting through the programming sequence and ultimately change majors or drop out of college. To deal with this problem, active learning techniques were developed and implemented in a freshman programming logic and…

  20. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

    A Robotics Technology Group was organized at the Savannah River Laboratory in August 1982. Many potential applications have been identified that will improve personnel safety, reduce operating costs, and increase productivity using modern robotics and automation. Several active projects are under way to procure robots, to develop unique techniques and systems for the site's processes, and to install the systems in the actual work environments. The projects and development programs are involved in the following general application areas: (1) glove boxes and shielded cell facilities, (2) laboratory chemical processes, (3) fabrication processes for reactor fuel assemblies, (4) sampling processes for separation areas, (5) emergency response in reactor areas, (6) fuel handling in reactor areas, and (7) remote radiation monitoring systems. A Robotics Development Laboratory has been set up for experimental and development work and for demonstration of robotic systems

  1. Annual report on the Monitoring of good practices programs and independence for electricity and natural gas system operators - 2006

    International Nuclear Information System (INIS)

    2007-01-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 2. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the year 2006. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in late 2006 and audits carried out by the CRE services in these companies in 2006

  2. 2008 report on the Monitoring of good practices programs and independence for electricity and natural gas system operators

    International Nuclear Information System (INIS)

    2009-01-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 4. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the year 2008. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in late 2008 and audits carried out by the CRE services in these companies in 2008

  3. Annual report on the Monitoring of good practices programs and independence for electricity and natural gas system operators - 2007

    International Nuclear Information System (INIS)

    2008-01-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 3. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the year 2007. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in late 2007 and audits carried out by the CRE services in these companies in 2007

  4. Mergeable nervous systems for robots.

    Science.gov (United States)

    Mathews, Nithin; Christensen, Anders Lyhne; O'Grady, Rehan; Mondada, Francesco; Dorigo, Marco

    2017-09-12

    Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves as required. However, current modular robots have only been able to display a limited range of hardwired behaviors because they rely solely on distributed control. Here, we present robots whose bodies and control systems can merge to form entirely new robots that retain full sensorimotor control. Our control paradigm enables robots to exhibit properties that go beyond those of any existing machine or of any biological organism: the robots we present can merge to form larger bodies with a single centralized controller, split into separate bodies with independent controllers, and self-heal by removing or replacing malfunctioning body parts. This work takes us closer to robots that can autonomously change their size, form and function.Robots that can self-assemble into different morphologies are desired to perform tasks that require different physical capabilities. Mathews et al. design robots whose bodies and control systems can merge and split to form new robots that retain full sensorimotor control and act as a single entity.

  5. Development of a prototype interactive learning system using multi-media technology for mission independent training program

    Science.gov (United States)

    Matson, Jack E.

    1992-01-01

    The Spacelab Mission Independent Training Program provides an overview of payload operations. Most of the training material is currently presented in workbook form with some lecture sessions to supplement selected topics. The goal of this project was to develop a prototype interactive learning system for one of the Mission Independent Training topics to demonstrate how the learning process can be improved by incorporating multi-media technology into an interactive system. This report documents the development process and some of the problems encountered during the analysis, design, and production phases of this system.

  6. Reducing sodium across the board: a pilot program in Schenectady County independent restaurants.

    Science.gov (United States)

    Schuldt, June; Levings, Jessica Lee; Kahn-Marshall, Jennifer; Hunt, Glynnis; Mugavero, Kristy; Gunn, Janelle Peralez

    2014-01-01

    Excess sodium intake can lead to increased blood pressure. Restaurant foods contribute nearly a quarter of the sodium consumed in the American diet. The objective of the pilot project was to develop and implement in collaboration with independent restaurants a tool, the Restaurant Assessment Tool and Evaluation (RATE), to assess efforts to reduce sodium in independent restaurants and measure changes over time in food preparation categories, including menu, cooking techniques, and products. Twelve independent restaurants in Schenectady County, New York, voluntarily participated. From initial assessment to a 6-month follow-up assessment using the RATE, 11 restaurants showed improvement in the cooking category, 9 showed improvement in the menu category, and 7 showed improvement in the product category. Menu analysis conducted by the Schenectady County Health Department staff suggested that reported sodium-reduction strategies might have affected approximately 25% of the restaurant menu items. The findings from this project suggest that a facilitated assessment, such as the RATE, can provide a useful platform for independent restaurant owners and public health practitioners to discuss and encourage sodium reduction. The RATE also provides opportunities to build and strengthen relationships between public health care practitioners and independent restaurant owners, which may help sustain the positive changes made.

  7. SMATASY. A Program for the model independent description of the Z resonance

    International Nuclear Information System (INIS)

    Kirsch, S.; Riemann, T.

    1994-07-01

    SMATASY is an interface for the ZF I T T ER package and may be used for the model independent description of the Z resonance at LEP 1 and SLC. It allows the determination of the Z mass and width and its resonance shape parameters r and j for cross-sections and their asymmetries. The r describes the peak height and j the interference of the Z resonance with photon exchange in each scattering channel and for σ T , σ FB , σ lr , σ pol etc. separately. Alternatively, the helicity amplitudes for a given scattering channel may be determined. We compare our formalism with other model independent approaches. The model independent treatment of QED corrections in SMATASY is applicable also far away from the Z peak. (orig.)

  8. Teleautonomous Control on Rescue Robot Prototype

    Directory of Open Access Journals (Sweden)

    Son Kuswadi

    2012-12-01

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

  9. 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)

  10. 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)

  11. The Effects of a Robot Game Environment on Computer Programming Education for Elementary School Students

    Science.gov (United States)

    Shim, Jaekwoun; Kwon, Daiyoung; Lee, Wongyu

    2017-01-01

    In the past, computer programming was perceived as a task only carried out by computer scientists; in the 21st century, however, computer programming is viewed as a critical and necessary skill that everyone should learn. In order to improve teaching of problem-solving abilities in a computing environment, extensive research is being done on…

  12. Evaluation of the Even Start--Padres y Progreso Program in the Houston Independent School District.

    Science.gov (United States)

    Stevens, Carla J.; And Others

    The Even Start-Padres y Progreso program is a nationally funded program designed to prepare young children to enter school by not only offering early childhood education, but also assisting their families with adult literacy and English as a Second Language (ESL), parenting-skills training, and employment-skills training. An evaluation of the…

  13. "Doing Geography": Evaluating an Independent Geographic Inquiry Assessment Task in an Initial Teacher Education Program

    Science.gov (United States)

    Harte, Wendy; Reitano, Paul

    2016-01-01

    The assessment task of the final course in a bachelor of secondary education program is examined for opportunities for preservice geography teachers to achieve the course aims of integrating, consolidating, applying, and reflecting on the knowledge and skills they have learned during their initial teacher education program. The results show that…

  14. A pet-type robot AIBO-assisted therapy as a day care program for chronic schizophrenia patients: A pilot study

    Directory of Open Access Journals (Sweden)

    Shin Narita

    2016-07-01

    Full Text Available Background AAT (Animal-assisted therapy was developed to promote human social and emotional functioning as a day care program for psychiatric patients. Aims In this study, we performed AAT using a pet-type robot, AIBO for schizophrenic patients. Methods After obtaining informed consent, we performed the AIBO-assisted therapy for three schizophrenic (ICD-10, F20.x2 patients (male: 1, female: 2 whose medication did not change over the 8 weeks study period in a ward. Results It was found that the AAT using AIBO may be useful for the patients with negative and general psychopathological symptoms such as “Anxiety” and “Uncooperativeness”. Conclusion We make use of this result, and we want to develop the AAT program using a pet-type robot, AIBO which may be suitable for Japanese psychiatric patients.

  15. Robot Control Overview: An Industrial Perspective

    Directory of Open Access Journals (Sweden)

    T. Brogårdh

    2009-07-01

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

  16. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  17. Regulatory standards applicable or relevant to the independent Hanford environmental surveillance and oversight program

    International Nuclear Information System (INIS)

    King, S.E.; Hendrickson, P.L.; Siegel, M.R.; Woodruff, M.G.; Belfiglio, J.; Elliott, R.W.

    1990-03-01

    The authors reviewed federal and state statutes and regulations, as well as Department of Energy (DOE) orders and other guidance material, for potential applicability to the environmental surveillance program conducted for the Hanford site by the Pacific Northwest Laboratory (PNL). There are no federal or state statutes or regulations which are directly applicable to the environmental surveillance program. However, other regulatory schemes, while not directly applicable to the environmental surveillance program, are important insofar as they are indicative of regulatory concern and direction. Because of the evolving nature of environmental regulations, this area needs to be closely monitored for future impact on environmental surveillance activities. 9 refs.,

  18. Semiotics and Human-Robot Interaction

    OpenAIRE

    Sequeira, Joao; Ribeiro, M.Isabel

    2007-01-01

    The social barriers that still constrain the use of robots in modern societies will tend to vanish with the sophistication increase of interaction strategies. Communication and interaction between people and robots occurring in a friendly manner and being accessible to everyone, independent of their skills in robotics issues, will certainly foster the breaking of barriers. Socializing behaviors, such as following people, are relatively easy to obtain with current state of the art robotics. Ho...

  19. Agent independent task planning

    Science.gov (United States)

    Davis, William S.

    1990-01-01

    Agent-Independent Planning is a technique that allows the construction of activity plans without regard to the agent that will perform them. Once generated, a plan is then validated and translated into instructions for a particular agent, whether a robot, crewmember, or software-based control system. Because Space Station Freedom (SSF) is planned for orbital operations for approximately thirty years, it will almost certainly experience numerous enhancements and upgrades, including upgrades in robotic manipulators. Agent-Independent Planning provides the capability to construct plans for SSF operations, independent of specific robotic systems, by combining techniques of object oriented modeling, nonlinear planning and temporal logic. Since a plan is validated using the physical and functional models of a particular agent, new robotic systems can be developed and integrated with existing operations in a robust manner. This technique also provides the capability to generate plans for crewmembers with varying skill levels, and later apply these same plans to more sophisticated robotic manipulators made available by evolutions in technology.

  20. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-07-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-07-01

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

  3. Inverse Kinematic Analysis Of A Quadruped Robot

    Directory of Open Access Journals (Sweden)

    Muhammed Arif Sen

    2017-09-01

    Full Text Available This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg D-H method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.

  4. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  5. Future of robotic surgery.

    Science.gov (United States)

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

    2013-01-01

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

  6. Girls, Boys, and Bots: Gender Differences in Young Children's Performance on Robotics and Programming Tasks

    Science.gov (United States)

    Sullivan, Amanda; Bers, Marina Umaschi

    2016-01-01

    Prior work demonstrates the importance of introducing young children to programming and engineering content before gender stereotypes are fully developed and ingrained in later years. However, very little research on gender and early childhood technology interventions exist. This pilot study looks at N = 45 children in kindergarten through second…

  7. AdMoVeo: a robotic platform for teaching creative programming to designers

    NARCIS (Netherlands)

    Alers, S.H.M.; Hu, J.; Chang, M.; Kuo, R.; Kinshuk, xx; Chen, G.-D.; Hirose, M.

    2009-01-01

    Designing intelligent products, systems and related services require the designers to be able to integrate technology in their designs. Among other skills, programming is the key for the designers to prototype and experiment with the intelligent behaviors. However most of the design students do not

  8. 34 CFR 365.1 - What is the State Independent Living Services (SILS) program?

    Science.gov (United States)

    2010-07-01

    ... the capacities of public or nonprofit agencies and organizations and other entities to develop... information, develop model policies and procedures, and present information, approaches, strategies, findings... unserved or underserved by programs under title VII of the Act, including minority groups and urban and...

  9. Establishing an independent mobile health program for chronic disease self-management support in bolivia.

    Science.gov (United States)

    Piette, John D; Valverde, Helen; Marinec, Nicolle; Jantz, Rachel; Kamis, Kevin; de la Vega, Carlos Lazo; Woolley, Timothy; Pinto, Bismarck

    2014-01-01

    Mobile health (m-health) work in low- and middle-income countries (LMICs) mainly consists of small pilot programs with an unclear path to scaling and dissemination. We describe the deployment and testing of an m-health platform for non-communicable disease (NCD) self-management support in Bolivia. Three hundred sixty-four primary care patients in La Paz with diabetes or hypertension completed surveys about their use of mobile phones, health and access to care. One hundred sixty-five of those patients then participated in a 12-week demonstration of automated telephone monitoring and self-management support. Weekly interactive voice response (IVR) calls were made from a platform established at a university in La Paz, under the direction of the regional health ministry. Thirty-seven percent of survey respondents spoke indigenous languages at home and 38% had six or fewer years of education. Eighty-two percent had a mobile phone, 45% used text messaging with a standard phone, and 9% had a smartphone. Smartphones were least common among patients who were older, spoke indigenous languages, or had less education. IVR program participants completed 1007 self-management support calls with an overall response rate of 51%. IVR call completion was lower among older adults, but was not related to patients' ethnicity, health status, or healthcare access. IVR health and self-care reports were consistent with information reported during in-person baseline interviews. Patients' likelihood of reporting excellent, very good, or good health (versus fair or poor health) via IVR increased during program participation and was associated with better medication adherence. Patients completing follow-up interviews were satisfied with the program, with 19/20 (95%) reporting that they would recommend it to a friend. By collaborating with LMICs, m-health programs can be transferred from higher-resource centers to LMICs and implemented in ways that improve access to self-management support among

  10. Nye County Nuclear Waste Repository Project Office independent scientific investigations program annual report, May 1997 - April 1998

    International Nuclear Information System (INIS)

    1998-07-01

    This annual summary report, prepared by the Nye County Nuclear Waste Repository Project Office (NWRPO), summarizes the activities that were performed during the period from May 1, 1997 to April 30, 1998. These activities were conducted in support of the Independent Scientific Investigation Program (ISIP) of Nye County at the Yucca Mountain Site (YMS). The Nye County NWRPO is responsible for protecting the health and safety of the Nye County residents. NWRPO's on-site representative is responsible for designing and implementing the Independent Scientific Investigation Program (ISIP). Major objectives of the ISIP include: Investigating key issues related to conceptual design and performance of the repository that can have major impact on human health, safety, and the environment; identifying areas not being addressed adequately by the Department of Energy (DOE). Nye County has identified several key scientific issues of concern that may affect repository design and performance which were not being adequately addressed by DOE. Nye County has been conducting its own independent study to evaluate the significance of these issues. This report summarizes the results of monitoring from two boreholes and the Exploratory Studies Facility (ESF) tunnel that have been instrumented by Nye County since March and April of 1995. The preliminary data and interpretations presented in this report do not constitute and should not be considered as the official position of Nye County. The ISIP presently includes borehole and tunnel instrumentation, monitoring, data analysis, and numerical modeling activities to address the concerns of Nye County

  11. Nye County nuclear waste repository project office independent scientific investigations program. Summary annual report, May 1996--April 1997

    International Nuclear Information System (INIS)

    1997-05-01

    This annual summary report, prepared by Multimedia Environmental Technology, Inc. (MET) on behalf of Nye County Nuclear Waste Project Office, summarizes the activities that were performed during the period from May 1, 1996 to April 30, 1997. These activities were conducted in support of the Independent Scientific Investigation Program (ISIP) of Nye County at the Yucca Mountain Site (YMS). The Nye County NWRPO is responsible for protecting the health and safety of the Nye County residents. NWRPO's on-site representative is responsible for designing and implementing the Independent Scientific Investigation Program (ISIP). Major objectives of the ISIP include: (1) Investigating key issues related to conceptual design and performance of the repository that can have major impact on human health, safety, and the environment. (2) Identifying areas not being addressed adequately by DOE Nye County has identified several key scientific issues of concern that may affect repository design and performance which were not being adequately addressed by DOE. Nye County has been conducting its own independent study to evaluate the significance of these issues

  12. Nye County Nuclear Waste Repository Project Office independent scientific investigations program annual report, May 1997--April 1998

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-07-01

    This annual summary report, prepared by the Nye County Nuclear Waste Repository Project Office (NWRPO), summarizes the activities that were performed during the period from May 1, 1997 to April 30, 1998. These activities were conducted in support of the Independent Scientific Investigation Program (ISIP) of Nye County at the Yucca Mountain Site (YMS). The Nye County NWRPO is responsible for protecting the health and safety of the Nye County residents. NWRPO`s on-site representative is responsible for designing and implementing the Independent Scientific Investigation Program (ISIP). Major objectives of the ISIP include: Investigating key issues related to conceptual design and performance of the repository that can have major impact on human health, safety, and the environment; identifying areas not being addressed adequately by the Department of Energy (DOE). Nye County has identified several key scientific issues of concern that may affect repository design and performance which were not being adequately addressed by DOE. Nye County has been conducting its own independent study to evaluate the significance of these issues. This report summarizes the results of monitoring from two boreholes and the Exploratory Studies Facility (ESF) tunnel that have been instrumented by Nye County since March and April of 1995. The preliminary data and interpretations presented in this report do not constitute and should not be considered as the official position of Nye County. The ISIP presently includes borehole and tunnel instrumentation, monitoring, data analysis, and numerical modeling activities to address the concerns of Nye County.

  13. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

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

  14. 25th Conference on Robotics in Alpe-Adria-Danube Region

    CERN Document Server

    Borangiu, Theodor

    2017-01-01

    This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource f...

  15. Establishing an Independent Mobile Health Program for Chronic Disease Self-Management Support in Bolivia

    Science.gov (United States)

    Piette, John D.; Valverde, Helen; Marinec, Nicolle; Jantz, Rachel; Kamis, Kevin; de la Vega, Carlos Lazo; Woolley, Timothy; Pinto, Bismarck

    2014-01-01

    Background: Mobile health (m-health) work in low- and middle-income countries (LMICs) mainly consists of small pilot programs with an unclear path to scaling and dissemination. We describe the deployment and testing of an m-health platform for non-communicable disease (NCD) self-management support in Bolivia. Methods: Three hundred sixty-four primary care patients in La Paz with diabetes or hypertension completed surveys about their use of mobile phones, health and access to care. One hundred sixty-five of those patients then participated in a 12-week demonstration of automated telephone monitoring and self-management support. Weekly interactive voice response (IVR) calls were made from a platform established at a university in La Paz, under the direction of the regional health ministry. Results: Thirty-seven percent of survey respondents spoke indigenous languages at home and 38% had six or fewer years of education. Eighty-two percent had a mobile phone, 45% used text messaging with a standard phone, and 9% had a smartphone. Smartphones were least common among patients who were older, spoke indigenous languages, or had less education. IVR program participants completed 1007 self-management support calls with an overall response rate of 51%. IVR call completion was lower among older adults, but was not related to patients’ ethnicity, health status, or healthcare access. IVR health and self-care reports were consistent with information reported during in-person baseline interviews. Patients’ likelihood of reporting excellent, very good, or good health (versus fair or poor health) via IVR increased during program participation and was associated with better medication adherence. Patients completing follow-up interviews were satisfied with the program, with 19/20 (95%) reporting that they would recommend it to a friend. Conclusion: By collaborating with LMICs, m-health programs can be transferred from higher-resource centers to LMICs and implemented in ways that

  16. Robot Futures

    DEFF Research Database (Denmark)

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

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

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

    Directory of Open Access Journals (Sweden)

    Memon Abdul Waris

    2018-01-01

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

  18. Concurrent Path Planning with One or More Humanoid Robots

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)

    2014-01-01

    A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

  19. 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.

  20. Independent oversight review of the Department of Energy Quality Assurance Program for suspect/counterfeit parts. Revision 1

    International Nuclear Information System (INIS)

    1996-05-01

    To address the potential threat that suspect/counterfeit parts could pose to DOE workers and the public, the Office of the Deputy Assistant Secretary for Oversight initiated a number of activities beginning in mid-1995. Oversight placed increased emphasis on the field's quality assurance-suspect/counterfeit parts programs during safety management evaluations, in keeping with the Office of Environment, Safety and Health (EH) oversight responsibilities, which include oversight of the Department's quality assurance (QA) programs. In addition, Oversight reviewed relevant policy documents and occurrence reports to determine the nature and magnitude of the problem within the Department. The results of that review, contained in an Office of Oversight report, Independent Oversight Analysis of Suspect/Counterfeit Parts Within the Department of Energy (November 1995), indicate a lack of consistency and comprehensiveness in the Department's QA-suspect/counterfeit parts program. A detailed analysis of the causes and impacts of the problem was recommended. In response, this review was initiated to determine the effectiveness of the Department's QA program for suspect/counterfeit parts. This study goes beyond merely assessing and reporting the status of the program, however. It is the authors intention to highlight the complex issues associated with suspect/counterfeit parts in the Department today and to present approaches that DOE managers might consider to address these issues

  1. Independent oversight review of the Department of Energy Quality Assurance Program for suspect/counterfeit parts. Revision 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-05-01

    To address the potential threat that suspect/counterfeit parts could pose to DOE workers and the public, the Office of the Deputy Assistant Secretary for Oversight initiated a number of activities beginning in mid-1995. Oversight placed increased emphasis on the field`s quality assurance-suspect/counterfeit parts programs during safety management evaluations, in keeping with the Office of Environment, Safety and Health (EH) oversight responsibilities, which include oversight of the Department`s quality assurance (QA) programs. In addition, Oversight reviewed relevant policy documents and occurrence reports to determine the nature and magnitude of the problem within the Department. The results of that review, contained in an Office of Oversight report, Independent Oversight Analysis of Suspect/Counterfeit Parts Within the Department of Energy (November 1995), indicate a lack of consistency and comprehensiveness in the Department`s QA-suspect/counterfeit parts program. A detailed analysis of the causes and impacts of the problem was recommended. In response, this review was initiated to determine the effectiveness of the Department`s QA program for suspect/counterfeit parts. This study goes beyond merely assessing and reporting the status of the program, however. It is the authors intention to highlight the complex issues associated with suspect/counterfeit parts in the Department today and to present approaches that DOE managers might consider to address these issues.

  2. Edgewood Chemical Biological Center In-House Laboratory Independent Research Program Annual Report FY11

    Science.gov (United States)

    2011-01-01

    processes or products in mind ”. ECBC views the ILIR program as a critical part of its efforts to ensure a high level of basic science, foster innovation in...this project, density functional theory at the B3LYP/6-31+G(d) level was used to explore the ability of molecules structurally derived from the purine...effect on embryonic development, leading to neural tube deficits, autism , and cognitive dysfunction.[5] Cezar et al. used LC-MS to examine the

  3. Training in Robotic Surgery-an Overview.

    Science.gov (United States)

    Sridhar, Ashwin N; Briggs, Tim P; Kelly, John D; Nathan, Senthil

    2017-08-01

    There has been a rapid and widespread adoption of the robotic surgical system with a lag in the development of a comprehensive training and credentialing framework. A literature search on robotic surgical training techniques and benchmarks was conducted to provide an evidence-based road map for the development of a robotic surgical skills for the novice robotic surgeon. A structured training curriculum is suggested incorporating evidence-based training techniques and benchmarks for progress. This usually involves sequential progression from observation, case assisting, acquisition of basic robotic skills in the dry and wet lab setting along with achievement of individual and team-based non-technical skills, modular console training under supervision, and finally independent practice. Robotic surgical training must be based on demonstration of proficiency and safety in executing basic robotic skills and procedural tasks prior to independent practice.

  4. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  5. Characterization Of Robot Work Cell

    Science.gov (United States)

    Anderson, Ronald R.; Paternoster, Vincent Y.; Guthmiller, Wayne A.

    1990-01-01

    Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.

  6. Intuitive Robot Tasks with Augmented Reality and Virtual Obstacles

    OpenAIRE

    Gaschler, Andre;Springer, Maximilian;Rickert, Markus;Knoll, Alois

    2017-01-01

    Today's industrial robots require expert knowledge and are not profitable for small and medium sized enterprises with their small lot sizes. It is our strong belief that more intuitive robot programming in an augmented reality robot work cell can dramatically simplify re-programming and leverage robotics technology in short production cycles. In this paper, we present a novel augmented reality system for defining virtual obstacles, specifying tool positions, and specifying robot tasks. We eva...

  7. Materials and process engineering projects for the Sandia National Laboratories/Newly Independent States Industrial Partnering Program. Volume 2

    International Nuclear Information System (INIS)

    Zanner, F.J.; Moffatt, W.C.

    1995-07-01

    In July, 1994, a team of materials specialists from Sandia and US. Industry traveled to Russia and the Ukraine to select and fund projects in materials and process technology in support of the Newly Independent States/Industrial Partnering Program (NIS/IPP). All of the projects are collaborations with scientists and Engineers at NIS Institutes. Each project is scheduled to last one year, and the deliverables are formatted to supply US. Industry with information which will enable rational decisions to be made regarding the commercial value of these technologies. This work is an unedited interim compilation of the deliverables received to date

  8. Materials and process engineering projects for the Sandia National Laboratories/Newly Independent States Industrial Partnering Program. Volume 1

    Energy Technology Data Exchange (ETDEWEB)

    Zanner, F.J.; Moffatt, W.C.

    1995-07-01

    In July, 1994, a team of materials specialists from Sandia and U S Industry traveled to Russia and the Ukraine to select and fund projects in materials and process technology in support of the Newly Independent States/Industrial Partnering Program (NIS/IPP). All of the projects are collaborations with scientists and Engineers at NIS Institutes. Each project is scheduled to last one year, and the deliverables are formatted to supply US Industry with information which will enable rational decisions to be made regarding the commercial value of these technologies. This work is an unedited interim compilation of the deliverables received to date.

  9. Materials and process engineering projects for the Sandia National Laboratories/Newly Independent States Industrial Partnering Program. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    Zanner, F.J.; Moffatt, W.C.

    1995-07-01

    In July, 1994, a team of materials specialists from Sandia and US. Industry traveled to Russia and the Ukraine to select and fund projects in materials and process technology in support of the Newly Independent States/Industrial Partnering Program (NIS/IPP). All of the projects are collaborations with scientists and Engineers at NIS Institutes. Each project is scheduled to last one year, and the deliverables are formatted to supply US. Industry with information which will enable rational decisions to be made regarding the commercial value of these technologies. This work is an unedited interim compilation of the deliverables received to date.

  10. Using Python to Program LEGO MINDSTORMS® Robots: The PyNXC Project

    Directory of Open Access Journals (Sweden)

    2010-04-01

    Full Text Available

    LEGO MINDSTORMS® NXT (Lego Group, 2006 is a perfect platform for introducing programming concepts, and is generally targeted toward children from age 8-14.  The language which ships with the MINDSTORMS®, called NXTg, is a graphical language based on LabVIEW (Jeff Kodosky, 2010.  Although there is much value in graphical languages, such as LabVIEW, a text-based alternative can be targeted at an older audiences and serve as part of a more general introduction to modern computing.  Other languages, such as NXC (Not Exactly C (Hansen, 2010 and PbLua (Hempel, 2010, fit this description.  Here we introduce PyNXC, a subset of the Python language which can be used to program the NXT MINDSTORMS®.  We present results using PyNXC, comparisons with other languages, and some challenges and future possible extensions.


     

  11. Monitoring of good practices programs and independence for electricity and natural gas system operators - 2013-2014 report

    International Nuclear Information System (INIS)

    Monteil, Anne; Casadei, Cecile

    2014-12-01

    This report results from the analysis of 'reports on the implementation of good practices programs' transmitted to the CRE (the French Commission for energy regulation) at the beginning of 2014 by those in charge of operators compliance. The report is structured in two thematic files, completed by individual analyses of the situation of each operator. These thematic files respectively address the processing of claims by the different natural gas operators, and the processing by ERDF of requests of connection to the grid of renewable energy production installations in the South-West of France. For each operator, the analysis comprises an assessment of independence, and an assessment of the compliance with the good practice program by the operator. For these individual analyses, the report makes a distinction between distribution network operators (ERDF, GRDF, Electricite de Strasbourg, Geredis, SRD, URM, Regaz-Bordeaux, Reseau GDS) and transport network operators (RTE, GRTgaz, TIGF)

  12. Advanced robotics for decontamination and dismantlement

    International Nuclear Information System (INIS)

    Hamel, W.R.; Haley, D.C.

    1994-01-01

    The decontamination and dismantlement (D ampersand D) robotics technology application area of the US Department of Energy's Robotics Technology Development Program is explained and described. D ampersand D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given

  13. Robot welding process control

    Science.gov (United States)

    Romine, Peter L.

    1991-01-01

    This final report documents the development and installation of software and hardware for Robotic Welding Process Control. Primary emphasis is on serial communications between the CYRO 750 robotic welder, Heurikon minicomputer running Hunter & Ready VRTX, and an IBM PC/AT, for offline programming and control and closed-loop welding control. The requirements for completion of the implementation of the Rocketdyne weld tracking control are discussed. The procedure for downloading programs from the Intergraph, over the network, is discussed. Conclusions are made on the results of this task, and recommendations are made for efficient implementation of communications, weld process control development, and advanced process control procedures using the Heurikon.

  14. Content and face validity of a comprehensive robotic skills training program for general surgery, urology, and gynecology.

    Science.gov (United States)

    Dulan, Genevieve; Rege, Robert V; Hogg, Deborah C; Gilberg-Fisher, Kristine K; Tesfay, Seifu T; Scott, Daniel J

    2012-04-01

    The authors previously developed a comprehensive, proficiency-based robotic training curriculum that aimed to address 23 unique skills identified via task deconstruction of robotic operations. The purpose of this study was to determine the content and face validity of this curriculum. Expert robotic surgeons (n = 12) rated each deconstructed skill regarding relevance to robotic operations, were oriented to the curricular components, performed 3 to 5 repetitions on the 9 exercises, and rated each exercise. In terms of content validity, experts rated all 23 deconstructed skills as highly relevant (4.5 on a 5-point scale). Ratings for the 9 inanimate exercises indicated moderate to thorough measurement of designated skills. For face validity, experts indicated that each exercise effectively measured relevant skills (100% agreement) and was highly effective for training and assessment (4.5 on a 5-point scale). These data indicate that the 23 deconstructed skills accurately represent the appropriate content for robotic skills training and strongly support content and face validity for this curriculum. Copyright © 2012. Published by Elsevier Inc.

  15. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

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

  16. Coming to see objects of knowledge: Guiding student conceptualization through teacher embodied instruction in a robotics programming class

    Science.gov (United States)

    Kwah, Helen

    This thesis explores the questions of how a teacher guides students to see concepts, and the role of gesture and gesture viewpoints in mediating the process of guidance. To examine these questions, two sociocultural theoretical frameworks--Radford's cultural-semiotic theory of knowledge objectification (e.g., 2003), and Goldman's Points of Viewing theory (e.g., 2007)--were applied to conduct a microanalytic, explanatory case study of the instructional activity of an exemplary teacher and his students in a middle school robotics programming class. According to Radford, students acquire concepts as they draw upon semiotic resources such as language and gesture to generalize and objectify initially concrete perceptions and actions. I applied Radford's framework to explain the mediations that a teacher might enact in guiding students to objectify and see concepts. Furthermore, I focused on gesture as semiotic means because of emergent research on gesture's role in communicating the visuospatial imagery that underlies math/ scientific concepts. I extended the view of gestures to the viewpoints constructed in gesture, and applied Goldman's theory to explain how perspectives might be actively constructed and shared in the process of guiding student conceptualization. Data was collected over a semester through participant observation, field notes, teacher and student interviews, and reviews of artifacts. Multimodal microanalyses were conducted on video data from eight class sessions. The findings provide confirmations and some disconfirmations about the applicability of Radford's and Goldman's theories for explaining a teacher's process of guiding student conceptualization. Notably, some of Radford's notions about de-contextualization and symbolic generalizations were not confirmed. Overall, the findings are summarized through three themes including, grounding, and perceptual organizers as two ways that gesture and other means served to both index and identify action

  17. Hydraulic impact end effector final test report. Automation and robotics section, ER/WM-AT Program

    International Nuclear Information System (INIS)

    Couture, S.

    1994-01-01

    One tool being developed for dislodging and fragmenting the hard salt cake waste in the single-shell nuclear waste tanks at the Hanford Reservation near Richland, Washington, is the hydraulic impact end effector (HIEE). This total operates by discharging 11-in. slugs of water at ultrahigh pressures. The HIEE was designed, built, and initially tested in 1992. Work in 1993 included advanced developments of the HIEE to further investigate its fragmentation abilities and to determine more effective operating procedures. These tests showed that more fragmentation can be achieved by increasing the charge pressure of 40 kpsi to 55 kpsi and by the use of different operating procedures. The size of the material and the impact energy of the water slug fired from the HIEE are believed to be major factors in material fragmentation. The material's ability to fracture also appears to depend on the distance a fracture or crack line must travel to a free surface. Thus, larger material is more difficult to fracture than smaller material. Discharge pressures of 40 kpsi resulted in little penetration or fracturing of the material. At 55 kpsi, however, the size and depth of the fractures increased. Nozzle geometry had a significant effect on fragment size and quantity. Fragmentation was about an order of magnitude greater when the HIEE was discharged into drilled holes rather than onto the material surface. Since surface shots tend to create craters, a multi-shot procedure, coupled with an advanced nozzle design, was used to drill (crater) deep holes into large material. With this procedure, a 600-lb block was reduced to smaller pieces without the use of any additional equipment. Through this advanced development program, the HIEE has demonstrated that it can quickly fragment salt cake material into small, easily removable fragments. The HIEE's material fragmentation ability can be substantially increased through the use of different nozzle geometries and operating procedures

  18. Design and Programming for Cable-Driven Parallel Robots in the German Pavilion at the EXPO 2015

    Directory of Open Access Journals (Sweden)

    Philipp Tempel

    2015-08-01

    Full Text Available In the German Pavilion at the EXPO 2015, two large cable-driven parallel robots are flying over the heads of the visitors representing two bees flying over Germany and displaying everyday life in Germany. Each robot consists of a mobile platform and eight cables suspended by winches and follows a desired trajectory, which needs to be computed in advance taking technical limitations, safety considerations and visual aspects into account. In this paper, a path planning software is presented, which includes the design process from developing a robot design and workspace estimation via planning complex trajectories considering technical limitations through to exporting a complete show. For a test trajectory, simulation results are given, which display the relevant trajectories and cable force distributions.

  19. Clean-room robot implementation

    International Nuclear Information System (INIS)

    Comeau, J.L.

    1982-01-01

    A robot has been incorporated in a clean room operation in which vacuum tube parts are cleaned just prior to final assembly with a 60 lb/in 2 blast of argon gas. The robot is programmed to pick up the parts, manipulate/rotate them as necessary in the jet pattern and deposit them in a tray precleaned by the robot. A carefully studied implementation plan was followed in the procurement, installation, modification and programming of the robot facility. An unusual configuration of one tube part required a unique gripper design. A study indicated that the tube parts processed by the robot are 12% cleaner than those manually cleaned by an experienced operator

  20. Faster-than-real-time robot simulation for plan development and robot safety

    International Nuclear Information System (INIS)

    Crane, C.D. III; Dalton, R.; Ogles, J.; Tulenko, J.S.; Zhou, X.

    1990-01-01

    The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), 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 a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments

  1. Molecular Robots Obeying Asimov's Three Laws of Robotics.

    Science.gov (United States)

    Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

    2017-01-01

    Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

  2. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

  3. Monitoring of good practices programs and independence for electricity and natural gas system operators. Summary report 2011

    International Nuclear Information System (INIS)

    2012-07-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 7. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the year 2011. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in late 2011 and audits carried out by the CRE services in these companies in 2011. These elements were supplemented and clarified by many exchanges with the operators, in particular during the committee hearings that took place in spring 2012 with each network operator. This report is structured around four cross-cutting themes, supplemented by individual analyses of each operator's situation. The cross-cutting issues address communication and user's awareness of the network operators, the new compliance officer function, TSO certification and, finally, the results of the 'mystery shopper' telephone survey carried out by the CRE. The individual situations analysed were those of the eight DSOs serving over 100,000 customers (ERDF, ES, URM, SRD and Geredis-Deux-Sevres for electricity, GrDF, Regaz-Bordeaux and Reseau GDS for natural gas) and the three TSOs (RTE for electricity and GRTgaz and TIGF for natural gas)

  4. Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

    Science.gov (United States)

    Phillips, Warren F.

    1989-01-01

    The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

  5. Does a Wii-based exercise program enhance balance control of independently functioning older adults? A systematic review.

    Science.gov (United States)

    Laufer, Yocheved; Dar, Gali; Kodesh, Einat

    2014-01-01

    Exercise programs that challenge an individual's balance have been shown to reduce the risk of falls among older adults. Virtual reality computer-based technology that provides the user with opportunities to interact with virtual objects is used extensively for entertainment. There is a growing interest in the potential of virtual reality-based interventions for balance training in older adults. This work comprises a systematic review of the literature to determine the effects of intervention programs utilizing the Nintendo Wii console on balance control and functional performance in independently functioning older adults. STUDIES WERE OBTAINED BY SEARCHING THE FOLLOWING DATABASES: PubMed, CINAHL, PEDro, EMBASE, SPORTdiscus, and Google Scholar, followed by a hand search of bibliographic references of the included studies. Included were randomized controlled trials written in English in which Nintendo Wii Fit was used to enhance standing balance performance in older adults and compared with an alternative exercise treatment, placebo, or no treatment. Seven relevant studies were retrieved. The four studies examining the effect of Wii-based exercise compared with no exercise reported positive effects on at least one outcome measure related to balance performance in older adults. Studies comparing Wii-based training with alternative exercise programs generally indicated that the balance improvements achieved by Wii-based training are comparable with those achieved by other exercise programs. The review indicates that Wii-based exercise programs may serve as an alternative to more conventional forms of exercise aimed at improving balance control. However, due to the great variability between studies in terms of the intervention protocols and outcome measures, as well as methodological limitations, definitive recommendations as to optimal treatment protocols and the potential of such an intervention as a safe and effective home-based treatment cannot be made at this

  6. Does a Wii-based exercise program enhance balance control of independently functioning older adults? A systematic review

    Science.gov (United States)

    Laufer, Yocheved; Dar, Gali; Kodesh, Einat

    2014-01-01

    Background Exercise programs that challenge an individual’s balance have been shown to reduce the risk of falls among older adults. Virtual reality computer-based technology that provides the user with opportunities to interact with virtual objects is used extensively for entertainment. There is a growing interest in the potential of virtual reality-based interventions for balance training in older adults. This work comprises a systematic review of the literature to determine the effects of intervention programs utilizing the Nintendo Wii console on balance control and functional performance in independently functioning older adults. Methods Studies were obtained by searching the following databases: PubMed, CINAHL, PEDro, EMBASE, SPORTdiscus, and Google Scholar, followed by a hand search of bibliographic references of the included studies. Included were randomized controlled trials written in English in which Nintendo Wii Fit was used to enhance standing balance performance in older adults and compared with an alternative exercise treatment, placebo, or no treatment. Results Seven relevant studies were retrieved. The four studies examining the effect of Wii-based exercise compared with no exercise reported positive effects on at least one outcome measure related to balance performance in older adults. Studies comparing Wii-based training with alternative exercise programs generally indicated that the balance improvements achieved by Wii-based training are comparable with those achieved by other exercise programs. Conclusion The review indicates that Wii-based exercise programs may serve as an alternative to more conventional forms of exercise aimed at improving balance control. However, due to the great variability between studies in terms of the intervention protocols and outcome measures, as well as methodological limitations, definitive recommendations as to optimal treatment protocols and the potential of such an intervention as a safe and effective home

  7. The Maiden Voyage of a Kinematics Robot

    Science.gov (United States)

    Greenwolfe, Matthew L.

    2015-04-01

    In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

  8. Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

  9. Robotic assistants in personal care: A scoping review.

    Science.gov (United States)

    Bilyea, A; Seth, N; Nesathurai, S; Abdullah, H A

    2017-11-01

    The aim of this study is to present an overview of the technological advances in the field of robotics developed for assistance with activities of daily living (ADL), and to present areas where further research is required. Four databases were searched for articles presenting either a novel design of one of these personal care robotic system or trial results relating to these systems. Articles presenting nine different robotic personal care systems were examined, six of which had been developed after 2005. These six also all have publications relating to their trials. In the majority of trials, patient independence was improved with operation of the robotic device for a specific subset of ADL. A map of the current state of the field of personal care robotics is presented in this study. Areas requiring further research include improving feedback and awareness, as well as refining control methods and pre-programmed behaviors. Developing an affordable, easy to use system would help fill the current gap in the commercial market. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

  10. Mathematics and "Lego" Robots

    Science.gov (United States)

    Hansen, Janus Halkier; Traeholt, Rune

    2007-01-01

    For the last four years, Soenderholm School, near the town of Aalborg, Northjutland, Denmark, has had an optional subject in the seventh grade called First "Lego" League (FLL). FLL is an international contest which aims to advance pupils' scientific interest. The task is for participants to build and program a "Lego" robot able…

  11. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  12. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  13. A New Conflict Resolution Method for Multiple Mobile Robots in Cluttered Environments With Motion-Liveness.

    Science.gov (United States)

    Shahriari, Mohammadali; Biglarbegian, Mohammad

    2018-01-01

    This paper presents a new conflict resolution methodology for multiple mobile robots while ensuring their motion-liveness, especially for cluttered and dynamic environments. Our method constructs a mathematical formulation in a form of an optimization problem by minimizing the overall travel times of the robots subject to resolving all the conflicts in their motion. This optimization problem can be easily solved through coordinating only the robots' speeds. To overcome the computational cost in executing the algorithm for very cluttered environments, we develop an innovative method through clustering the environment into independent subproblems that can be solved using parallel programming techniques. We demonstrate the scalability of our approach through performing extensive simulations. Simulation results showed that our proposed method is capable of resolving the conflicts of 100 robots in less than 1.23 s in a cluttered environment that has 4357 intersections in the paths of the robots. We also developed an experimental testbed and demonstrated that our approach can be implemented in real time. We finally compared our approach with other existing methods in the literature both quantitatively and qualitatively. This comparison shows while our approach is mathematically sound, it is more computationally efficient, scalable for very large number of robots, and guarantees the live and smooth motion of robots.

  14. 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

  15. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  16. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  17. Social Robots

    DEFF Research Database (Denmark)

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

  18. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  19. Joint Robotics Program

    National Research Council Canada - National Science Library

    Brown, Joel; Varian, Paul

    2008-01-01

    ..., then automobiles, airplanes, and rockets -- logistics too has progressed over the years: focusing first on Mass-based Supply, then Just-in-Time Supply Chain Management, and now on Sense and Respond logistics...

  20. Joint Robotics Program

    National Research Council Canada - National Science Library

    Brown, Joel; Varian, Paul

    2008-01-01

    .... Much like human transportation history evolution -- beginning first with people walking or running from point a to point b, followed by thousands of years being transported by real horse power...

  1. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  2. A user-friendly robotic sample preparation program for fully automated biological sample pipetting and dilution to benefit the regulated bioanalysis.

    Science.gov (United States)

    Jiang, Hao; Ouyang, Zheng; Zeng, Jianing; Yuan, Long; Zheng, Naiyu; Jemal, Mohammed; Arnold, Mark E

    2012-06-01

    Biological sample dilution is a rate-limiting step in bioanalytical sample preparation when the concentrations of samples are beyond standard curve ranges, especially when multiple dilution factors are needed in an analytical run. We have developed and validated a Microsoft Excel-based robotic sample preparation program (RSPP) that automatically transforms Watson worklist sample information (identification, sequence and dilution factor) to comma-separated value (CSV) files. The Freedom EVO liquid handler software imports and transforms the CSV files to executable worklists (.gwl files), allowing the robot to perform sample dilutions at variable dilution factors. The dynamic dilution range is 1- to 1000-fold and divided into three dilution steps: 1- to 10-, 11- to 100-, and 101- to 1000-fold. The whole process, including pipetting samples, diluting samples, and adding internal standard(s), is accomplished within 1 h for two racks of samples (96 samples/rack). This platform also supports online sample extraction (liquid-liquid extraction, solid-phase extraction, protein precipitation, etc.) using 96 multichannel arms. This fully automated and validated sample dilution and preparation process has been applied to several drug development programs. The results demonstrate that application of the RSPP for fully automated sample processing is efficient and rugged. The RSPP not only saved more than 50% of the time in sample pipetting and dilution but also reduced human errors. The generated bioanalytical data are accurate and precise; therefore, this application can be used in regulated bioanalysis.

  3. System for exchanging tools and end effectors on a robot

    International Nuclear Information System (INIS)

    Burry, D.B.; Williams, P.M.

    1991-01-01

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot. 12 figures

  4. [Robot-assisted pancreatic resection].

    Science.gov (United States)

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

    2017-06-01

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

  5. Three Independent Evaluations of Healthy Kids Programs Find Substantial Gains in Children's Dental Health Care. In Brief, September 2008, Number 2

    Science.gov (United States)

    Hughes, Dana; Howell, Embry; Trenholm, Christopher; Hill, Ian; Dubay, Lisa

    2008-01-01

    This brief presents highlights from rigorous, independent evaluations of the Healthy Kids programs in three California counties: Los Angeles, San Mateo, and Santa Clara. Launched by Children's Health Initiatives (CHIs) in these counties between 2001 and 2003, the three Healthy Kids programs provide children with comprehensive health insurance…

  6. MATHEMATICAL MODEL MANIPULATOR ROBOTS

    Directory of Open Access Journals (Sweden)

    O. N. Krakhmalev

    2015-12-01

    Full Text Available A mathematical model to describe the dynamics of manipulator robots. Mathematical model are the implementation of the method based on the Lagrange equation and using the transformation matrices of elastic coordinates. Mathematical model make it possible to determine the elastic deviations of manipulator robots from programmed motion trajectories caused by elastic deformations in hinges, which are taken into account in directions of change of the corresponding generalized coordinates. Mathematical model is approximated and makes it possible to determine small elastic quasi-static deviations and elastic vibrations. The results of modeling the dynamics by model are compared to the example of a two-link manipulator system. The considered model can be used when performing investigations of the mathematical accuracy of the manipulator robots.

  7. Human-Robot Interaction

    Science.gov (United States)

    Rochlis-Zumbado, Jennifer; Sandor, Aniko; Ezer, Neta

    2012-01-01

    Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

  8. Does a Wii-based exercise program enhance balance control of independently functioning older adults? A systematic review

    Directory of Open Access Journals (Sweden)

    Laufer Y

    2014-10-01

    Full Text Available Yocheved Laufer, Gali Dar, Einat Kodesh Physical Therapy Department, Faculty of Social Welfare and Health Sciences, University of Haifa, Haifa, Israel Background: Exercise programs that challenge an individual’s balance have been shown to reduce the risk of falls among older adults. Virtual reality computer-based technology that provides the user with opportunities to interact with virtual objects is used extensively for entertainment. There is a growing interest in the potential of virtual reality-based interventions for balance training in older adults. This work comprises a systematic review of the literature to determine the effects of intervention programs utilizing the Nintendo Wii console on balance control and functional performance in independently functioning older adults.Methods: Studies were obtained by searching the following databases: PubMed, CINAHL, PEDro, EMBASE, SPORTdiscus, and Google Scholar, followed by a hand search of bibliographic references of the included studies. Included were randomized controlled trials written in English in which Nintendo Wii Fit was used to enhance standing balance performance in older adults and compared with an alternative exercise treatment, placebo, or no treatment.Results: Seven relevant studies were retrieved. The four studies examining the effect of Wii-based exercise compared with no exercise reported positive effects on at least one outcome measure related to balance performance in older adults. Studies comparing Wii-based training with alternative exercise programs generally indicated that the balance improvements achieved by Wii-based training are comparable with those achieved by other exercise programs.Conclusion: The review indicates that Wii-based exercise programs may serve as an alternative to more conventional forms of exercise aimed at improving balance control. However, due to the great variability between studies in terms of the intervention protocols and outcome measures, as

  9. SU-E-T-50: A Multi-Institutional Study of Independent Dose Verification Software Program for Lung SBRT

    International Nuclear Information System (INIS)

    Kawai, D; Takahashi, R; Kamima, T; Baba, H; Yamamoto, T; Kubo, Y; Ishibashi, S; Higuchi, Y; Takahashi, H; Tachibana, H

    2015-01-01

    Purpose: The accuracy of dose distribution depends on treatment planning system especially in heterogeneity-region. The tolerance level (TL) of the secondary check using the independent dose verification may be variable in lung SBRT plans. We conducted a multi-institutional study to evaluate the tolerance level of lung SBRT plans shown in the AAPM TG114. Methods: Five institutes in Japan participated in this study. All of the institutes used a same independent dose verification software program (Simple MU Analysis: SMU, Triangle Product, Ishikawa, JP), which is Clarkson-based and CT images were used to compute radiological path length. Analytical Anisotropic Algorithm (AAA), Pencil Beam Convolution with modified Batho-method (PBC-B) and Adaptive Convolve (AC) were used for lung SBRT planning. A measurement using an ion-chamber was performed in a heterogeneous phantom to compare doses from the three different algorithms and the SMU to the measured dose. In addition to it, a retrospective analysis using clinical lung SBRT plans (547 beams from 77 patients) was conducted to evaluate the confidence limit (CL, Average±2SD) in dose between the three algorithms and the SMU. Results: Compared to the measurement, the AAA showed the larger systematic dose error of 2.9±3.2% than PBC-B and AC. The Clarkson-based SMU showed larger error of 5.8±3.8%. The CLs for clinical plans were 7.7±6.0 % (AAA), 5.3±3.3 % (AC), 5.7±3.4 % (PBC -B), respectively. Conclusion: The TLs from the CLs were evaluated. A Clarkson-based system shows a large systematic variation because of inhomogeneous correction. The AAA showed a significant variation. Thus, we must consider the difference of inhomogeneous correction as well as the dependence of dose calculation engine

  10. SU-E-T-50: A Multi-Institutional Study of Independent Dose Verification Software Program for Lung SBRT

    Energy Technology Data Exchange (ETDEWEB)

    Kawai, D [Kanagawa Cancer Center, Yokohama, Kanagawa-prefecture (Japan); Takahashi, R; Kamima, T [The Cancer Institute Hospital of JFCR, Koutou-ku, Tokyo (Japan); Baba, H [The National Cancer Center Hospital East, Kashiwa-city, Chiba prefecture (Japan); Yamamoto, T; Kubo, Y [Otemae Hospital, Chuou-ku, Osaka-city (Japan); Ishibashi, S; Higuchi, Y [Sasebo City General Hospital, Sasebo, Nagasaki (Japan); Takahashi, H [St Lukes International Hospital, Chuou-ku, Tokyo (Japan); Tachibana, H [National Cancer Center Hospital East, Kashiwa, Chiba (Japan)

    2015-06-15

    Purpose: The accuracy of dose distribution depends on treatment planning system especially in heterogeneity-region. The tolerance level (TL) of the secondary check using the independent dose verification may be variable in lung SBRT plans. We conducted a multi-institutional study to evaluate the tolerance level of lung SBRT plans shown in the AAPM TG114. Methods: Five institutes in Japan participated in this study. All of the institutes used a same independent dose verification software program (Simple MU Analysis: SMU, Triangle Product, Ishikawa, JP), which is Clarkson-based and CT images were used to compute radiological path length. Analytical Anisotropic Algorithm (AAA), Pencil Beam Convolution with modified Batho-method (PBC-B) and Adaptive Convolve (AC) were used for lung SBRT planning. A measurement using an ion-chamber was performed in a heterogeneous phantom to compare doses from the three different algorithms and the SMU to the measured dose. In addition to it, a retrospective analysis using clinical lung SBRT plans (547 beams from 77 patients) was conducted to evaluate the confidence limit (CL, Average±2SD) in dose between the three algorithms and the SMU. Results: Compared to the measurement, the AAA showed the larger systematic dose error of 2.9±3.2% than PBC-B and AC. The Clarkson-based SMU showed larger error of 5.8±3.8%. The CLs for clinical plans were 7.7±6.0 % (AAA), 5.3±3.3 % (AC), 5.7±3.4 % (PBC -B), respectively. Conclusion: The TLs from the CLs were evaluated. A Clarkson-based system shows a large systematic variation because of inhomogeneous correction. The AAA showed a significant variation. Thus, we must consider the difference of inhomogeneous correction as well as the dependence of dose calculation engine.

  11. Robotics Team Lights Up New Year's Eve

    Science.gov (United States)

    LeBlanc, Cheryl

    2011-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Ali Abdel Raheem

    2017-04-01

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

  13. Space Robotics Challenge

    Data.gov (United States)

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

  14. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  15. Robotic surgery

    Science.gov (United States)

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

  16. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  17. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  18. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  19. Easy Reconfiguration of Modular Industrial Collaborative Robots

    DEFF Research Database (Denmark)

    Schou, Casper

    2016-01-01

    the production staff collaborating to perform common tasks. This change of environment imposes a much more dynamic lifecycle for the robot which consequently requires new ways of interacting. This thesis investigates how the changeover to a new task on a collaborative robot can be performed by the shop floor...... operators already working alongside the robot. To effectively perform this changeover, the operator must both reconfigure the hardware of the robot and reprogram the robot to match the new task. To enable shop floor operators to quickly and intuitively program the robot, this thesis proposes the use...... of parametric, task-related robot skills with a manual parameterization method. Reconfiguring the hardware entails adding, removing, or modifying some of the robot’s components. This thesis investigate how software configurator tools can aid the operator in selecting appropriate hardware modules, and how agent...

  20. Robotic Software Integration Using MARIE

    Directory of Open Access Journals (Sweden)

    Carle Côté

    2006-03-01

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

  1. CANINE: a robotic mine dog

    Science.gov (United States)

    Stancil, Brian A.; Hyams, Jeffrey; Shelley, Jordan; Babu, Kartik; Badino, Hernán.; Bansal, Aayush; Huber, Daniel; Batavia, Parag

    2013-01-01

    Neya Systems, LLC competed in the CANINE program sponsored by the U.S. Army Tank Automotive Research Development and Engineering Center (TARDEC) which culminated in a competition held at Fort Benning as part of the 2012 Robotics Rodeo. As part of this program, we developed a robot with the capability to learn and recognize the appearance of target objects, conduct an area search amid distractor objects and obstacles, and relocate the target object in the same way that Mine dogs and Sentry dogs are used within military contexts for exploration and threat detection. Neya teamed with the Robotics Institute at Carnegie Mellon University to develop vision-based solutions for probabilistic target learning and recognition. In addition, we used a Mission Planning and Management System (MPMS) to orchestrate complex search and retrieval tasks using a general set of modular autonomous services relating to robot mobility, perception and grasping.

  2. Stable expression of lipocalin-type prostaglandin D synthase in cultured preadipocytes impairs adipogenesis program independently of endogenous prostanoids

    Energy Technology Data Exchange (ETDEWEB)

    Hossain, Mohammad Salim; Chowdhury, Abu Asad; Rahman, Mohammad Sharifur [Department of Life Science and Biotechnology, Shimane University, 1060 Nishikawatsu-cho, Matsue, Shimane 690-8504 (Japan); Nishimura, Kohji [Department of Molecular and Functional Genomics, Center for Integrated Research in Science, Shimane University, 1060 Nishikawatsu-cho, Matsue, Shimane 690-8504 (Japan); Jisaka, Mitsuo; Nagaya, Tsutomu [Department of Life Science and Biotechnology, Shimane University, 1060 Nishikawatsu-cho, Matsue, Shimane 690-8504 (Japan); Shono, Fumiaki [Department of Clinical Pharmacy, Faculty of Pharmaceutical Sciences, Tokushima Bunri University, 180 Yamashiro-cho, Tokushima-shi, Tokushima 770-8514 (Japan); Yokota, Kazushige, E-mail: yokotaka@life.shimane-u.ac.jp [Department of Life Science and Biotechnology, Shimane University, 1060 Nishikawatsu-cho, Matsue, Shimane 690-8504 (Japan)

    2012-02-15

    . -- Highlights: Black-Right-Pointing-Pointer Cultured preadipocytes were transfected with sense lipocalin-type PGD synthase. Black-Right-Pointing-Pointer The cloned transfectants had a higher ability to synthesize PGD{sub 2} and PGJ{sub 2} series. Black-Right-Pointing-Pointer The sustained expression of sense L-PGDS hampered the storage of fats. Black-Right-Pointing-Pointer Adipogenesis program was suppressed independently of endogenous prostanoids.

  3. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

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

  4. Modelling cooperation of industrial robots as multi-agent systems

    Science.gov (United States)

    Hryniewicz, P.; Banas, W.; Foit, K.; Gwiazda, A.; Sekala, A.

    2017-08-01

    Nowadays, more and more often in a cell is more than one robot, there is also a dual arm robots, because of this cooperation of two robots in the same space becomes more and more important. Programming robotic cell consisting of two or more robots are currently performed separately for each element of the robot and the cell. It is performed only synchronization programs, but no robot movements. In such situations often placed industrial robots so they do not have common space so the robots are operated separately. When industrial robots are a common space this space can occupy only one robot the other one must be outside the common space. It is very difficult to find applications where two robots are in the same workspace. It was tested but one robot did not do of movement when moving the second and waited for permission to move from the second when it sent a permit - stop the move. Such programs are very difficult and require a lot of experience from the programmer and must be tested separately at the beginning and then very slowly under control. Ideally, the operator takes care of exactly one robot during the test and it is very important to take special care.

  5. Dynamic photogrammetric calibration of industrial robots

    Science.gov (United States)

    Maas, Hans-Gerd

    1997-07-01

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

  6. Robotics to Enable Older Adults to Remain Living at Home

    OpenAIRE

    Pearce, Alan J.; Adair, Brooke; Miller, Kimberly; Ozanne, Elizabeth; Said, Catherine; Santamaria, Nick; Morris, Meg E.

    2012-01-01

    Given the rapidly ageing population, interest is growing in robots to enable older people to remain living at home. We conducted a systematic review and critical evaluation of the scientific literature, from 1990 to the present, on the use of robots in aged care. The key research questions were as follows: (1) what is the range of robotic devices available to enable older people to remain mobile, independent, and safe? and, (2) what is the evidence demonstrating that robotic devices are effec...

  7. Attitudes and reactions to a healthcare robot.

    Science.gov (United States)

    Broadbent, Elizabeth; Kuo, I Han; Lee, Yong In; Rabindran, Joel; Kerse, Ngaire; Stafford, Rebecca; MacDonald, Bruce A

    2010-06-01

    The use of robots in healthcare is a new concept. The public's perception and acceptance is not well understood. The objective was to investigate the perceptions and emotions toward the utilization of healthcare robots among individuals over 40 years of age, investigate factors contributing to acceptance, and evaluate differences in blood pressure checks taken by a robot and a medical student. Fifty-seven (n = 57) adults aged over 40 years and recruited from local general practitioner or gerontology group lists participated in two cross-sectional studies. The first was an open-ended questionnaire assessing perceptions of robots. In the second study, participants had their blood pressure taken by a medical student and by a robot. Patient comfort with each encounter, perceived accuracy of each measurement, and the quality of the patient interaction were studied in each case. Readings were compared by independent t-tests and regression analyses were conducted to predict quality ratings. Participants' perceptions about robots were influenced by their prior exposure to robots in literature or entertainment media. Participants saw many benefits and applications for healthcare robots, including simple medical procedures and physical assistance, but had some concerns about reliability, safety, and the loss of personal care. Blood pressure readings did not differ between the medical student and robot, but participants felt more comfortable with the medical student and saw the robot as less accurate. Although age and sex were not significant predictors, individuals who held more positive initial attitudes and emotions toward robots rated the robot interaction more favorably. Many people see robots as having benefits and applications in healthcare but some have concerns. Individual attitudes and emotions regarding robots in general are likely to influence future acceptance of their introduction into healthcare processes.

  8. The Canadian Space Agency, Space Station, Strategic Technologies for Automation and Robotics Program technology development activity in protection of materials from the low Earth orbit space environment

    Science.gov (United States)

    Francoeur, J. R.

    1992-01-01

    The Strategic Technologies in Automation and Robotics (STEAR) program is managing a number of development contracts to improve the protection of spacecraft materials from the Low Earth Orbit (LEO) space environment. The project is structured in two phases over a 3 to 4 year period with a budget of 3 to 4 million dollars. Phase 1 is designed to demonstrate the technical feasibility and commercial potential of a coating/substrate system and its associated application process. The objective is to demonstrate a prototype fabrication capability using a full scale component of a commercially viable process for the protection of materials and surface finishes from the LEO space environment, and to demonstrate compliance with a set of performance requirements. Only phase 1 will be discussed in this paper.

  9. ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

    Directory of Open Access Journals (Sweden)

    Oliver Faust

    2016-09-01

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

  10. Teaching Functional Patterns through Robotic Applications

    Directory of Open Access Journals (Sweden)

    J. Boender

    2016-11-01

    Full Text Available We present our approach to teaching functional programming to First Year Computer Science students at Middlesex University through projects in robotics. A holistic approach is taken to the curriculum, emphasising the connections between different subject areas. A key part of the students' learning is through practical projects that draw upon and integrate the taught material. To support these, we developed the Middlesex Robotic plaTfOrm (MIRTO, an open-source platform built using Raspberry Pi, Arduino, HUB-ee wheels and running Racket (a LISP dialect. In this paper we present the motivations for our choices and explain how a number of concepts of functional programming may be employed when programming robotic applications. We present some students' work with robotics projects: we consider the use of robotics projects to have been a success, both for their value in reinforcing students' understanding of programming concepts and for their value in motivating the students.

  11. Soft Robotics Week

    CERN Document Server

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

    2017-01-01

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

  12. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  13. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  14. Prolegomena to Social Robotics

    DEFF Research Database (Denmark)

    Nørskov, Marco

    2011-01-01

    and some incipient philosophical inquiries have been directed to ethical questions pertaining to the particularities of first applications. In these first public and academic explorations of the nature of human-robot interaction in the ‘Western’ discussion context, certain fundamental tenets....... The dissertation consists of four essays, which are written for independent publication but are topically strongly interrelated. Each essay challenges our conceptualizations with respect to robots from a different perspective, bringing into focus four central issues of the current debate. The first essay addresses...... the foundational assumptions of classificatory knowledge, presenting a new angle on the problem of discrimination. The second essay traces public worries about human degradation to the philosophical foundations of public conceptions of freedom and human dignity; it discusses the dialectics of ‘lordship and bondage...

  15. Generic robot architecture

    Science.gov (United States)

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

    2010-09-21

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

  16. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  17. Laboratory experiments in mobile robot navigation

    International Nuclear Information System (INIS)

    Kar, Asim; Pal, Prabir K.

    1997-01-01

    Mobile robots have potential applications in remote surveillance and operation in hazardous areas. To be effective, they must have the ability to navigate on their own to desired locations. Several experimental navigational runs of a mobile robot developed have been conducted. The robot has three wheels of which the front wheel is steered and the hind wheels are driven. The robot is equipped with an ultrasonic range sensor, which is turned around to get range data in all directions. The range data is fed to the input of a neural net, whose output steers the robot towards the goal. The robot is powered by batteries (12V 10Ah). It has an onboard stepper motor controller for driving the wheels and the ultrasonic setup. It also has an onboard computer which runs the navigation program NAV. This program sends the range data and configuration parameters to the operator''s console program OCP, running on a stationary PC, through radio communication on a serial line. Through OCP, an operator can monitor the progress of the robot from a distant control room and intervene if necessary. In this paper the control modules of the mobile robot, its ways of operation and also results of some of the experimental runs recorded are reported. It is seen that the trained net guides the mobile robot through gaps of 1m and above to its destination with about 84% success measured over a small sample of 38 runs

  18. Humanoid Robots in the Classroom

    DEFF Research Database (Denmark)

    Majgaard, Gunver

    2015-01-01

    Humanoid robots have been used as educational tools in primary and lower secondary schools. The students involved were between 11 and 16 years old. The learning goals included: programming, language learning, ethics, technology and mathematics, e.g. practised by 7th grade students who programmed...

  19. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

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

  20. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  1. Service Robots

    DEFF Research Database (Denmark)

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

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

  2. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  3. The Virtual Robotics Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Love, L.J.

    1999-09-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory secondary education programs. In the past, the ORNL Robotics and Process Systems Division has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics. but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his/her students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations.

  4. The Virtual Robotics Laboratory

    International Nuclear Information System (INIS)

    Kress, R.L.; Love, L.J.

    1997-01-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory equipment to outside universities, industrial researchers, and elementary and secondary education programs. In the past, the ORNL Robotics and Process Systems Division (RPSD) has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics, but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations

  5. Preparing for a "Next Generation" Evaluation of Independent Living Programs for Youth in Foster Care: Project Overview. OPRE Report No. 2014-71

    Science.gov (United States)

    McDaniel, Marla; Courtney, Mark E.; Pergamit, Michael R.; Lowenstein, Christopher

    2014-01-01

    Youth transitioning out of foster care and into adulthood need multiple supports to navigate the challenges they face. Over the past three decades, federal child welfare policy has significantly increased the availability of those supports. In 1999, the Chafee Foster Care Independence Program was created, increasing the amount of funds potentially…

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

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

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

  7. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

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

    1988-12-01

    The object of this project is to develop a multiprocessor system which is essential to robot technology. A multiprocessor system interconnecting many single board computer is much faster and flexible than a single processor. The developed multiprocessor will be used to control nuclear mobile robot, so a loosely coupled system is adopted as a robot controller. A total configuration of controller is divided into three main parts in related with its function. It is consisted of supervisory control part, functional control part, remote control part. The designed control system is to be expanded easily for further use with a modular architecture, so the functional independency within sub-systems can be obtained throughout the system structure. Electromagnetic interference affecting to the control system is minimized by using optical fiber as communication media between robot and control system. System performances is enhanced not only by using distributed architecture in hardware, but by adopting real-time, multi-tasking operating system in software. The iRMX86 OS is used and reconfigured for real-time, multi-tasking operation. RS-485 serial communication protocol is used between functional control part and remote control part. Since the developed multiprocessor control system is an essential and fundamental technology for artificial intelligent robot, the result of this project can be applied directly to nuclear mobile robot. (Author)

  8. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  9. Robotics Algorithms Provide Nutritional Guidelines

    Science.gov (United States)

    2009-01-01

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

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

    African Journals Online (AJOL)

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

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

    DEFF Research Database (Denmark)

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

    2015-01-01

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

  12. Robotics for Computer Scientists: What's the Big Idea?

    Science.gov (United States)

    Touretzky, David S.

    2013-01-01

    Modern robots, like today's smartphones, are complex devices with intricate software systems. Introductory robot programming courses must evolve to reflect this reality, by teaching students to make use of the sophisticated tools their robots provide rather than reimplementing basic algorithms. This paper focuses on teaching with Tekkotsu, an open…

  13. Robots Are Taking Over--Who Does What.

    Science.gov (United States)

    Garrison, H. Don

    Robots are machines designed to replace human labor. A fear of vast unemployment due to robots seems unfounded, however, since industrialization creates many more jobs and automation requires technologists to build, program, maintain, and operate sophisticated equipment. Robots possess an intelligence unit, a manipulator, and an end effector.…

  14. Monitoring of good practices programs and independence for electricity and natural gas system operators in 2015 and 2016. Follow-up report, January 2017

    International Nuclear Information System (INIS)

    2017-01-01

    Electricity and natural gas transmission system operators (TSO) and distribution system operators (DSO) are regulated operators that provide public service functions for the benefit of the network users and the consumers they serve. Accordingly, European and French law requires that they be under independent and nondiscriminatory obligations. In particular, they must develop a good practices program which includes a range of measures to prevent the risk of discriminatory practices in network access. Pursuant to Article L.134-15 of the Energy Code, the Energy Regulatory Commission (CRE) is publishing this year its 10. annual report on the monitoring of good practices programs and independence for electricity and natural gas system operators for the 2015-2016 period. This report is based on analysis of the 'reports on the implementation of good practices programs' submitted to the CRE by the operators in 2015-2016 and audits carried out by the CRE services in these companies during the same period

  15. Towards Real-Time Distributed Planning in Multi-Robot Systems

    KAUST Repository

    Abdelkader, Mohamed

    2018-04-01

    Recently, there has been an increasing interest in robotics related to multi-robot applications. Such systems can be involved in several tasks such as collaborative search and rescue, aerial transportation, surveillance, and monitoring, to name a few. There are two possible architectures for the autonomous control of multi-robot systems. In the centralized architecture, a master controller communicates with all the robots to collect information. It uses this information to make decisions for the entire system and then sends commands to each robot. In contrast, in the distributed architecture, each robot makes its own decision independent from a central authority. While distributed architecture is a more portable solution, it comes at the expense of extensive information exchange (communication). The extensive communication between robots can result in decision delays because of which distributed architecture is often impractical for systems with strict real-time constraints, e.g. when decisions have to be taken in the order of milliseconds. In this thesis, we propose a distributed framework that strikes a balance between limited communicated information and reasonable system-wide performance while running in real-time. We implement the proposed approach in a game setting of two competing teams of drones, defenders and attackers. Defending drones execute a proposed linear program algorithm (using only onboard computing modules) to obstruct attackers from infiltrating a defense zone while having minimal local message passing. Another main contribution is that we developed a realistic simulation environment as well as lab and outdoor hardware setups of customized drones for testing the system in realistic scenarios. Our software is completely open-source and fully integrated with the well-known Robot Operating System (ROS) in hopes to make our work easily reproducible and for rapid future improvements.

  16. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

  17. Modelling reversible execution of robotic assembly

    DEFF Research Database (Denmark)

    Laursen, Johan Sund; Ellekilde, Lars Peter; Schultz, Ulrik Pagh

    2018-01-01

    Programming robotic assembly for industrial small-batch production is challenging; hence, it is vital to increase robustness and reduce development effort in order to achieve flexible robotic automation. A human who has made an assembly error will often simply undo the process until the error is ...

  18. Interoperability of Standards for Robotics in CIME

    DEFF Research Database (Denmark)

    Sørensen, Torben

    1996-01-01

    geometry, kinematics, robotics, dynamics, and control, hence on a coherent neutral information model of the process chain from design to manufacturing. The second main goal was to increase the accuracy of off-line programmed robots. The results were demonstrated in industrial applications....

  19. A concept of distributed architecture for maintenance robot systems

    International Nuclear Information System (INIS)

    Asama, Hajime

    1990-01-01

    Aiming at development of a robot system for maintenance tasks in nuclear power plants, a concept of distributed architecture for autonomous robot systems is discussed. At first, based on investigation of maintenance tasks, requirements for maintenance robots are introduced, and structures to realize multi-functions are discussed. Then, as a new design strategy of maintenance robot system, an autonomous and decentralized robot systems is proposed, which is composed of multiple robots, computers, and equipments, and concept of ACTRESS (ACTor-based Robots and Equipments Synthetic System) including communication framework between robotic components is designed. Finally, as a model of ACTRESS, a experimental system is developed, which deals with object-pushing tasks by two micromice and an environment modeler with communicating with each other. Both of parallel independent motion and cooperative motion based on communication is reconciled, and the efficiency of the distributed architecture is verified. (author)

  20. Modeling and Control of Collaborative Robot System using Haptic Feedback

    Directory of Open Access Journals (Sweden)

    Vivekananda Shanmuganatha

    2017-08-01

    Full Text Available When two robot systems can share understanding using any agreed knowledge, within the constraints of the system’s communication protocol, the approach may lead to a common improvement. This has persuaded numerous new research inquiries in human-robot collaboration. We have built up a framework prepared to do independent following and performing table-best protest object manipulation with humans and we have actualized two different activity models to trigger robot activities. The idea here is to explore collaborative systems and to build up a plan for them to work in a collaborative environment which has many benefits to a single more complex system. In the paper, two robots that cooperate among themselves are constructed. The participation linking the two robotic arms, the torque required and parameters are analyzed. Thus the purpose of this paper is to demonstrate a modular robot system which can serve as a base on aspects of robotics in collaborative robots using haptics.

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  2. Historical Trends of Participation of Women Scientists in Robotic Spacecraft Mission Science Teams: Effect of Participating Scientist Programs

    Science.gov (United States)

    Rathbun, Julie A.; Castillo-Rogez, Julie; Diniega, Serina; Hurley, Dana; New, Michael; Pappalardo, Robert T.; Prockter, Louise; Sayanagi, Kunio M.; Schug, Joanna; Turtle, Elizabeth P.; Vasavada, Ashwin R.

    2016-10-01

    Many planetary scientists consider involvement in a robotic spacecraft mission the highlight of their career. We have searched for names of science team members and determined the percentage of women on each team. We have limited the lists to members working at US institutions at the time of selection. We also determined the year each team was selected. The gender of each team member was limited to male and female and based on gender expression. In some cases one of the authors knew the team member and what pronouns they use. In other cases, we based our determinations on the team member's name or photo (obtained via a google search, including institution). Our initial analysis considered 22 NASA planetary science missions over a period of 41 years and only considered NASA-selected PI and Co-Is and not participating scientists, postdocs, or graduate students. We found that there has been a dramatic increase in participation of women on spacecraft science teams since 1974, from 0-2% in the 1970s - 1980s to an average of 14% 2000-present. This, however, is still lower than the recent percentage of women in planetary science, which 3 different surveys found to be ~25%. Here we will present our latest results, which include consideration of participating scientists. As in the case of PIs and Co-Is, we consider only participating scientists working at US institutions at the time of their selection.

  3. AAL robotics: state of the field and challenges.

    Science.gov (United States)

    Payr, Sabine; Werner, Franz; Werner, Katharina

    2015-01-01

    The field of "AAL Robotics", combining AAL and robotics as disciplines, has not yet been precisely defined and does not present accepted structures and concepts that would allow to communicate unequivocally its methods, projects, and approaches. The paper presents a method of defining and categorizing AAL robots and presents the resulting classes of robots with regard to the activities they assist. The classification is useful in that it is able to cover the breadth of the field, but a more fine-grained description of functionalities will be needed in further research to establish the potential of robots to assist independent living of older adults.

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

    Science.gov (United States)

    Habib, Maria A.

    2012-01-01

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

  5. Micro Robotics Lab

    Data.gov (United States)

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

  6. Robots of the Future

    Indian Academy of Sciences (India)

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

  7. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  8. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

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

  9. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  10. Deployment of Remotely-Accessible Robotics Laboratory

    Directory of Open Access Journals (Sweden)

    Richard Balogh

    2012-03-01

    Full Text Available Robotnacka is an autonomous drawing mobile robot, designed for eaching beginners in the Logo programming language. It can also be used as an experimental platform, in our case in a remotely accessible robotic laboratory with the possibility to control the robots via the Internet. In addition to a basic version of the robot a version equipped with a gripper is available too, one with a wireless camera, and one with additional ultrasonic distance sensors. The laboratory is available on-line permanently and provides a simple way to incorporate robotics in teaching mathematics, programming and other subjects. The laboratory has been in use several years. We provide description of its functionality and summarize our experience.

  11. Robotic applications at the Idaho National Engineering Laboratory

    International Nuclear Information System (INIS)

    Griebenow, B.E.; Marts, D.J.

    1990-01-01

    The Idaho National Engineering Laboratory (INEL) has several programs and projected programs that involve work in hazardous environments. Robotics/remote handling technology is being considered for an active role in these programs. The most appealing aspect of using robotics is in the area of personnel safety. Any task requiring an individual to enter a hazardous or potentially hazardous environment can benefit substantially from robotics by removing the operator from the environment and having him conduct the work remotely. Several INEL programs were evaluated based on their applications for robotics and the results and some conclusions are discussed in this paper. 1 fig

  12. A Review of Mobile Robotic Telepresence

    Directory of Open Access Journals (Sweden)

    Annica Kristoffersson

    2013-01-01

    Full Text Available Mobile robotic telepresence (MRP systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

  13. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  14. Simulation of Robot Kinematics Using Interactive Computer Graphics.

    Science.gov (United States)

    Leu, M. C.; Mahajan, R.

    1984-01-01

    Development of a robot simulation program based on geometric transformation softwares available in most computer graphics systems and program features are described. The program can be extended to simulate robots coordinating with external devices (such as tools, fixtures, conveyors) using geometric transformations to describe the…

  15. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

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

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

    OpenAIRE

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

    2013-01-01

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

  17. 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

  18. Understanding Soldier Robot Teams in Virtual Environments

    National Research Council Canada - National Science Library

    Barnes, Michael J; Jentsch, Florian; Cosenzo, Keryl A; Chen, Jessie Y; McDermott, Patricia

    2006-01-01

    ...) and renamed the Collaborative Robotics ATO. The purpose of the program is to understand HRI issues in order to develop and evaluate technologies to improve HRI battlefield performance for Future Combat Systems (FCS...

  19. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real...

  20. Robots that can adapt like animals.

    Science.gov (United States)

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

    2015-05-28

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

  1. An Assessment of the State of the Art of Curriculum Materials and a Status Assessment of Training Programs for Robotics/Automated Systems Technicians. Task Analysis and Descriptions of Required Job Competencies of Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    This report presents the results of research conducted to determine the current state of the art of robotics/automated systems technician (RAST) training offered in the United States. Section I discusses the RAST curriculum project, of which this state-of-the-art review is a part, and offers a RAST job description. Section II describes the…

  2. Navigasi Berbasis Behavior dan Fuzzy Logic pada Simulasi Robot Bergerak Otonom

    Directory of Open Access Journals (Sweden)

    Rendyansyah

    2016-03-01

    Full Text Available Mobile robot is the robotic mechanism that is able to moved automatically. The movement of the robot automatically require a navigation system. Navigation is a method for determining the robot motion. In this study, using a method developed robot navigation behavior with fuzzy logic. The behavior of the robot is divided into several modules, such as walking, avoid obstacles, to follow walls, corridors and conditions of u-shape. In this research designed mobile robot simulation in a visual programming. Robot is equipped with seven distance sensor and divided into several groups to test the behavior that is designed, so that the behavior of the robot generate speed and steering control. Based on experiments that have been conducted shows that mobile robot simulation can run smooth on many conditions. This proves that the implementation of the formation of behavior and fuzzy logic techniques on the robot working well

  3. Evaluation of the effectiveness of robotic gait training and gait-focused physical therapy programs for children and youth with cerebral palsy: a mixed methods RCT.

    Science.gov (United States)

    Wiart, Lesley; Rosychuk, Rhonda J; Wright, F Virginia

    2016-06-02

    Robot assisted gait training (RAGT) is considered to be a promising approach for improving gait-related gross motor function of children and youth with cerebral palsy. However, RAGT has yet to be empirically demonstrated to be effective. This knowledge gap is particularly salient given the strong interest in this intensive therapy, the high cost of the technology, and the requirement for specialized rehabilitation centre resources. This is a research protocol describing a prospective, multi-centre, concurrent mixed methods study comprised of a randomized controlled trial (RCT) and an interpretive descriptive qualitative design. It is a mixed methods study designed to determine the relative effectiveness of three physical therapy treatment conditions (i.e., RAGT, a functional physical therapy program conducted over-ground (fPT), and RAGT + fPT) on gait related motor skills of ambulatory children with cerebral palsy. Children with cerebral palsy aged 5-18 years who are ambulatory (Gross Motor Function Classification System Levels II and III) will be randomly allocated to one of four treatment conditions: 1) RAGT, 2) fPT, 3) RAGT and fPT combined, or 4) a maintenance therapy only control group. The qualitative component will explicate child and parent experiences with the interventions, provide insight into the values that underlie their therapy goals, and assist with interpretation of the results of the RCT. n/a. NCT02391324 Registered March 12, 2015.

  4. To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

    Directory of Open Access Journals (Sweden)

    Nicole Mirnig

    2017-05-01

    Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

  5. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  6. Integrated Human-Robotic Missions to the Moon and Mars: Mission Operations Design Implications

    Science.gov (United States)

    Mishkin, Andrew; Lee, Young; Korth, David; LeBlanc, Troy

    2007-01-01

    For most of the history of space exploration, human and robotic programs have been independent, and have responded to distinct requirements. The NASA Vision for Space Exploration calls for the return of humans to the Moon, and the eventual human exploration of Mars; the complexity of this range of missions will require an unprecedented use of automation and robotics in support of human crews. The challenges of human Mars missions, including roundtrip communications time delays of 6 to 40 minutes, interplanetary transit times of many months, and the need to manage lifecycle costs, will require the evolution of a new mission operations paradigm far less dependent on real-time monitoring and response by an Earthbound operations team. Robotic systems and automation will augment human capability, increase human safety by providing means to perform many tasks without requiring immediate human presence, and enable the transfer of traditional mission control tasks from the ground to crews. Developing and validating the new paradigm and its associated infrastructure may place requirements on operations design for nearer-term lunar missions. The authors, representing both the human and robotic mission operations communities, assess human lunar and Mars mission challenges, and consider how human-robot operations may be integrated to enable efficient joint operations, with the eventual emergence of a unified exploration operations culture.

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

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

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

  8. Pengembangan Program Pemberdayaan Peningkatan Kemandirian Ibu Rumah Tangga Pengidap HIV (Studi Kasus pada Komunitas Women Empowerment (WE Surabaya Developing Empowerment Program to Enhancing Independency of Housewives with HIV (Case Study on Women Empow

    Directory of Open Access Journals (Sweden)

    Dewi Lestari

    2014-04-01

    Full Text Available Background: Empowerment program aims at improving the independency in social economic sector or psychology. Theresearch aims at formulating the development of empowerment program to improve the independency of the housewiveswith HIV. Method: The research is a qualitative and its design is an exploration research. The subjects of the researchare ten housewives with HIV, the members of Women Empowerment Community/WE Surabaya. Data collection uses indepth interview and Focus Group Discussion (FGD. Results: Research result shows that the subject character has noinfl uence on the kind of the desired empowerment program. The majority of problem lies on the aspect of social economyand the need for economic improvement. Innovation character which infl uences the adoption of empowerment programwhich is now WE developing is the relative advantage while social systems which effect is the friends who even prove tobe the agent of change. WE empowerment program has actually met the concept of empowerment program; it providesmembers with human resources, opportunity, knowledge as well as skill but it still unable to provide the result according tothe program goal. Recommendations: Government and NGO are expected to develop program according to the problem,need and the ability of the housewives with HIV in such a way that empowerment program improve their independencyparticularly in the sector of social economy.

  9. Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Doty, Charles R.

    Major resources exist that can be used to develop or upgrade programs in community colleges and technical institutes that educate robotics/automated systems technicians. The first category of resources is Economic, Social, and Education Issues. The Office of Technology Assessment (OTA) report, "Automation and the Workplace," presents analyses of…

  10. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  11. SU-F-P-05: Initial Experience with an Independent Certification Program for Stereotactic Radiosurgery and Stereotactic Body Radiation Therapy

    International Nuclear Information System (INIS)

    Solberg, T; Robar, J; Gevaert, T; Todorovic, M; Howe, J

    2016-01-01

    Purpose: The ASTRO document “Safety is no accident: A FRAMEWORK FOR QUALITY RADIATION ONCOLOGY AND CARE” recommends external reviews of specialized modalities. The purpose of this presentation is to describe the implementation of such a program for Stereotactic Radiosurgery (SRS) and Stereotactic Body radiation Therapy (SBRT). Methods: The margin of error for SRS and SBRT delivery is significantly smaller than that of conventional radiotherapy and therefore requires special attention and diligence. The Novalis Certified program was created to fill an unmet need for specialized SRS / SBRT credentialing. A standards document was drafted by a panel of experts from several disciplines, including medical physics, radiation oncology and neurosurgery. The document, based on national and international standards, covers requirements in program structure, personnel, training, clinical application, technology, quality management, and patient and equipment QA. The credentialing process was modeled after existing certification programs and includes an institution-generated self-study, extensive document review and an onsite audit. Reviewers generate a descriptive report, which is reviewed by a multidisciplinary expert panel. Outcomes of the review may include mandatory requirements and optional recommendations. Results: 15 institutions have received Novalis Certification, including 3 in the US, 7 in Europe, 4 in Australia and 1 in Asia. 87 other centers are at various stages of the process. Nine reviews have resulted in mandatory requirements, however all of these were addressed within three months of the audit report. All reviews have produced specific recommendations ranging from programmatic to technical in nature. Institutions felt that the credentialing process addressed a critical need and was highly valuable to the institution. Conclusion: Novalis Certification is a unique peer review program assessing safety and quality in SRS and SBRT, while recognizing

  12. SU-F-P-05: Initial Experience with an Independent Certification Program for Stereotactic Radiosurgery and Stereotactic Body Radiation Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Solberg, T [University of Pennsylvania, Philadelphia, PA (United States); Robar, J [Capital District Health Authority, Halifax, NS (Canada); Gevaert, T [University Hospital Brussels, Brussels (Belgium); Todorovic, M [Universitats-Klinikum Hamburg-Eppendorf, Hamburg (Germany); Howe, J [Associates In Medical Physics, Louisville, KY (United States)

    2016-06-15

    Purpose: The ASTRO document “Safety is no accident: A FRAMEWORK FOR QUALITY RADIATION ONCOLOGY AND CARE” recommends external reviews of specialized modalities. The purpose of this presentation is to describe the implementation of such a program for Stereotactic Radiosurgery (SRS) and Stereotactic Body radiation Therapy (SBRT). Methods: The margin of error for SRS and SBRT delivery is significantly smaller than that of conventional radiotherapy and therefore requires special attention and diligence. The Novalis Certified program was created to fill an unmet need for specialized SRS / SBRT credentialing. A standards document was drafted by a panel of experts from several disciplines, including medical physics, radiation oncology and neurosurgery. The document, based on national and international standards, covers requirements in program structure, personnel, training, clinical application, technology, quality management, and patient and equipment QA. The credentialing process was modeled after existing certification programs and includes an institution-generated self-study, extensive document review and an onsite audit. Reviewers generate a descriptive report, which is reviewed by a multidisciplinary expert panel. Outcomes of the review may include mandatory requirements and optional recommendations. Results: 15 institutions have received Novalis Certification, including 3 in the US, 7 in Europe, 4 in Australia and 1 in Asia. 87 other centers are at various stages of the process. Nine reviews have resulted in mandatory requirements, however all of these were addressed within three months of the audit report. All reviews have produced specific recommendations ranging from programmatic to technical in nature. Institutions felt that the credentialing process addressed a critical need and was highly valuable to the institution. Conclusion: Novalis Certification is a unique peer review program assessing safety and quality in SRS and SBRT, while recognizing

  13. The Carnegie-Chicago Hubble Program. I. An Independent Approach to the Extragalactic Distance Scale Using Only Population II Distance Indicators

    Science.gov (United States)

    Beaton, Rachael L.; Freedman, Wendy L.; Madore, Barry F.; Bono, Giuseppe; Carlson, Erika K.; Clementini, Gisella; Durbin, Meredith J.; Garofalo, Alessia; Hatt, Dylan; Jang, In Sung; Kollmeier, Juna A.; Lee, Myung Gyoon; Monson, Andrew J.; Rich, Jeffrey A.; Scowcroft, Victoria; Seibert, Mark; Sturch, Laura; Yang, Soung-Chul

    2016-12-01

    We present an overview of the Carnegie-Chicago Hubble Program, an ongoing program to obtain a 3% measurement of the Hubble constant (H 0) using alternative methods to the traditional Cepheid distance scale. We aim to establish a completely independent route to H 0 using RR Lyrae variables, the tip of the red giant branch (TRGB), and Type Ia supernovae (SNe Ia). This alternative distance ladder can be applied to galaxies of any Hubble type, of any inclination, and, using old stars in low-density environments, is robust to the degenerate effects of metallicity and interstellar extinction. Given the relatively small number of SNe Ia host galaxies with independently measured distances, these properties provide a great systematic advantage in the measurement of H 0 via the distance ladder. Initially, the accuracy of our value of H 0 will be set by the five Galactic RR Lyrae calibrators with Hubble Space Telescope Fine-Guidance Sensor parallaxes. With Gaia, both the RR Lyrae zero-point and TRGB method will be independently calibrated, the former with at least an order of magnitude more calibrators and the latter directly through parallax measurement of tip red giants. As the first end-to-end “distance ladder” completely independent of both Cepheid variables and the Large Magellanic Cloud, this path to H 0 will allow for the high-precision comparison at each rung of the traditional distance ladder that is necessary to understand tensions between this and other routes to H 0. Based on observations made with the NASA/ESA Hubble Space Telescope, obtained at the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS 5-26555. These observations are associated with programs #13472 and #13691.

  14. Both the caspase CSP-1 and a caspase-independent pathway promote programmed cell death in parallel to the canonical pathway for apoptosis in Caenorhabditis elegans.

    Directory of Open Access Journals (Sweden)

    Daniel P Denning

    Full Text Available Caspases are cysteine proteases that can drive apoptosis in metazoans and have critical functions in the elimination of cells during development, the maintenance of tissue homeostasis, and responses to cellular damage. Although a growing body of research suggests that programmed cell death can occur in the absence of caspases, mammalian studies of caspase-independent apoptosis are confounded by the existence of at least seven caspase homologs that can function redundantly to promote cell death. Caspase-independent programmed cell death is also thought to occur in the invertebrate nematode Caenorhabditis elegans. The C. elegans genome contains four caspase genes (ced-3, csp-1, csp-2, and csp-3, of which only ced-3 has been demonstrated to promote apoptosis. Here, we show that CSP-1 is a pro-apoptotic caspase that promotes programmed cell death in a subset of cells fated to die during C. elegans embryogenesis. csp-1 is expressed robustly in late pachytene nuclei of the germline and is required maternally for its role in embryonic programmed cell deaths. Unlike CED-3, CSP-1 is not regulated by the APAF-1 homolog CED-4 or the BCL-2 homolog CED-9, revealing that csp-1 functions independently of the canonical genetic pathway for apoptosis. Previously we demonstrated that embryos lacking all four caspases can eliminate cells through an extrusion mechanism and that these cells are apoptotic. Extruded cells differ from cells that normally undergo programmed cell death not only by being extruded but also by not being engulfed by neighboring cells. In this study, we identify in csp-3; csp-1; csp-2 ced-3 quadruple mutants apoptotic cell corpses that fully resemble wild-type cell corpses: these caspase-deficient cell corpses are morphologically apoptotic, are not extruded, and are internalized by engulfing cells. We conclude that both caspase-dependent and caspase-independent pathways promote apoptotic programmed cell death and the phagocytosis of cell

  15. Infant behavioral assessment and intervention program in very low birth weight infants improves independency in mobility at preschool age

    NARCIS (Netherlands)

    Verkerk, Gijs; Jeukens-Visser, Martine; Koldewijn, Karen; van Wassenaer, Aleid; Houtzager, Bregje; Kok, Joke; Nollet, Frans

    2011-01-01

    To evaluate the effects of the Infant Behavioral Assessment and Intervention Program(©) (IBAIP) in very low birth weight infants on sensory processing and daily activities at preschool age. Follow-up of children included in a randomized controlled trial. Eighty-six infants were enrolled in

  16. Report: South Carolina Drinking Water State Revolving Fund Program Financial Statements with Independent Auditor’s Report, June 30, 2002

    Science.gov (United States)

    Report #2003-1-00138, September 17, 2003. We have audited the balance sheet of the SCDWSRF Program as of June 30, 2002, the related statement of revenues, expenses, and changes in fund equity, and the statement of cash flows for the year then ended.

  17. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  18. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

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

  19. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  20. Survey of advanced general-purpose software for robot manipulators

    International Nuclear Information System (INIS)

    Latombe, J.C.

    1983-01-01

    Computer-controlled sensor-based robots will more and more common in industry. This paper attempts to survey the main trends of the development of advanced general-purpose software for robot manipulators. It is intended to make clear that robots are not only mechanical devices. They are truly programmable machines, and their programming, which occurs in an imperfectly modelled world,is somewhat different from conventional computer programming. (orig.)

  1. Building integrated pathways to independence for diverse biomedical researchers: Project Pathways, the BUILD program at Xavier University of Louisiana.

    Science.gov (United States)

    Foroozesh, Maryam; Giguette, Marguerite; Morgan, Kathleen; Johanson, Kelly; D'Amour, Gene; Coston, Tiera; Wilkins-Green, Clair

    2017-01-01

    Xavier University of Louisiana is a historically Black and Catholic university that is nationally recognized for its science, technology, engineering and mathematics (STEM) curricula. Approximately 73% of Xavier's students are African American, and about 77% major in the biomedical sciences. Xavier is a national leader in the number of STEM majors who go on to receive M.D. degrees and Ph.D. degrees in science and engineering. Despite Xavier's advances in this area, African Americans still earn about 7.5% of the Bachelor's degrees, less than 8% of the Master's degrees, and less than 5% of the doctoral degrees conferred in STEM disciplines in the United States. Additionally, although many well-prepared, highly-motivated students are attracted by Xavier's reputation in the sciences, many of these students, though bright and capable, come from underperforming public school systems and receive substandard preparation in STEM disciplines. The purpose of this article is to describe how Xavier works to overcome unequal education backgrounds and socioeconomic challenges to develop student talent through expanding biomedical training opportunities and build on an established reputation in science education. The National Institutes of Health (NIH)/National Institute of General Medical Sciences (NIGMS)-funded BUILD (Building Infrastructure Leading to Diversity) Program at Xavier University of Louisiana, Project Pathways , is a highly-innovative program designed to broaden the career interests of students early on, and to engage them in activities that entice them to continue their education towards biomedical research careers. Project strategies involve a transformation of Xavier's academic and non-academic programs through the redesign, supplementation and integration of academic advising, tutoring, career services, personal counseling, undergraduate research training, faculty research mentoring, and development of new biomedical and research skills courses. The Program also

  2. Laboratory robotics systems at the Savannah River Laboratory

    International Nuclear Information System (INIS)

    Dyches, G.M.; Burkett, S.D.

    1983-01-01

    Many analytical chemistry methods normally used at the Savannah River site require repetitive procedures and handling of radioactive and other hazardous solutions. Robotics is being investigated as a method of reducing personnel fatigue and radiation exposure and also increasing product quality. Several applications of various commercially available robot systems are discussed involving cold (nonradioactive) and hot (radioactive) sample preparations and glovebox waste removal. Problems encountered in robot programming, parts fixturing, design of special robot hands and other support equipment, glovebox operation, and operator-system interaction are discussed. A typical robot system cost analysis for one application is given

  3. Are Independent Probes Truly Independent?

    Science.gov (United States)

    Camp, Gino; Pecher, Diane; Schmidt, Henk G.; Zeelenberg, Rene

    2009-01-01

    The independent cue technique has been developed to test traditional interference theories against inhibition theories of forgetting. In the present study, the authors tested the critical criterion for the independence of independent cues: Studied cues not presented during test (and unrelated to test cues) should not contribute to the retrieval…

  4. Modular Robotics in an African Context

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2011-01-01

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

  5. 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.

  6. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    Directory of Open Access Journals (Sweden)

    Kristel Knaepen

    Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  7. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    Science.gov (United States)

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  8. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  9. Augmented reality for industrial robot programmers: Workload analysis for task-based, augmented reality-supported robot control

    OpenAIRE

    Stadler, S.; Kain, K.; Giuliani, M.; Mirnig, N.; Stollnberger, G.; Tscheligi, M. ed

    2016-01-01

    Augmented reality (AR) can serve as a tool to provide helpful information in a direct way to industrial robot programmers throughout the teaching process. It seems obvious that AR support eases the programming process and increases the programmer's productivity and programming accuracy. However, additional information can also potentially increase the programmer's perceived workload. To explore the impact of augmented reality on robot teaching, as a first step we have chosen a Sphero robot co...

  10. Robotics for mixed waste operations, demonstration description

    International Nuclear Information System (INIS)

    Ward, C.R.

    1993-01-01

    The Department of Energy (DOE) Office of Technology Development (OTD) is developing technology to aid in the cleanup of DOE sites. Included in the OTD program are the Robotics Technology Development Program and the Mixed Waste Integrated Program. These two programs are working together to provide technology for the cleanup of mixed waste, which is waste that has both radioactive and hazardous constituents. There are over 240,000 cubic meters of mixed low level waste accumulated at DOE sites and the cleanup is expected to generate about 900,000 cubic meters of mixed low level waste over the next five years. This waste must be monitored during storage and then treated and disposed of in a cost effective manner acceptable to regulators and the states involved. The Robotics Technology Development Program is developing robotics technology to make these tasks safer, better, faster and cheaper through the Mixed Waste Operations team. This technology will also apply to treatment of transuranic waste. The demonstration at the Savannah River Site on November 2-4, 1993, showed the progress of this technology by DOE, universities and industry over the previous year. Robotics technology for the handling, characterization and treatment of mixed waste as well robotics technology for monitoring of stored waste was demonstrated. It was shown that robotics technology can make future waste storage and waste treatment facilities better, faster, safer and cheaper

  11. Ecdysone-dependent and ecdysone-independent programmed cell death in the developing optic lobe of Drosophila.

    Science.gov (United States)

    Hara, Yusuke; Hirai, Keiichiro; Togane, Yu; Akagawa, Hiromi; Iwabuchi, Kikuo; Tsujimura, Hidenobu

    2013-02-01

    The adult optic lobe of Drosophila develops from the primordium during metamorphosis from mid-3rd larval stage to adult. Many cells die during development of the optic lobe with a peak of the number of dying cells at 24 h after puparium formation (h APF). Dying cells were observed in spatio-temporal specific clusters. Here, we analyzed the function of a component of the insect steroid hormone receptor, EcR, in this cell death. We examined expression patterns of two EcR isoforms, EcR-A and EcR-B1, in the optic lobe. Expression of each isoform altered during development in isoform-specific manner. EcR-B1 was not expressed in optic lobe neurons from 0 to 6h APF, but was expressed between 9 and 48 h APF and then disappeared by 60 h APF. In each cortex, its expression was stronger in older glia-ensheathed neurons than in younger ones. EcR-B1 was also expressed in some types of glia. EcR-A was expressed in optic lobe neurons and many types of glia from 0 to 60 h APF in a different pattern from EcR-B1. Then, we genetically analyzed EcR function in the optic lobe cell death. At 0 h APF, the optic lobe cell death was independent of any EcR isoforms. In contrast, EcR-B1 was required for most optic lobe cell death after 24 h APF. It was suggested that cell death cell-autonomously required EcR-B1 expressed after puparium formation. βFTZ-F1 was also involved in cell death in many dying-cell clusters, but not in some of them at 24 h APF. Altogether, the optic lobe cell death occurred in ecdysone-independent manner at prepupal stage and ecdysone-dependent manner after 24 h APF. The acquisition of ecdysone-dependence was not directly correlated with the initiation or increase of EcR-B1 expression. Copyright © 2012 Elsevier Inc. All rights reserved.

  12. 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

  13. Procedure for definition of end-effector orientation in planar surfaces robot applications

    Directory of Open Access Journals (Sweden)

    Vidaković Jelena Z.

    2017-01-01

    Full Text Available Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.

  14. In-vivo expression profiling of Pseudomonas aeruginosa infections reveals niche-specific and strain-independent transcriptional programs.

    Directory of Open Access Journals (Sweden)

    Piotr Bielecki

    Full Text Available Pseudomonas aeruginosa is a threatening, opportunistic pathogen causing disease in immunocompromised individuals. The hallmark of P. aeruginosa virulence is its multi-factorial and combinatorial nature. It renders such bacteria infectious for many organisms and it is often resistant to antibiotics. To gain insights into the physiology of P. aeruginosa during infection, we assessed the transcriptional programs of three different P. aeruginosa strains directly after isolation from burn wounds of humans. We compared the programs to those of the same strains using two infection models: a plant model, which consisted of the infection of the midrib of lettuce leaves, and a murine tumor model, which was obtained by infection of mice with an induced tumor in the abdomen. All control conditions of P. aeruginosa cells growing in suspension and as a biofilm were added to the analysis. We found that these different P. aeruginosa strains express a pool of distinct genetic traits that are activated under particular infection conditions regardless of their genetic variability. The knowledge herein generated will advance our understanding of P. aeruginosa virulence and provide valuable cues for the definition of prospective targets to develop novel intervention strategies.

  15. Evidence-based intervention against bullying and cyberbullying: Evaluation of the NoTrap! program in two independent trials.

    Science.gov (United States)

    Palladino, Benedetta E; Nocentini, Annalaura; Menesini, Ersilia

    2016-01-01

    The NoTrap! (Noncadiamointrappola!) program is a school-based intervention, which utilizes a peer-led approach to prevent and combat both traditional bullying and cyberbullying. The aim of the present study was to evaluate the efficacy of the third Edition of the program in accordance with the recent criteria for evidence-based interventions. Towards this aim, two quasi-experimental trials involving adolescents (age M = 14.91, SD = .98) attending their first year at different high schools were conducted. In Trial 1 (control group, n = 171; experimental group, n = 451), latent growth curve models for data from pre-, middle- and post-tests showed that intervention significantly predicted change over time in all the target variables (victimization, bullying, cybervictimization, and cyberbullying). Specifically, target variables were stable for the control group but decreased significantly over time for the experimental group. Long-term effects at the follow up 6 months later were also found. In Trial 2 (control group, n = 227; experimental group, n = 234), the moderating effect of gender was examined and there was a reported decrease in bullying and cyberbullying over time (pre- and post-test) in the experimental group but not the control group, and this decrease was similar for boys and girls. © 2016 Wiley Periodicals, Inc.

  16. Development of computer program ENMASK for prediction of residual environmental masking-noise spectra, from any three independent environmental parameters

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Y.-S.; Liebich, R. E.; Chun, K. C.

    2000-03-31

    Residual environmental sound can mask intrusive4 (unwanted) sound. It is a factor that can affect noise impacts and must be considered both in noise-impact studies and in noise-mitigation designs. Models for quantitative prediction of sensation level (audibility) and psychological effects of intrusive noise require an input with 1/3 octave-band spectral resolution of environmental masking noise. However, the majority of published residual environmental masking-noise data are given with either octave-band frequency resolution or only single A-weighted decibel values. A model has been developed that enables estimation of 1/3 octave-band residual environmental masking-noise spectra and relates certain environmental parameters to A-weighted sound level. This model provides a correlation among three environmental conditions: measured residual A-weighted sound-pressure level, proximity to a major roadway, and population density. Cited field-study data were used to compute the most probable 1/3 octave-band sound-pressure spectrum corresponding to any selected one of these three inputs. In turn, such spectra can be used as an input to models for prediction of noise impacts. This paper discusses specific algorithms included in the newly developed computer program ENMASK. In addition, the relative audibility of the environmental masking-noise spectra at different A-weighted sound levels is discussed, which is determined by using the methodology of program ENAUDIBL.

  17. Modelling, simulation and validation of the industrial robot

    Directory of Open Access Journals (Sweden)

    Aleksandrov Slobodan Č.

    2014-01-01

    Full Text Available In this paper, a DH model of industrial robot, with anthropomorphic configuration and five degrees of freedom - Mitsubishi RV2AJ, is developed. The model is verified on the example robot Mitsubishi RV2AJ. In paper detailed represented the complete mathematical model of the robot and the parameters of the programming. On the basis of this model, simulation of robot motion from point to point is performed, as well as the continuous movement of the pre-defined path. Also, programming of industrial robots identical to simulation programs is made, and comparative analysis of real and simulated experiment is shown. In the final section, a detailed analysis of robot motion is described.

  18. Systematic Analysis of Video Data from Different Human-Robot Interaction Studies: A Categorisation of Social Signals During Error Situations

    OpenAIRE

    Manuel eGiuliani; Nicole eMirnig; Gerald eStollnberger; Susanne eStadler; Roland eBuchner; Manfred eTscheligi

    2015-01-01

    Human?robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human?robot interaction experiments. For that, we analyzed 201 videos of five human?robot interaction user studies with varying tasks from four independent projects. The analysis shows tha...

  19. Glue protein production can be triggered by steroid hormone signaling independent of the developmental program in Drosophila melanogaster.

    Science.gov (United States)

    Kaieda, Yuya; Masuda, Ryota; Nishida, Ritsuo; Shimell, MaryJane; O'Connor, Michael B; Ono, Hajime

    2017-10-01

    Steroid hormones regulate life stage transitions, allowing animals to appropriately follow a developmental timeline. During insect development, the steroid hormone ecdysone is synthesized and released in a regulated manner by the prothoracic gland (PG) and then hydroxylated to the active molting hormone, 20-hydroxyecdysone (20E), in peripheral tissues. We manipulated ecdysteroid titers, through temporally controlled over-expression of the ecdysteroid-inactivating enzyme, CYP18A1, in the PG using the GeneSwitch-GAL4 system in the fruit fly Drosophila melanogaster. We monitored expression of a 20E-inducible glue protein gene, Salivary gland secretion 3 (Sgs3), using a Sgs3:GFP fusion transgene. In wild type larvae, Sgs3-GFP expression is activated at the midpoint of the third larval instar stage in response to the rising endogenous level of 20E. By first knocking down endogenous 20E levels during larval development and then feeding 20E to these larvae at various stages, we found that Sgs3-GFP expression could be triggered at an inappropriate developmental stage after a certain time lag. This stage-precocious activation of Sgs3 required expression of the Broad-complex, similar to normal Sgs3 developmental regulation, and a small level of nutritional input. We suggest that these studies provide evidence for a tissue-autonomic regulatory system for a metamorphic event independent from the primary 20E driven developmental progression. Copyright © 2017 Elsevier Inc. All rights reserved.

  20. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.