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Sample records for robot rtv-ship sentai

Development of the hull inspection robot (RTV-SHIP); Sentai kensayo suichu robot (RTV-SHIP) no kaihatsu (atarashii sentai kensaho no ichiteian)

Energy Technology Data Exchange (ETDEWEB)

Nakata, Y.; Otsuka, M.; Ozawa, H.; Konosu, M. [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

1997-08-01

A compact and lightweight underwater RTV robot (RTV-SHIP) that enables the remote sensing in the double-shell structure of a tanker and the six-freedom motion control was developed based on the technology of the conventional portable underwater robot. The motion performance test in a water tank showed that the RTV-SHIP can freely access the manhole in the double-shell structure of a tanker and completely satisfies the thrust and swing force required for movement and measurement in a tank. The in-tank function confirmation test also shows that the main measurement items such as positioning in the tank, large deflection of panels, and plate thickness have a satisfactory measurement accuracy and that the RTV-SHIP has the same tone discrimination function as for a visual check. The method of inputting the tank shape during measurement and miniaturizing the recording unit should be improved until the RTV-SHIP is put to practical use. This system can be widely used by improving the above points according to the result of a future measurement test for the actual ships. 1 ref., 9 figs.
Rail-guided robotic end-effector position error due to rail compliance and ship motion

NARCIS (Netherlands)

Borgerink, Dian; Stegenga, J.; Brouwer, Dannis Michel; Woertche, H.J.; Stramigioli, Stefano

2014-01-01

A rail-guided robotic system is currently being designed for the inspection of ballast water tanks in ships. This robotic system will manipulate sensors toward the interior walls of the tank. In this paper, the influence of rail compliance on the end-effector position error due to ship movement is
Improving bondability to RTV silicone elastomer using rf-activated gas

International Nuclear Information System (INIS)

Bellah, J.L.

1979-05-01

The effects of an rf-activated gas (plasma) on the bondability to RTV silicone elastomer were studied. Processing guidelines were developed, and a method was sought to satisfactorily bond RTV to the walls of a machined aluminum casting and to provide a surface on the RTV which would best accept bonding to an epoxy encapsulant. Processing parameters, such as gas type and flow rate, reaction chamber pressure, and rf power level, were developed
RTV Silicone Rubber Degradation Induced by Temperature Cycling

Directory of Open Access Journals (Sweden)

Xishan Wen

2017-07-01

Full Text Available Room temperature vulcanized (RTV silicone rubber is extensively used in power system due to its hydrophobicity and hydrophobicity transfer ability. Temperature has been proven to markedly affect the performance of silicone rubbers. This research investigated the degradation of RTV silicone rubber under temperature cycling treatment. Hydrophobicity and its transfer ability, hardness, functional groups, microscopic appearance, and thermal stability were analyzed using the static contact angle method, a Shore A durometer, Fourier transform infrared spectroscopy (FTIR, scanning electron microscopy (SEM, and thermogravimetry (TG, respectively. Some significant conclusions were drawn. After the temperature was cycled between −25 °C and 70 °C, the hydrophobicity changed modestly, but its transfer ability changed remarkably, which may result from the competition between the formation of more channels for the transfer of low molecular weight (LMW silicone fluid and the reduction of LMW silicone fluid in the bulk. A hardness analysis and FTIR analysis demonstrated that further cross-linking reactions occurred during the treatment. SEM images showed the changes in roughness of the RTV silicone rubber surfaces. TG analysis also demonstrated the degradation of RTV silicone rubber by presenting evidence that the content of organic materials decreased during the temperature cycling treatment.
Effect of vulcanization temperature and humidity on the properties of RTV silicone rubber

Science.gov (United States)

Wu, Xutao; Li, Xiuguang; Hao, Lu; Wen, Xishan; Lan, Lei; Yuan, Xiaoqing; Zhang, Qingping

2017-06-01

In order to study the difference in performance of room temperature vulcanized (RTV) silicone rubber in vulcanization environment with different temperature and humidity, static contact angle method, FTIR and TG is utilized to depict the properties of hydrophobicity, transfer of hydrophobicity, functional groups and thermal stability of RTV silicone rubber. It is found that different vulcanization conditions have effects on the characteristics of RTV silicone rubber, which shows that the hydrophobicity of RTV silicone rubber changes little with the vulcanization temperature but a slight increase with the vulcanization humidity. Temperature and humidity have obvious effects on the hydrophobicity transfer ability of RTV silicone rubber, which is better when vulcanization temperature is 5°C or vulcanization humidity is 95%. From the Fourier transform infrared spectroscopy, it can be concluded that humidity and temperature of vulcanization conditions have great effect on the functional groups of silicone rubber, and vulcanization conditions also have effect on thermal stability of RTV silicone rubber. When vulcanization temperature is 5°C or vulcanization humidity is 15% or 95%, the thermal stability of silicone rubber becomes worse.
Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems

Energy Technology Data Exchange (ETDEWEB)

Love, LJL

2003-09-24

The decrease in manpower and increase in material handling needs on many Naval vessels provides the motivation to explore the modeling and control of Naval robotic and robotic assistive devices. This report addresses the design, modeling, control and analysis of position and force controlled robotic systems operating on the deck of a moving ship. First we provide background information that quantifies the motion of the ship, both in terms of frequency and amplitude. We then formulate the motion of the ship in terms of homogeneous transforms. This transformation provides a link between the motion of the ship and the base of a manipulator. We model the kinematics of a manipulator as a serial extension of the ship motion. We then show how to use these transforms to formulate the kinetic and potential energy of a general, multi-degree of freedom manipulator moving on a ship. As a demonstration, we consider two examples: a one degree-of-freedom system experiencing three sea states operating in a plane to verify the methodology and a 3 degree of freedom system experiencing all six degrees of ship motion to illustrate the ease of computation and complexity of the solution. The first series of simulations explore the impact wave motion has on tracking performance of a position controlled robot. We provide a preliminary comparison between conventional linear control and Repetitive Learning Control (RLC) and show how fixed time delay RLC breaks down due to the varying nature wave disturbance frequency. Next, we explore the impact wave motion disturbances have on Human Amplification Technology (HAT). We begin with a description of the traditional HAT control methodology. Simulations show that the motion of the base of the robot, due to ship motion, generates disturbances forces reflected to the operator that significantly degrade the positioning accuracy and resolution at higher sea states. As with position-controlled manipulators, augmenting the control with a Repetitive
RTV silicone rubber surface modification for cell biocompatibility by negative-ion implantation

International Nuclear Information System (INIS)

Zheng, Chenlong; Wang, Guangfu; Chu, Yingjie; Xu, Ya; Qiu, Menglin; Xu, Mi

2016-01-01

Highlights: • The radiation effect has a greater influence than doping effect on the hydrophilicity of RTV SR. • The implanted ions result in a new surface atomic bonding state and morphology. • Generating hydrophilic functional groups is a reason for the improved cell biocompatibility. • The micro roughness makes the hydrophilicity should be reduced due to the lotus effect. • Cell culture demonstrates that negative-ion implantation can improve biocompatibility. - Abstract: A negative cluster ion implantation system was built on the injector of a GIC4117 tandem accelerator. Next, the system was used to study the surface modification of room temperature vulcanization silicone rubber (RTV SR) for cell biocompatibility. The water contact angle was observed to decrease from 117.6° to 99.3° as the C_1"− implantation dose was increased to 1 × 10"1"6 ions/cm"2, and the effects of C_1"−, C_2"− and O_1"− implantation result in only small differences in the water contact angle at 3 × 10"1"5 ions/cm"2. These findings indicate that the hydrophilicity of RTV SR improves as the dose is increased and that the radiation effect has a greater influence than the doping effect on the hydrophilicity. There are two factors influence hydrophilicity of RTV: (1) based on the XPS and ATR-FTIR results, it can be inferred that ion implantation breaks the hydrophobic functional groups (Si−CH_3, Si−O−Si, C−H) of RTV SR and generates hydrophilic functional groups (−COOH, −OH, Si−(O)_x (x = 3,4)). (2) SEM reveals that the implanted surface of RTV SR appears the micro roughness such as cracks and wrinkles. The hydrophilicity should be reduced due to the lotus effect (Zhou Rui et al., 2009). These two factors cancel each other out and make the C-implantation sample becomes more hydrophilic in general terms. Finally, cell culture demonstrates that negative ion-implantation is an effective method to improve the cell biocompatibility of RTV SR.
Interaction between a plasma membrane-localized ankyrin-repeat protein ITN1 and a nuclear protein RTV1

Energy Technology Data Exchange (ETDEWEB)

Sakamoto, Hikaru [Department of Bioproduction, Faculty of Bioindustry, Tokyo University of Agriculture, 196 Yasaka, Abashiri-shi, Hokkaido 093-2422 (Japan); Sakata, Keiko; Kusumi, Kensuke [Department of Biology, Faculty of Sciences, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581 (Japan); Kojima, Mikiko; Sakakibara, Hitoshi [RIKEN Plant Science Center, 1-7-22 Suehiro-cho, Tsurumi-ku, Yokohama 230-0045 (Japan); Iba, Koh, E-mail: koibascb@kyushu-u.org [Department of Biology, Faculty of Sciences, Kyushu University, 6-10-1 Hakozaki, Higashi-ku, Fukuoka 812-8581 (Japan)

2012-06-29

Highlights: Black-Right-Pointing-Pointer ITN1, a plasma membrane ankyrin protein, interacts with a nuclear DNA-binding protein RTV1. Black-Right-Pointing-Pointer The nuclear transport of RTV1 is partially inhibited by interaction with ITN1. Black-Right-Pointing-Pointer RTV1 can promote the nuclear localization of ITN1. Black-Right-Pointing-Pointer Both overexpression of RTV1 and the lack of ITN1 increase salicylic acids sensitivity in plants. -- Abstract: The increased tolerance to NaCl 1 (ITN1) protein is a plasma membrane (PM)-localized protein involved in responses to NaCl stress in Arabidopsis. The predicted structure of ITN1 is composed of multiple transmembrane regions and an ankyrin-repeat domain that is known to mediate protein-protein interactions. To elucidate the molecular functions of ITN1, we searched for interacting partners using a yeast two-hybrid assay, and a nuclear-localized DNA-binding protein, RTV1, was identified as a candidate. Bimolecular fluorescence complementation analysis revealed that RTV1 interacted with ITN1 at the PM and nuclei in vivo. RTV1 tagged with red fluorescent protein localized to nuclei and ITN1 tagged with green fluorescent protein localized to PM; however, both proteins localized to both nuclei and the PM when co-expressed. These findings suggest that RTV1 and ITN1 regulate the subcellular localization of each other.
RTV silicone rubber surface modification for cell biocompatibility by negative-ion implantation

Energy Technology Data Exchange (ETDEWEB)

Zheng, Chenlong [Key Laboratory of Beam Technology and Material Modification Ministry of Education, College of Nuclear Science and Technology, Beijing Normal University, 100875 Beijing (China); Wang, Guangfu, E-mail: 88088@bnu.edu.cn [Key Laboratory of Beam Technology and Material Modification Ministry of Education, College of Nuclear Science and Technology, Beijing Normal University, 100875 Beijing (China); Beijing Radiation Center, 100875 Beijing (China); Chu, Yingjie; Xu, Ya; Qiu, Menglin; Xu, Mi [Key Laboratory of Beam Technology and Material Modification Ministry of Education, College of Nuclear Science and Technology, Beijing Normal University, 100875 Beijing (China)

2016-03-01

Highlights: • The radiation effect has a greater influence than doping effect on the hydrophilicity of RTV SR. • The implanted ions result in a new surface atomic bonding state and morphology. • Generating hydrophilic functional groups is a reason for the improved cell biocompatibility. • The micro roughness makes the hydrophilicity should be reduced due to the lotus effect. • Cell culture demonstrates that negative-ion implantation can improve biocompatibility. - Abstract: A negative cluster ion implantation system was built on the injector of a GIC4117 tandem accelerator. Next, the system was used to study the surface modification of room temperature vulcanization silicone rubber (RTV SR) for cell biocompatibility. The water contact angle was observed to decrease from 117.6° to 99.3° as the C{sub 1}{sup −} implantation dose was increased to 1 × 10{sup 16} ions/cm{sup 2}, and the effects of C{sub 1}{sup −}, C{sub 2}{sup −} and O{sub 1}{sup −} implantation result in only small differences in the water contact angle at 3 × 10{sup 15} ions/cm{sup 2}. These findings indicate that the hydrophilicity of RTV SR improves as the dose is increased and that the radiation effect has a greater influence than the doping effect on the hydrophilicity. There are two factors influence hydrophilicity of RTV: (1) based on the XPS and ATR-FTIR results, it can be inferred that ion implantation breaks the hydrophobic functional groups (Si−CH{sub 3}, Si−O−Si, C−H) of RTV SR and generates hydrophilic functional groups (−COOH, −OH, Si−(O){sub x} (x = 3,4)). (2) SEM reveals that the implanted surface of RTV SR appears the micro roughness such as cracks and wrinkles. The hydrophilicity should be reduced due to the lotus effect (Zhou Rui et al., 2009). These two factors cancel each other out and make the C-implantation sample becomes more hydrophilic in general terms. Finally, cell culture demonstrates that negative ion-implantation is an effective method
Rain and contamination tests on HVDC wall bushings with and without RTV coatings

International Nuclear Information System (INIS)

Schneider, H.M.; Hall, J.F.; Nellis, C.L.; Low, S.S.; Lorden, D.J.

1991-01-01

In this paper results of tests made to determine the ability of room temperature vulcanized (RTV) silicone rubber coatings to improve the performance of HVDC wall bushings are described. The behavior of uncoated full scale ± 500 kV wall bushings is first determined in wetting conditions consisting of nonuniform rain and fog with various amounts of pre-deposited surface contamination. Parameters affecting flashover performance, such as polarity, rain conductivity, and contamination severity are discussed. Results of nonuniform rain tests on an RTV coated wall bushing are reported
Rehabilitasi Prostetik Protesa Jari dengan Bahan Silikon Rtv untuk Mengembalikan Bentuk dan Estetik

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Ayu Agung Subiantari

2015-12-01

Full Text Available Tangan memiliki fungsi utama untuk menggenggam dan meraba. Organ ini dipergunakan untuk sarana komunikasi penting yang menunjukkan bahasa tubuh dan kontak sosial. Amputasi pada jari atau sebagian jari tangan merupakan kasus yang paling sering dijumpai sebagai bentuk hilangnya sebagian tangan yang dapat menimbulkan dampak buruk secara fisik, psikologis, maupun kerugian secara ekonomi bagi individu. Rehabilitasi prostetik pada amputasi jari menjadi pertimbangan ketika rekonstruksi mikro vaskular merupakan kontraindikasi atau perawatan mengalami kegagalan. Tujuan dari studi kasus ini adalah mengkaji rehabilitasi prostetik protesa jari menggunakan bahan silikon RTV untuk mengembalikan bentuk dan estetik. Pasien telah menyetujui kasusnya dipublikasikan untuk kepentingan ilmu pengetahuan. Pasien laki- laki, 24 tahun datang dengan keluhan kehilangan sebagian jari telunjuk kanan . Riwayat trauma disebabkan oleh tangan kanannya tergilas mesin bubut 6 tahun yang lalu. Tatalaksana kasus : Anamnesa, pemeriksaan klinis, dan rehabilitasi prostetik protesa jari dengan ahan silikon RTV. Protesa jari dengan estetik yang baik dapat memberi dukungan psikologis terhadap pasien. Rehabilitation Finger Prosthesis with RTV Silicone to Restore Form and Esthetic. The hand has basic functions like grasping and feeling. It is a mean of communication and is of mayor importance for body language and social contact. Finger and partial finger amputations are some of the most frequently encountered forms of partial hand loss causing devastating physical, psychosocial and economic damage to an individual. Prosthetic rehabilitation of amputed finger is considered when micro vascular reconstruction is contraindicated or unsuccessful. The purpose of case study is to review rehabilitation finger prosthesis with RTV silicone to restore form and esthetic. Case : A 24 year old male patient with the complaint of the partially lost right index He had a history of trauma to his
Optical characterization of RTV615 silicone rubber compound

International Nuclear Information System (INIS)

Li, W; Huber, G M

2014-01-01

Room Temperature Vulcanized (RTV) silicone compounds are commonly used to bond optical components. For our application, we needed to identify an adhesive with good ultraviolet transmission characteristics, to couple photomultipliers to quartz windows in a Heavy Gas Čerenkov detector that is being constructed for Experimental Hall C of Jefferson Lab to provide π/K separation up to 11 GeV/c. To this end, we present the light transmission results for Momentive RTV615 silicone rubber compound for wavelengths between 195-400 nm, obtained with an adapted reflectivity apparatus at Jefferson Lab. All samples cured at room temperature have transmissions ∼ 93% for wavelengths between 360-400 nm and fall sharply below 230 nm. Wavelength dependent absorption coefficients were extracted with four samples of different thicknesses cured at normal temperature (25° C for 7 days). The absorption coefficient drops approximately two orders in magnitude from 220-400 nm, exhibiting distinct regions of flattening near 250 nm and 330 nm. We also investigated the effect of a high temperature curing method (100° C for 1 hour) and found 5-10% better transmission than with the normal method. The effect was more significant with larger sample thickness (3.35 mm) over the wavelength range of 220-280 nm
Use of commercial robotics in radioactive waste shipping and receiving

International Nuclear Information System (INIS)

Berger, J.D.

1985-01-01

Radioactive waste shipping and receiving facilities presently planned for commercial and defense nuclear waste will handle waste packages at frequencies far in excess of those in common practice today. Unacceptable personnel exposure to ionizing radiation is projected to occur if current limits for radiation levels at the cask surface and current handling methods are used. To reduce these exposure levels, alternate handling methods are being developed and demonstrated. The production nature of cask receiving operations suggests commercial robotics be incorporated into a remote handling system to reduce predicted worker exposure to acceptable levels, while maintaining or increasing throughput. The first phase of cask handling system development culminated in a proof-of-principle test demonstrating the feasibility of performing cask receiving and unloading operations in a remote and partially automated manner. 6 refs., 12 figs
Influence of heat conductivity on the performance of RTV SIR coatings with different fillers

Energy Technology Data Exchange (ETDEWEB)

Siderakis, K [High Voltage Laboratory, Department of Electrical and Computer Engineering, University of Patras, GR-26110 Patras (Greece); Agoris, D [High Voltage Laboratory, Department of Electrical and Computer Engineering, University of Patras, Greece, GR-26500, Rion, Greece (Greece); Gubanski, S [High Voltage Laboratory, Department of Electric Power Engineering, Chalmers University of Technology, S-41296, Gothenburg (Sweden)

2005-10-07

Room temperature vulcanized silicone rubber (RTV SIR) coatings are employed in order to improve the pollution performance of high voltage ceramic insulators by imparting surface hydrophobicity. In this paper, the performance of three RTV SIR coatings containing different fillers is investigated in a salt-fog test. Alumina trihydrate (ATH) and silica are the fillers included in the formulation, aiming to increase the material endurance to the energy supplied by the surface electrical activity during periods of hydrophobicity loss. The primary action of these fillers is to increase the material heat conductivity, i.e. the amount of energy conducted to the substrate. In addition, in the case of ATH relief is also achieved due to particle decomposition. The results indicate that for the compositions commercially available, where low amounts of fillers are used, and under the conditions of the test, ATH filled coatings performed better than the silica filled ones. This is attributed to ATH decomposition which further relieves the material structure and therefore decelerates material aging.
Hydrodynamic design of an underwater hull cleaning robot and its evaluation

Directory of Open Access Journals (Sweden)

Man Hyung Lee

2012-12-01

Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.
Morphologically intelligent underactuated robot for underwater hull cleaning

DEFF Research Database (Denmark)

Souto, Daniel; Faina, Andres; López-Peña, Fernando

2015-01-01

In this paper we discuss a new type of robot for underwater hull cleaning on ships with non-magnetic hulls. This robot is based on the concept that cleaning hulls regularly, without waiting to take them out of the water, will improve the efficiency of the ships and will permit a reduction...... in the use of the chemicals that are usually employed to prevent the growth of marine life on the hull and which are generally harmful to the environment. The robot described in this paper is an underactuated morphologically adapted robot that through an appropriate morphology and making use of the forces...... and constraints of the environment solves the most difficult problems that arise when moving along hulls. Some of these are changing planes, negotiating appendices, avoiding portholes, passing corners, and other elements. This greatly simplifies the control mechanisms that are required for its operation making...
Preprint of the papers of the Spring 1997 Meeting of the Society of Naval Architects of Japan; Nippon zosen gakkai (1997 nen) shunki koen ronbun maezuri

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-08-01

This is a proceedings of the Spring 1997 Meeting of the Society of Naval Architects of Japan. It includes 19 papers on structures, materials, welding, building, design and machinery of ships and floating structures. For the automation of ocean surveys, a development is conducted of cruising-type autonomous underwater vehicles (AUV). The following are important studies: `Development of a small cruising-type AUV and training of constant altitude swimming,` `Visual feedback navigation for cable tracking by autonomous underwater vehicles,` and `Development of the hull inspection robot (RTV-SHIP).` Large floating bodies for the ocean space utilization are being proposed, and the following are useful for strength analyses: `Structural analyses of very large semi-submersibles in waves,` `An investigation on the dynamic response and strength of very long floating structures by beam modeling on an elastic foundation` relating especially to pontoon-type floating bodies with no mooring, and `A basic investigation on deflection wave propagation and strength of very large floating structures.` The title `Temperature effect on corrosion fatigue strength of coated ship structural steel` is very useful for prevention of the hull corrosion.
Nanosílice como carga en la RTV SR usada para cubrir aisladores; Nanosilica as filler in the Room temperature vulcanized silicone rubber used to coat insulators

Directory of Open Access Journals (Sweden)

Ignat Pérez Almirall

2014-04-01

Full Text Available En el presente trabajo se realiza un estudio sobre la influencia que tiene agregar como carga nanosílice a la goma de silicona vulcanizada a temperatura ambiente (RTV SR, por sus siglas en inglés que es empleada para cubrir aisladores de vidrio o de porcelana. Con este objetivo se observó la dispersión de la nanosílice en la RTV SR por medio de microscopía electrónica de barrido (MEV, por sus siglas en inglés, se midió la permitividad de la RTV SR con y sin nanosílice para varias frecuencias y se evaluó la influencia que tiene la nanosílice en la resistencia a la erosión. Además fueron medidas las corrientes de fuga durante ensayos de niebla salina a aisladores de vidrio pintados con estos recubrimientos, analizando también la pérdida de hidrofobicidad que ocurre durante el ensayo y su recuperación una vez finalizado el mismo. The present research work carries out a study on the influence of nanosilica on room temperature vulcanized silicone rubber (RTV SR used to coat insulators. Considering this objective, the dispersion of nanosilica was observed by means of scanning electron microscopy (MEV, the permittivity of the room temperature vulcanized silicone rubber was measured with and without nanosilica for different frequencies and the influence of nanosilica in erosion resistance. Leakage currents were also measured during salt spray tests to glass insulators covered with these coatings; the loss of hidrophobicity during the test was also measured and its recovery was analyzed the test was finished.
Nanosílice como carga en la RTV SR usada para cubrir aisladores/ Nanosilica as filler in the Room temperature vulcanized silicone rubber used to coat insulators

Directory of Open Access Journals (Sweden)

Ignat Pérez Almirall

2012-02-01

Full Text Available En el presente trabajo se realiza un estudio sobre la influencia que tiene agregar como carga nanosílice a la goma de silicona vulcanizada a temperatura ambiente (RTV SR, por sus siglas en inglés que es empleada para cubrir aisladores de vidrio o de porcelana. Con este objetivo se observó la dispersión de la nanosílice en la RTV SR por medio de microscopía electrónica de barrido (MEV, por sus siglas en inglés, se midió la permitividad de la RTV SR con y sin nanosílice para varias frecuencias y se evaluó la influencia que tiene la nanosílice en la resistencia a la erosión. Además fueron medidas las corrientes de fuga durante ensayos de niebla salina a aisladores de vidrio pintados con estos recubrimientos, analizando también la pérdida de hidrofobicidad que ocurre durante el ensayo y su recuperación una vez finalizado el mismo.The present research work carries out a study on the influence of nanosilica on room temperature vulcanized silicone rubber (RTV SR used to coat insulators. Considering this objective, the dispersion of nanosilica was observed by means of scanning electron microscopy (MEV, the permittivity of the room temperature vulcanized silicone rubber was measured with and without nanosilica for different frequencies and the influence of nanosilica in erosion resistance. Leakage currents were also measured during salt spray tests to glass insulators covered with these coatings; the loss of hidrophobicity during the test was also measured and its recovery was analyzed the test was finished.
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

Development of robotic mobile platform with the universal chassis system

Science.gov (United States)

Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

2018-02-01

The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.
Ocean robotics: 21st century sustainable science & marine resource management

CSIR Research Space (South Africa)

Swart, S

2015-10-01

Full Text Available marine robots? Swart et al., 2012 The CSIR Glider Fleet 14 GLIDERS: 5 PROFILING & 4 SURFACE GLIDERS = Glider deployment & ship CTD station = ship based underway measurements September 2012 – March 2013 Gough&Is. STF SAF APF G o u g h / T r i...
Mechanized and robotized welding in shipbuilding; Zosen ni okeru yosetsu no jidoka robot ka

Energy Technology Data Exchange (ETDEWEB)

Kanda, Y. [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

1997-12-01

Large-scale ships such as VLCC are built at the Kure No.1 Works of IHI (Ishikawajima-Harima Heavy Industry). This paper introduces current status of mechanized and robotized welding at the works. For the sub-assembly with short weld length and horizontal fillet, simplified automatic welders are used in which mag-welding method using CO2 is adopted. The frequent wound welding of member ends can be automatically conducted using welders developed by IHI. In the large-scale assembly processes, remarkable rationalization and highly accurate assembly of flat plate welding have been promoted. Tankers, container ships, and bulk carriers can be treated at the same time. Teaching times of welding robots can be greatly reduced by a technique called parametric treatment. In the future, it is essential to enhance the accuracy of members by introducing the laser cutting during machining processes. Completely self-type mechanization is required as well as large-output laser welding and sensor technology. 3 refs., 12 figs., 2 tabs.
Anti-Swing Control of Suspended Loads on Shipboard Robotic Cranes

Directory of Open Access Journals (Sweden)

Jackrit Suthakorn

2005-02-01

Full Text Available Currently, the speed at which materials can be transferred between ships at sea is limited by sea conditions. Rough sea conditions cause the payload to swing making load transfer difficult and time-consuming. The objective of this research is to develop a real-time, command compensating control for reducing sea state induced payload swing for shipboard robotic cranes. The future use of this control strategy will be to facilitate faster "ship-to-ship" payload transfer in rough sea conditions. In this study, only the sea-induced rotational motion of the ship is considered, since it is assumed that a station-keeping control maintains a constant position of the ship. This rotational motion is modelled using pitch-yaw-roll Euler angles. The shipboard robotic crane is modelled as a spherical pendulum attached to a three-degree-of-freedom manipulator. The three degrees-of-freedom are azimuth (rotation about an axis normal to the ship's deck, elevation (rotation about an axis parallel with the ship's deck, also referred to as luffing, and lift-line length. An inverse kinematics based approach and a sliding mode control strategy are explored. Both approaches use the azimuth and the elevation capability of the crane manipulator to maintain a horizontal position of the suspended load to reduce sea-induced payload sway.
A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

International Nuclear Information System (INIS)

Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

2006-01-01

Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to ship owners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.
Force control of a robot for surface contamination detection

International Nuclear Information System (INIS)

Petterson, B.J.; Jones, J.F.

1987-01-01

A system is under development at Sandia National Laboratories for use in understanding the issues relating to automated robotic handling of spent nuclear fuel shipping casks. The goal of robotic handling is reduction of personnel radiation exposure at the proposed geologic repositories. One of the major technology development areas has been the integration of sensors into the control of the robot system to allow operation in semi-structured environments. In particular, a multiaxis force sensor is used to make robot trajectory corrections based on the contact force between the robot and workpiece. This force feedback system allows contact swipes (smears) to be made on the cask surface in a repeatable manner. 8 refs., 3 figs
A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

International Nuclear Information System (INIS)

Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

2006-01-01

Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to shipowners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.
High-accuracy measurement of ship velocities by DGPS; DGPS ni yoru sensoku keisoku no koseidoka ni tsuite

Energy Technology Data Exchange (ETDEWEB)

Yamaguchi, S; Koterayama, W [Kyushu Univ., Fukuoka (Japan). Research Inst. for Applied Mechanics

1996-04-10

The differential global positioning system (DGPS) can eliminate most of errors in ship velocity measurement by GPS positioning alone. Through two rounds of marine observations by towing an observation robot in summer 1995, the authors attempted high-accuracy measurement of ship velocities by DGPS, and also carried out both positioning by GPS alone and measurement using the bottom track of ADCP (acoustic Doppler current profiler). In this paper, the results obtained by these measurement methods were examined through comparison among them, and the accuracy of the measured ship velocities was considered. In DGPS measurement, both translocation method and interference positioning method were used. ADCP mounted on the observation robot allowed measurement of the velocity of current meter itself by its bottom track in shallow sea areas less than 350m. As the result of these marine observations, it was confirmed that the accuracy equivalent to that of direct measurement by bottom track is possible to be obtained by DGPS. 3 refs., 5 figs., 1 tab.
Robotic radiation survey and analysis system for radiation waste casks

International Nuclear Information System (INIS)

Thunborg, S.

1987-01-01

Sandia National Laboratories (SNL) and the Hanford Engineering Development Laboratories have been involved in the development of remote systems technology concepts for handling defense high-level waste (DHLW) shipping casks at the waste repository. This effort was demonstrated the feasibility of using this technology for handling DHLW casks. These investigations have also shown that cask design can have a major effect on the feasibility of remote cask handling. Consequently, SNL has initiated a program to determine cask features necessary for robotic remote handling at the waste repository. The initial cask handling task selected for detailed investigation was the robotic radiation survey and analysis (RRSAS) task. In addition to determining the design features required for robotic cask handling, the RRSAS project contributes to the definition of techniques for random selection of swipe locations, the definition of robotic swipe parameters, force control techniques for robotic swipes, machine vision techniques for the location of objects in 3-D, repository robotic systems requirements, and repository data management system needs
Marinization concept for the TRICEPT TR600 robot

Energy Technology Data Exchange (ETDEWEB)

Meyer, A.; Aust, E.; Niemann, H.R.; Santos, J.F. dos [GKSS-Forschungszentrum Geesthacht GmbH (Germany). Inst. fuer Materialforschung; Hammerin, R.; Neumann, K.E. [Neos Robotics AB, Taeby (Sweden); Gibson, D. [National Hyperbaric Centre, Aberdeen (United Kingdom)

1998-11-01

The need for automated welding repair systems of marine structures, ship hulls and nuclear installations had lead to an increasing demand for subsea robots. Considering the application of friction welding to perform underwater repairs, a TRICEPT TR600 robot has been identified as the most suitable system to withstand the high reaction forces characteristic of this process. This study reviews initially the research and development work carried out at GKSS to modify and test a Siemens-MANUTEC robot. After a description of the TRICEPT TR600 robot a marinization concept is presented and discussed in detail. Problems of galvanic corrosion in seawater are addressed in a separate chapter. The deflection of the robot in subsea water currents is estimated with a worst-case calculation. (orig.) [Deutsch] Der Wunsch, Roboter auch unter Wasser einsetzen zu koennen, waechst mit steigendem Interesse nach automatisierten Schweissverfahren fuer Reparaturen an marinen Bauwerken, Schiffsruempfen und in Kernenergieanlagen. Fuer den Einsatz von Reibschweissverfahren fuer diese Reparaturen wurde der TRICEPT TR600-Roboter ausgewaehlt, da dieser auch den charakteristisch hohen Prozesskraeften widerstehen kann. Die notwendigen Modifikationen und Pruefungen werden beispielhaft anhand des bei der GKSS modifizierten Siemens-MANUTEC-Roboters vorgestellt. Nach einer Beschreibung des TRICEPT-Roboters werden die notwendigen Umbaumassnahmen detailliert dargestellt und diskutiert. Auf die Problematik der galvanischen Korrosion in Seewasser wird in einem gesonderten Kapitel naeher eingegangen. Zusaetzlich wird eine moegliche Ablenkung des Roboters durch Wasserstroemung ueberschlaegig berechnet. (orig.)
Sensors Systems for the Automation of Operations in the Ship Repair Industry

Science.gov (United States)

Navarro, Pedro Javier; Muro, Juan Suardíaz; Alcover, Pedro María; Fernández-Isla, Carlos

2013-01-01

Hull cleaning before repainting is a key operation in the maintenance of ships. For years, a method to improve such operation has been sought by means of the robotization of techniques such as grit blasting and ultra high pressure water jetting. Despite this, it continues to be standard practice in shipyards that this process is carried out manually because the developed robotized systems are too expensive to be widely accepted by shipyards. We have chosen to apply a more conservative and realistic approach to this problem, which has resulted in the development of several solutions that have been designed with different automation and operation range degrees. These solutions are fitted with most of the elements already available in many shipyards, so the installation of additional machinery in the workplace would not be necessary. This paper describes the evolutionary development of sensor systems for the automation of the preparation process of ship hull surfaces before the painting process is performed. Such evolution has given rise to the development of new technologies for coating removal. PMID:24064601
Green Shipping Practices of Shipping Firms

Directory of Open Access Journals (Sweden)

Young-Tae Chang

2017-05-01

Full Text Available The primary objective of this study is to provide an empirical research using structural equation modeling to identify the factors that motivate shipping firms to adopt green shipping practices (GSP. Furthermore, it also examines if adopting GSP can enhance the shipping firms’ environmental and productivity performance. The findings show that shipping firms are motivated to adopt GSP mostly by industrial norms set by institutionalized associations. They are also motivated by customers’ demand for environmental friendliness and their own strategy to make good image. Unlike our expectation, government regulations and international environmental laws are not significant in influencing shipping firms to adopt GSP. Moreover, adoption of green shipping practices can improve the environmental and productivity performance of the shipping firms.
Analysis of a ship-to-ship collision

International Nuclear Information System (INIS)

Porter, V.L.; Ammerman, D.J.

1996-01-01

Sandia National Laboratories is involved in a safety assessment for the shipment of radioactive material by sea. One part of this study is investigation of the consequences of ship-to-ship collisions. This paper describes two sets of finite element analyses performed to assess the structural response of a small freighter and the loading imparted to radioactive material (RAM) packages during several postulated collision scenarios with another ship. The first series of analyses was performed to evaluate the amount of penetration of the freighter hull by a striking ship of various masses and initial velocities. Although these analyses included a representation of a single RAM package, the package was not impacted during the collision so forces on the package could not be computed. Therefore, a second series of analyses incorporating a representation of a row of seven packages was performed to ensure direct package impact by the striking ship. Average forces on a package were evaluated for several initial velocities and masses of the striking ship. In addition to. providing insight to ship and package response during a few postulated ship collisions scenarios, these analyses will be used to benchmark simpler ship collision models used in probabilistic risk assessment analyses
Towards Real Time Simulation of Ship-Ship Interaction

DEFF Research Database (Denmark)

Lindberg, Ole; Bingham, Harry B.; Engsig-Karup, Allan Peter

2012-01-01

We present recent and preliminary work directed towards the development of a simplified, physics-based model for improved simulation of ship-ship interaction that can be used for both analysis and real-time computing (i.e. with real-time constraints due to visualization). The goal is to implement...... accurate (realistic) and much faster ship-wave and ship-ship simulations than are currently possible. The coupling of simulation with visualization should improve the visual experience such that it can be perceived as more realistic in training. Today the state-of-art in real-time ship-ship interaction...... is for efficiency reasons and time-constraints in visualization based on model experiments in towing tanks and precomputed force tables. We anticipate that the fast, and highly parallel, algorithm described by Engsig-Karup et al. [2011] for execution on affordable modern high-throughput Graphics Processing Units...
The shipping man adventures in ship finance

CERN Document Server

McCleery, Matthew

2013-01-01

When restless New York City hedge fund manager Robert Fairchild watches the Baltic Dry Cargo Index plunge 97%, registering an all-time high and a 25-year low within the span of just six months, he decides to buy a ship. Immediately fantasizing about naming a vessel after his wife, carrying a string of worry beads and being able to introduce himself as a "shipowner" at his upcoming college reunion, Fairchild immediately embarks on an odyssey into the most exclusive, glamorous and high stakes business in the world. From pirates off the coast of Somalia and on Wall Street to Greek and Norwegian shipping magnates, the education of Robert Fairchild is an expensive one. In the end, he loses his hedge fund, but he gains a life - as a Shipping Man. Part fast paced financial thriller, part ship finance text book, The Shipping Man is 310 pages of required reading for anyone with an interest in capital formation for shipping.
Are nuclear ships environmentally safer than conventionally powered ships

International Nuclear Information System (INIS)

Bone, C.A.; Molgaard, C.A.; Helmkamp, J.C.; Golbeck, A.L.

1988-01-01

An epidemiologic analysis was conducted to determine if risk of hospitalization varied by age, ship type, or occupation between nuclear and conventional powered ship crews in the U.S. Navy. Study cohorts consisted of all male enlisted personnel who served exclusively aboard conventional or nuclear powered aircraft carriers and cruisers during the years 1975-1979; cases were those men hospitalized during this period (N = 48,242). Conventional ship personnel showed significantly elevated rates of injury and disease when compared to nuclear ship personnel. The largest relative risks by age occurred for conventional ship crewmen less than 30 years old. Seaman, logistics (supply), and healthcare personnel serving aboard conventional ships comprised the occupational groups exhibiting the highest hospitalization rate differentials. The results strongly suggest that nuclear ships provide a healthier, safer working and living environment than conventional ships
Shipping

NARCIS (Netherlands)

Wijnolst, N.; Wergeland, T.

1996-01-01

Shipping is a multi-faceted industry which is rather complex to define from an academic point of view. This book attempts to grasp these complexities and provide the reader with an overview of the main topics and terminology in shipping. The book is based on material from our courses in shipping at
Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

Science.gov (United States)

Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

2010-01-01

After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.
On the Global Ship Hull Bending Energy in Ship Collisions

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup; Li, Y.

2004-01-01

During ship collisions part of the kinetic energy of the involved vessels prior to contact is absorbed as energy dissipated by crushing of the hull structures, by friction and by elastic energy. The purpose of this report is to present an estimate of the elastic energy that can be stored in elastic...... hull vibrations during a ship collision. When a ship side is strengthened in order to improve the crashworthiness it has been argued in the scientific literature that a non trivial part of the energy released for structural deformation during the collision can be absorbed as elastic energy in global...... ship hull vibrations, such that with strong ship sides less energy has to be spent in crushing of the striking ship bow and/or the struck ship side. In normal ship-ship collision analyses both the striking and struck ship are usually considered as rigid bodies where structural crushing is confined...
On the global ship hull bending energy in ship collisions

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup; Li, Yujie

2009-01-01

During ship collisions part of the kinetic energy of the involved vessels immediately prior to contact is absorbed as energy dissipated by crushing of the hull structures, by friction and by elastic energy. The purpose of this report is to present an estimate of the elastic energy that can...... be stored in elastic hull vibrations during a ship collision. When a ship side is strengthened in order to improve the crashworthiness it has been argued in the scientific literature that a non-trivial part of the energy released for structural deformation during the collision can be absorbed as elastic...... energy in global ship hull vibrations, such that with strong ship sides less energy has to be spent in crushing of the striking ship bow and/or the struck ship side. In normal ship–ship collision analyses both the striking and struck ship are usually considered as rigid bodies where structural crushing...

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
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.
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.
Soft robotics: a review and progress towards faster and higher torque actuators (presentation video)

Science.gov (United States)

Shepherd, Robert

2014-03-01

Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.
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)
Green shipping management

CERN Document Server

Lun, Y H Venus; Wong, Christina W Y; Cheng, T C E

2016-01-01

This book presents theory-driven discussion on the link between implementing green shipping practices (GSP) and shipping firm performance. It examines the shipping industry’s challenge of supporting economic growth while enhancing environmental performance. Consisting of nine chapters, the book covers topics such as the conceptualization of green shipping practices (GSPs), measurement scales for evaluating GSP implementation, greening capability, greening and performance relativity (GPR), green management practice, green shipping network, greening capacity, and greening propensity. In view of the increasing quest for environment protection in the shipping sector, this book provides a good reference for firms to understand and evaluate their capability in carrying out green operations on their shipping activities.
Shipping

OpenAIRE

Wijnolst, N.; Wergeland, T.

1996-01-01

Shipping is a multi-faceted industry which is rather complex to define from an academic point of view. This book attempts to grasp these complexities and provide the reader with an overview of the main topics and terminology in shipping. The book is based on material from our courses in shipping at the universities in Delft and Bergen. As with our lectures, we draw upon quite a va ried material, from research studies at a high academic level to lower level student work and purely descriptive ...
Designing Adaptable Ships: Modularity and Flexibility in Future Ship Designs

Science.gov (United States)

2016-01-01

with motors, belts, shafts , seals, valves, hose spindles , and switches. If ship installation is not installed, the system will be status quo. Ship...Impact: the current centrifugal purifiers (Alfa-Laval) have experienced frequent failures with motor, belts, shafts , seals, valves, hose spindles ... Designing Adaptable Ships Modularity and Flexibility in Future Ship Designs John F. Schank, Scott Savitz, Ken Munson, Brian Perkinson, James
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.
Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

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

2016-01-01

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

Energy Technology Data Exchange (ETDEWEB)

Jiven, Karl; Sjoebris, Anders [MariTerm AB, Goeteborg (Sweden); Nilsson, Maria [Lund Univ. (Sweden). Stiftelsen TEM; Ellis, Joanne; Traegaardh, Peter; Nordstroem, Malin [SSPA Sweden AB, Goeteborg (Sweden)

2004-05-01

In order to make it easier to include aspects during ship design that will improve environmental performance, general methods for life cycle calculations and a prototype tool for LCA calculations of ships and marine transportation have been developed. The base of the life cycle analyses is a comprehensive set of life cycle data that was collected for the materials and consumables used in ship construction and vessel operations. The computer tool developed makes it possible to quickly and simply specify (and calculate) the use of consumables over the vessel's life time cycle. Special effort has been made to allow the tool to be used for different types of vessels and sea transport. The main result from the project is the computer tool LCA ship, which incorporates collected and developed life cycle data for some of the most important materials and consumables used in ships and their operation. The computer application also contains a module for propulsion power calculations and a module for defining and optimising the energy system onboard the vessel. The tool itself is described in more detail in the Computer application manual. The input to the application should, as much as possible, be the kind of information that is normally found in a shipping company concerning vessel data and vessel movements. It all starts with defining the ship to be analysed and continues with defining how the ship is used over the lifetime. The tool contains compiled and processed background information about specific materials and processes (LCA data) connected to shipping operations. The LCA data is included in the tool in a processed form. LCA data for steel will for example include the environmental load from the steel production, the process to build the steel structure of the ship, the scrapping and the recycling phase. To be able to calculate the environmental load from the use of steel the total amount of steel used over the life cycle of the ship is also needed. The
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...
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...
Classification of Ship Routing and Scheduling Problems in Liner Shipping

DEFF Research Database (Denmark)

Kjeldsen, Karina Hjortshøj

2011-01-01

This article provides a classification scheme for ship routing and scheduling problems in liner shipping in line with the current and future operational conditions of the liner shipping industry. Based on the classification, the literature is divided into groups whose main characteristics...
Design and Experimental Validation of a Simple Controller for a Multi-Segment Magnetic Crawler Robot

Science.gov (United States)

2015-04-01

Burmeisterb, Kurt A. Talkeb, Narek Pezeshkianb, Amin Rahimib, Abraham B. Hartb, Hoa G. Nguyenb aMassachusetts Institute of Technology , 77 Massachusetts...magnetic wheels that provides ______________________ * lckelley@mit.edu ** saam.ostovari@navy.mil SPIE Proc. 9468: Unmanned Systems Technology XVII...X., "Development of a wall climbing robot for ship rust removal," Int. Conf. on Mechatronics and Automation (ICMA), 4610-4615 (2009). [6] Leon
Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

NARCIS (Netherlands)

Coeckelbergh, Mark

2011-01-01

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

International Nuclear Information System (INIS)

Schroeder, E.; Jager, W.; Schafstall, H.G.

1977-01-01

The operation of about 300 nuclear naval vessels has proven the feasibility of nuclear ship propulsion. Until now six non military ships have been built or are under construction. In the Soviet Union two nuclear icebreakers are in operation, and a third one is under construction. In the western world three prototype merchant ships have been built. Of these ships only the NS OTTO HAHN is in operation and provides valuable experience for future large scale use of nuclear merchant ship propulsion. In many countries studies and plans are made for future nuclear merchant ships. Types of vessels investigated are large containerships, tankers and specialized ships like icebreakers or ice-breaking ships. The future of nuclear merchant ship propulsion depends on three interrelated items: (1) nuclear ship technology; (2) economy of nuclear ship propulsion; (3) legal questions. Nuclear merchant ship technology is based until now on standard ship technology and light water reactor technology. Except for special questions due to the non-stationary type of the plant entirely new problems do not arise. This has been proven by the recent conceptual licensing procedure for a large nuclear containership in Germany. The economics of nuclear propulsion will be under discussion until they are proven by the operation of privately owned lead ships. Unsolved legal questions e.g. in connection with port entry permissions are at present another problem for nuclear shipping. Efforts are made to solve these questions on an international basis. The future development of nuclear energy electricity production in large land based plants will stimulate the employment of smaller units. Any future development of long distance sea transport will have to take this opportunity of a reliable and economic energy supply into account
Fluid dynamic interface between hull and hydrofoil; Sentai to suichuyoku no ryutai rikigakuteki kansho ni tsuite

Energy Technology Data Exchange (ETDEWEB)

Kataoka, K; Ando, J; Nakatake, K [Kyushu University, Fukuoka (Japan). Faculty of Engineering

1996-04-10

For the high-speed ship with hydrofoil, it is important to grasp the mutual interference between its hydrofoil and hull. In this study, effects of the state of hydrofoils and velocity on the hull were fluid-dynamically investigated through the numerical calculation by means of Rankine source method using a Wigley model with two hydrofoils. Before considering the model with hydrofoils, the attitude change of a hull without hydrofoils during traveling in high-speed was examined. For the high-speed ship, various measuring systems have been conceived due to the large change in its attitude. The Wigley model has been used for the numerical calculation when considering the attitude change in the medium- and low-speed regions. In this study, resistance tests without constraining the sinkage and trim were conducted using a Wigley model in the high-speed region around Fn=1.0, which have not been usually conducted. The attitude changes were compared with the numerical calculation results by the Rankine source method. The wave making resistance and attitude change of the Wigley model with hydrofoils were also calculated. 12 refs., 10 figs.
Risk Analysis on Ship Wreck and Container Cargo to Ship Navigation

Directory of Open Access Journals (Sweden)

Muhammad Badrus Zaman

2017-03-01

Full Text Available Wreck of a ship is an incident that must be avoided. Ship accidents are generally caused by a several cases, such as human error, natural disaster, technical errors, missed communication, poor condition of the ship, and many more. Ship wreckage have huge impact for ship navigation, environment, economics, and others. Those impact have many disadvantages for the shipowners, and also for environment. For examples the fuel spills that pollute the environment, make disturbance to sailing ship because the track for those navigation is blocked by the ship wreck and their cargo especially on shallow location (<50 m. These research will discuss the effect the container when it is floats on the sea and its interference other ships. The main objective of this study is to present a risk assessment on the environmental impact of the wreck and container cargo. Wrecks on the seabed is likely to pose a risk to passing ships. container and its contents as well as the possibility of refloat, and also their environmental risks emanating from the wreck and container cargo, such as fuels, lubricants, and chemical cargo. Variations scenario is a collision between ships that pass by floating containers. The frequency of refloating container, and the consequences of the passing ship depends on several factors, which will be the subject of research. However, because of the frequency of refloating containers is unlikely, then the risk is low and does not pose a danger to navigation. These risk assessment using risk matrix 5x5 which is the combined value of the frequency and consequences of the incident. The results of this study indicate the level of risk, whether the risk is accepted, not accepted or received by considering the costs and benefits (ALARP. To consequence, there are two parameters which energy is absorbed and the penetration occurs. The absorbed energy is divided into two, namely the energy absorbed by ship and the energy absorbed by containers. In this
Buckling of Ship Structures

CERN Document Server

Shama, Mohamed

2013-01-01

Buckling of Ship Structures presents a comprehensive analysis of the buckling problem of ship structural members. A full analysis of the various types of loadings and stresses imposed on ship plating and primary and secondary structural members is given. The main causes and consequences of the buckling mode of failure of ship structure and the methods commonly used to control buckling failure are clarified. This book contains the main equations required to determine the critical buckling stresses for both ship plating and the primary and secondary stiffening structural members. The critical buckling stresses are given for ship plating subjected to the induced various types of loadings and having the most common boundary conditions encountered in ship structures. The text bridges the gap existing in most books covering the subject of buckling of ship structures in the classical analytical format, by putting the emphasis on the practical methods required to ensure safety against buckling of ship structur...

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…
Viking FellowSHIP: Norwegian hydrogen ship on the right course

International Nuclear Information System (INIS)

Larssen-Aas, Kari

2006-01-01

In the future fuel cells will change the world of shipping's economical conditions, and environmental effects from this industry. A new model of a hydrogen fuelled ship was presented at the ONS exhibition in Stavanger 2006. The technology may revolutionize the shipping industry. A brief description of the project is presented (ml)
A survey on inspecting structures using robotic systems

Directory of Open Access Journals (Sweden)

Randa Almadhoun

2016-11-01

Full Text Available Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.
Safety of nuclear ships

International Nuclear Information System (INIS)

1978-01-01

Interest in the utilization of nuclear steam supply systems for merchant ships and icebreakers has recently increased considerably due to the sharp rise in oil prices and the continuing trend towards larger and faster merchant ships. Canada, for example, is considering construction of an icebreaker in the near future. On the other hand, an accident which could result in serious damage to or the sinking of a nuclear ship is potentially far more dangerous to the general public than a similar accident with a conventional ship. Therefore, it was very important to evaluate in an international forum the safety of nuclear ships in the light of our contemporary safety philosophy, taking into account the results of cumulative operating experience with nuclear ships in operation. The philosophy and safety requirement for land-based nuclear installations were outlined because of many common features for both land-based nuclear installations and nuclear ships. Nevertheless, essential specific safety requirements for nuclear ships must always be considered, and the work on safety problems for nuclear ships sponsored by the NEA was regarded as an important step towards developing an international code of practice by IMCO on the safety of nuclear merchant ships. One session was devoted to the quantitative assessment of nuclear ship safety. The probability technique of an accident risk assessment for nuclear power plants is well known and widely used. Its modification, to make it applicable to nuclear propelled merchant ships, was discussed in some papers. Mathematical models for describing various postulated accidents with nuclear ships were developed and reported by several speakers. Several papers discussed a loss-of-coolant accident (LOCA) with nuclear steam supply systems of nuclear ships and engineering design features to prevent a radioactive effluence after LOCA. Other types of postulated accidents with reactors and systems in static and dynamic conditions were also
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
Recent situations around nuclear ships

International Nuclear Information System (INIS)

Mizuno, Hiroshi

1978-01-01

The philosophy when the safety standard for nuclear ships is drawn up and the international rules specifically for nuclear ships are summarized. As for the safety standard for nuclear ships, the safety requirements for ordinary ships, for the ships transporting nuclear reactors, for ordinary nuclear reactors, and for the reactors moving around the seas must be included. As for the international rules for nuclear ships, there are chapter 8 ''Nuclear ships'' in the International Convention on the Safety of Life at Sea, 1960 and 1974, and Safety Consideration in the Use of Ports and Approaches by Nuclear Merchant Ships. Also there are national rules and standards in Japan and foreign countries. One of the means to explore the practicality of nuclear ships is the investigation of the economy. At this time, the social merits and demerits of nuclear ships must be compared with conventional ships by taking total expenses into account without omission. When oil is depleted, the age of nuclear ships will not necessarily begin, and the will be still some competitors. The investigations concerning the economy of nuclear ships have been carried out in various countries. The present state of the development of nuclear ships in Japan and foreign countries is explained. Many conferences and symposia have been held concerning nuclear ships, and those held recently are enumerated. The realization of nuclear ship age cannot be anticipated from existing papers and shipbuilding projects. (Kako, I.)
Shipping Information Pipeline

DEFF Research Database (Denmark)

Jensen, Thomas

to creating a more efficient shipping industry, and a number of critical issues are identified. These include that shipments depend on shipping information, that shipments often are delayed due to issues with documentation, that EDI messages account for only a minor part of the needed information......This thesis applies theoretical perspectives from the Information Systems (IS) research field to propose how Information Technology (IT) can improve containerized shipping. This question is addressed by developing a set of design principles for an information infrastructure for sharing shipping...... information named the Shipping Information Pipeline (SIP). Review of the literature revealed that IS research prescribed a set of meta-design principles, including digitalization and digital collaboration by implementation of Inter-Organizational Systems based on Electronic Data Interchange (EDI) messages...
Towards Versatile Robots Through Open Heterogeneous Modular Robots

DEFF Research Database (Denmark)

Lyder, Andreas

arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...
A numerical study on ship-ship interaction in shallow and restricted waterway

Directory of Open Access Journals (Sweden)

Sungwook Lee

2015-09-01

Full Text Available In the present study, a numerical prediction method on the hydrodynamic interaction force and moment between two ships in shallow and restricted waterway is presented. Especially, the present study proposes a methodology to overcome the limitation of the two dimensional perturbation method which is related to the moored-passing ship interaction. The validation study was performed and compared with the experiment, firstly. Afterward, in order to propose a methodology in terms with the moored-passing ship interaction, further studies were performed for the moored-passing ship case with a Reynolds Averaged Navier-Stokes (RANS calculation which is using OpenFOAM with Arbitrary Coupled Mesh Interface (ACMI technique and compared with the experiment result. Finally, the present study proposes a guide to apply the two dimensional perturbation method to the moored-passing ship interaction. In addition, it presents a possibility that the RANS calculation with ACMI can applied to the ship-ship interaction without using a overset moving grid technique.
Nuclear ship engineering simulator

International Nuclear Information System (INIS)

Itoh, Yasuyoshi; Kusunoki, Tsuyoshi; Hashidate, Koji

1991-01-01

The nuclear ship engineering simulator, which analyzes overall system response of nuclear ship numerically, is now being developed by JAERI as an advanced design tool with the latest computer technology in software and hardware. The development of the nuclear ship engineering simulator aims at grasping characteristics of a reactor plant under the situation generated by the combination of ocean, a ship hull and a reactor. The data from various tests with the nuclear ship 'MUTSU' will be used for this simulator to modulate and verify its functions of reproducing realistic response of nuclear ship, and then the simulator will be utilized for the research and development of advanced marine reactors. (author)
Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.
Crushing Strength of Ship Structures

DEFF Research Database (Denmark)

Cerup-Simonsen, Bo; Abramowicz, W.; Høstgaard-Brene, C.N.S.

1999-01-01

The crushing response of ship structures is of primary importance to the designers and practicing engineers concerned with accidental loading and accident reconstruction of marine vehicles. Ship to-ship collisions, ship-harbor infrastructure interaction or ship-offshore structure interaction are ...
Development of the nuclear ship MUTSU spent fuel shipping cask

International Nuclear Information System (INIS)

Ishizuka, M.; Umeda, M.; Nawata, Y.; Sato, H.; Honami, M.; Nomura, T.; Ohashi, M.; Higashino, A.

1989-01-01

After the planned trial voyage (4700 MWD/MTU) of the nuclear ship MUTSU in 1990, her spent fuel assemblies, initially made of two types of enriched UO 2 (3.2wt% and 4.4wt%), will be transferred to the reprocessing plant soon after cooling down in the ship reactor for more than one year. For transportation, the MUTSU spent fuel shipping casks will be used. Prior to transportation to the reprocessing plant, the cooled spent fuel assemblies will be removed from the reactor to the shipping casks and housed at the spent fuel storage facility on site. In designing the MUTSU spent fuel shipping cask, considerations were given to make the leak-tightness and integrity of the cask confirmable during storage. The development of the cask and the storage function demonstration test were performed by Japan Atomic Energy Research Institute (JAERI) and Mitsubishi Heavy Industries, Ltd. (MHI). One prototype cask for the storage demonstration test and licensed thirty-five casks were manufactured between 1987 and 1988
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.
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.
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...
Ship Vibrations

DEFF Research Database (Denmark)

Sørensen, Herman

1997-01-01

Methods for calculating natural frequencies for ship hulls and for plates and panels.Evaluation of the risk for inconvenient vibrations on board......Methods for calculating natural frequencies for ship hulls and for plates and panels.Evaluation of the risk for inconvenient vibrations on board...
Recycling of merchant ships

Directory of Open Access Journals (Sweden)

Magdalena Klopott

2013-12-01

Full Text Available The article briefly outlines the issues concerning ship recycling. It highlights ships' high value as sources of steel scrap and non-ferrous metals, without omitting the fact that they also contain a range of hazardous substances. Moreover, the article also focuses on basic ship demolition methods and their environmental impact, as well as emphasizes the importance of “design for ship recycling” philosophy.
Nuclear ships and their safety

Energy Technology Data Exchange (ETDEWEB)

NONE

1961-04-15

Several aspects of nuclear ship propulsion, with special reference to nuclear safety, were discussed at an international symposium at Taormina, Italy, from 14-18 November 1960. Discussions on specific topics are conducted, grouped under the following headings: Economics and National Activities in Nuclear Ship Propulsion; International Problems and General Aspects of Safety for Nuclear Ships; Nuclear Ship Projects from the Angle of Safety; Ship Reactor Problems; Sea Motion and Hull Problems; Maintenance and Refuelling Problems; and Safety Aspects of Nuclear Ship Operation.
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.

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.
Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Directory of Open Access Journals (Sweden)

Farshad Arvin

2014-07-01

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

Directory of Open Access Journals (Sweden)

K. Zelazny

2014-09-01

Full Text Available Service speed of a ship in real weather conditions is a basic design parameter. Forecasting of this speed at preliminary design stage is made difficult by the lack of simple but at the same accurate models of forces acting upon a ship sailing on a preset shipping route. The article presents a model for calculating forces and moment on plane rudder, useful for forecasting of ship service speed at preliminary stages of ship design.
Nuclear ship accidents

International Nuclear Information System (INIS)

Oelgaard, P.L.

1993-05-01

In this report available information on 28 nuclear ship accident and incidents is considered. Of these 5 deals with U.S. ships and 23 with USSR ships. The ships are in almost all cases nuclear submarines. Only events that involve the nuclear propulsion plants, radiation exposures, fires/explosions and sea water leaks into the submarines are considered. Comments are made on each of the events, and at the end of the report an attempt is made to point out the weaknesses of the submarine designs which have resulted in the accidents. It is emphasized that much of the available information is of a rather dubious nature. consequently some of the assessments made may not be correct. (au)
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.
Development of the Nuclear Ship Database. 1. Outline of the Nuclear Ship Experimental Database

Energy Technology Data Exchange (ETDEWEB)

Kyouya, Masahiko; Ochiai, Masa-aki [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Hashidate, Kouji

1995-03-01

We obtained the experimental data on the effects of the ship motions and the change in load and caused by the ship operations, the waves, the winds etc., to the nuclear power plant behavior, through the Power-up Tests and Experimental Voyages of the Nuclear Ship MUTSU. Moreover, we accumulated the techniques, the knowledge and others on the Nuclear Ship development at the each stage of the N.S. MUTSU Research and Development program, such as the design stage, the construction stage, the operation stage and others. These data, techniques, knowledge and others are the assembly of the experimental data and the experiences through the design, the construction and the operation of the first nuclear ship in JAPAN. It is important to keep and pigeonhole these products of the N.S. MUTSU program in order to utilize them effectively in the research and development of the advanced marine reactor, since there is no construction plan of the nuclear ship for the present in JAPAN. We have been carrying out the development of the Nuclear Ship Database System since 1991 for the purpose of effective utilization of the N.S. MUTSU products in the design study of the advanced marine reactors. The part of the Nuclear Ship Database System on the experimental data, called Nuclear Ship Experimental Database, was already accomplished and utilized since 1993. This report describes the outline and the use of the Nuclear Ship Experimental Database.The remaining part of the database system on the documentary data, called Nuclear Ship Documentary Database, are now under development. (author).
Development of the Nuclear Ship Database. 1. Outline of the Nuclear Ship Experimental Database

International Nuclear Information System (INIS)

Kyouya, Masahiko; Ochiai, Masa-aki; Hashidate, Kouji.

1995-03-01

We obtained the experimental data on the effects of the ship motions and the change in load and caused by the ship operations, the waves, the winds etc., to the nuclear power plant behavior, through the Power-up Tests and Experimental Voyages of the Nuclear Ship MUTSU. Moreover, we accumulated the techniques, the knowledge and others on the Nuclear Ship development at the each stage of the N.S. MUTSU Research and Development program, such as the design stage, the construction stage, the operation stage and others. These data, techniques, knowledge and others are the assembly of the experimental data and the experiences through the design, the construction and the operation of the first nuclear ship in JAPAN. It is important to keep and pigeonhole these products of the N.S. MUTSU program in order to utilize them effectively in the research and development of the advanced marine reactor, since there is no construction plan of the nuclear ship for the present in JAPAN. We have been carrying out the development of the Nuclear Ship Database System since 1991 for the purpose of effective utilization of the N.S. MUTSU products in the design study of the advanced marine reactors. The part of the Nuclear Ship Database System on the experimental data, called Nuclear Ship Experimental Database, was already accomplished and utilized since 1993. This report describes the outline and the use of the Nuclear Ship Experimental Database.The remaining part of the database system on the documentary data, called Nuclear Ship Documentary Database, are now under development. (author)
Ritonavir binds to and downregulates estrogen receptors: Molecular mechanism of promoting early atherosclerosis

Energy Technology Data Exchange (ETDEWEB)

Xiang, Jin [Ministry of Education Laboratory of Combinatorial Biosynthesis and Drug Discovery, School of Pharmaceutical Science, Wuhan University, Wuhan 430071 (China); Wang, Ying [Department of Pathophysiology, School of Medicine, Wuhan University, Wuhan 430071 (China); Su, Ke [Department of Nephrology, Renmin Hospital of Wuhan University, Wuhan 430060 (China); Liu, Min [Ministry of Education Laboratory of Combinatorial Biosynthesis and Drug Discovery, School of Pharmaceutical Science, Wuhan University, Wuhan 430071 (China); Hu, Peng-Chao [Department of Pathophysiology, School of Medicine, Wuhan University, Wuhan 430071 (China); Ma, Tian; Li, Jia-Xi [Ministry of Education Laboratory of Combinatorial Biosynthesis and Drug Discovery, School of Pharmaceutical Science, Wuhan University, Wuhan 430071 (China); Wei, Lei [Department of Pathophysiology, School of Medicine, Wuhan University, Wuhan 430071 (China); Zheng, Zhongliang, E-mail: biochem@whu.edu.cn [State Key Laboratory of Virology, College of Life Sciences, Wuhan University, Wuhan 430072 (China); Yang, Fang, E-mail: fang-yang@whu.edu.cn [Department of Physiology, School of Medicine, Wuhan University, Wuhan 430071 (China)

2014-10-01

Estrogenic actions are closely related to cardiovascular disease. Ritonavir (RTV), a human immunodeficiency virus (HIV) protease inhibitor, induces atherosclerosis in an estrogen-related manner. However, how RTV induce pathological phenotypes through estrogen pathway remains unclear. In this study, we found that RTV increases thickness of coronary artery walls of Sprague Dawley rats and plasma free fatty acids (FFA) levels. In addition, RTV could induce foam cell formation, downregulate both estrogen receptor α (ERα) and ERβ expression, upregulate G protein-coupled estrogen receptor (GPER) expression, and all of them could be partially blocked by 17β-estradiol (E2), suggesting RTV acts as an antagonist for E2. Computational modeling shows a similar interaction with ERα between RTV and 2-aryl indoles, which are highly subtype-selective ligands for ERα. We also found that RTV directly bound to ERα and selectively inhibited the nuclear localization of ERα, and residue Leu536 in the hydrophobic core of ligand binding domain (LBD) was essential for the interaction with RTV. In addition, RTV did not change the secondary structure of ERα-LBD like E2, which explained how ERα lost the capacity of nuclear translocation under the treatment of RTV. All of the evidences suggest that ritonavir acts as an antagonist for 17β-estradiol in regulating α subtype estrogen receptor function and early events of atherosclerosis. - Graphical abstract: RTV directly binds to ERα and Leu536 in the hydrophobic core of ligand binding domain is essential for the interaction. - Highlights: • RTV increases the thickness of rat coronary artery wall and foam cell formation. • RTV downregulates the expression of ERα and ERβ. • RTV inhibits ERα promoter activity. • RTV directly binds to ERα and the key amino acid is Leu536. • RTV inhibits the nuclear translocation of ERα and GPER.
Ritonavir binds to and downregulates estrogen receptors: Molecular mechanism of promoting early atherosclerosis

International Nuclear Information System (INIS)

Xiang, Jin; Wang, Ying; Su, Ke; Liu, Min; Hu, Peng-Chao; Ma, Tian; Li, Jia-Xi; Wei, Lei; Zheng, Zhongliang; Yang, Fang

2014-01-01

Estrogenic actions are closely related to cardiovascular disease. Ritonavir (RTV), a human immunodeficiency virus (HIV) protease inhibitor, induces atherosclerosis in an estrogen-related manner. However, how RTV induce pathological phenotypes through estrogen pathway remains unclear. In this study, we found that RTV increases thickness of coronary artery walls of Sprague Dawley rats and plasma free fatty acids (FFA) levels. In addition, RTV could induce foam cell formation, downregulate both estrogen receptor α (ERα) and ERβ expression, upregulate G protein-coupled estrogen receptor (GPER) expression, and all of them could be partially blocked by 17β-estradiol (E2), suggesting RTV acts as an antagonist for E2. Computational modeling shows a similar interaction with ERα between RTV and 2-aryl indoles, which are highly subtype-selective ligands for ERα. We also found that RTV directly bound to ERα and selectively inhibited the nuclear localization of ERα, and residue Leu536 in the hydrophobic core of ligand binding domain (LBD) was essential for the interaction with RTV. In addition, RTV did not change the secondary structure of ERα-LBD like E2, which explained how ERα lost the capacity of nuclear translocation under the treatment of RTV. All of the evidences suggest that ritonavir acts as an antagonist for 17β-estradiol in regulating α subtype estrogen receptor function and early events of atherosclerosis. - Graphical abstract: RTV directly binds to ERα and Leu536 in the hydrophobic core of ligand binding domain is essential for the interaction. - Highlights: • RTV increases the thickness of rat coronary artery wall and foam cell formation. • RTV downregulates the expression of ERα and ERβ. • RTV inhibits ERα promoter activity. • RTV directly binds to ERα and the key amino acid is Leu536. • RTV inhibits the nuclear translocation of ERα and GPER
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.
Dutch Ships and Sailors

NARCIS (Netherlands)

de Boer, Victor; Hoekstra, F.G.; Leinenga, Jurjen; van Rossum, Matthias

2014-01-01

Dutch Ships and Sailors provides an infrastructure for maritime historical datasets, linking correlating data through semantic web technology. It brings together datasets related to recruitment and shipping in the East-India trade (mainly 18th century) and in the shipping of the northern provinces
Reactors. Nuclear propulsion ships

International Nuclear Information System (INIS)

Fribourg, Ch.

2001-01-01

This article has for object the development of nuclear-powered ships and the conception of the nuclear-powered ship. The technology of the naval propulsion P.W.R. type reactor is described in the article B.N.3 141 'Nuclear Boilers ships'. (N.C.)
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...
Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

Energy Technology Data Exchange (ETDEWEB)

Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

2009-09-15

This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.
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....
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.
Towards Versatile Robots Through Open Heterogeneous Modular Robots

OpenAIRE

Lyder, Andreas

2010-01-01

Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...
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...
Ship Acquisition of Shipping Companies by Sale & Purchase Activities for Sustainable Growth: Exploratory Fuzzy-AHP Application

Directory of Open Access Journals (Sweden)

Keun-Sik Park

2018-05-01

Full Text Available Strengthening sale and purchase (S&P capacity has become a fundamental requirement for sustainable growth and corporate competitiveness in the modern shipping market. However, there is a lack of research related to S&P and its priority when shipping companies attempt to implement ship acquisition through S&P activities. To fill this gap, this paper conducts an empirical analysis to analyze priority factors during the acquisition of second-hand ships from the perspective of shipping companies. Business criteria are considered to be the most important factors in the analysis of the priority of ship acquisition and investment in shipping companies. To the best of our knowledge, this research is the first exploration covering Korean shipping companies’ ship acquisition through S&P activities. This study is expected to contribute to the better understanding of the role of S&P in ensuring the sustainability of shipping companies and to provide stakeholders with valuable insights.
Novel in situ self-assembly nanoparticles for formulating a poorly water-soluble drug in oral solid granules, improving stability, palatability, and bioavailability

Directory of Open Access Journals (Sweden)

Guo S

2016-04-01

Full Text Available Shujie Guo,1 Kevin Pham,2 Diana Li,2 Scott R Penzak,3 Xiaowei Dong2 1State Key Laboratory of Medical Genomics, Shanghai Key Laboratory of Hypertension, Ruijin Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, People’s Republic of China; 2Department of Pharmaceutical Sciences, 3Department of Pharmacotherapy, University of North Texas Health Science Center, Fort Worth, TX, USA Purpose: The purpose of this study was to develop a novel lipid-based nanotechnology to formulate poorly water-soluble drugs in oral solid granules to improve stability, palatability, and bioavailability. Materials and methods: In one method, we prepared ritonavir (RTV nanoparticles (NPs by a microemulsion-precursor method and then converted the RTV NPs to solid granules by wet granulation to produce RTV NP-containing granules. In the other innovative method, we did not use water in the formulation preparation, and discovered novel in situ self-assembly nanoparticles (ISNPs. We prepared RTV ISNP granules that did not initially contain NPs, but spontaneously produced RTV ISNPs when the granules were introduced to water with gentle agitation. We fully characterized these RTV nanoformulations. We also used rats to test the bioavailability of RTV ISNP granules. Finally, an Astree electronic tongue was used to assess the taste of the RTV ISNP granules. Results: RTV NP-containing granules only had about 1% drug loading of RTV in the solid granules. In contrast, RTV ISNP granules achieved over 16% drug loading and were stable at room temperature over 24 weeks. RTV ISNPs had particle size between 160 nm and 300 nm with narrow size distribution. RTV ISNPs were stable in simulated gastric fluid for 2 hours and in simulated intestinal fluid for another 6 hours. The data from the electronic tongue showed that the RTV ISNP granules were similar in taste to blank ISNP granules, but were much different from RTV solution. RTV ISNP granules increased RTV bioavailability

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.
Outer Dynamics of Ship Collisions

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup

1996-01-01

The purpose is to present analysis procedures for the motion of ships during ship-ship collisions and for ship collisions with offshore structures. The aim is to estimate that part of the lost kinetic energy which will have to be absorbed by rupture and plastic damage of the colliding structures....
Handbook of nuclear ships

International Nuclear Information System (INIS)

1981-03-01

First, the government organs and other organizations related to nuclear ships and their tasks are described. The fundamental plan for the development of nuclear ships had been determined in July, 1963, and was revised three times thereafter. However in December, 1980, new determination to carry out the research works also was made. The course of the construction of the nuclear ship ''Mutsu'' from 1955 to 1980, the main particulars of the nuclear ship ''Mutsu'' and the drawing of the general arrangement are shown. The designated port for berthing the Mutsu was completed in 1972 in Ominato, Aomori Prefecture, but after the happening of radiation leak during the trial operation of the Mutsu in 1974, it was agreed to remove the port. The main works to be carried out at the port and the port facilities are explained. The progress of the examination of safety of the Mutsu and the result, the test of raising the power output carried out in 1974, and the course of selecting the port for making the repair works of the Mutsu are described. The law concerning Japan Nuclear Ship Research and Development Agency had been instituted in 1963, and was revised four times thereafter. The change of the budget for the tests and researches related to nuclear ships in Japan is shown. The state of development of nuclear ships in foreign countries, the international organs related to atomic energy, shipping, shipbuilding and energy, and chronological table are introduced. (Kako, I.)
Outer Dynamics of Ship Collisions

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup

1996-01-01

The purpose of these notes is to present analysis procedures for the motion of ships during ship-ship collisions and for ship collisons with offshore structures. The aim is to estimate that part of the lost kinetic energy which will have to be absorbed by rupture and plastic damage of the colliding...
Exploiting Child-Robot Aesthetic Interaction for a Social Robot

OpenAIRE

Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

2012-01-01

A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...
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 ...
On Impact Mechanics in Ship Collisions

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup; Zhang, Shengming

1998-01-01

The purpose of this paper is to present analytical, closed-form expressions for the energy released for crushing and the impact impulse during ship collisions. Ship-ship collisions, ship collisions with rigid walls and ship collisions with flexible offshore structures are considered. The derived ...
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.
Towards a nuclear merchant ship

International Nuclear Information System (INIS)

Nicholson, R.L.R.; Llewelyn, G.I.W.; Farmer, A.A.

1976-01-01

The operation of nuclear merchant ships is likely to be attended by a number of constraints and requirements. Not all of these can be fully resolved until such ships come into use and the necessary experience and confidence have been acquired. But the timing of commercial introduction, if it comes about, will depend on the relative economics of nuclear versus fossil fuel propulsion, and the differences in turn depend in part on the operating costs particular to nuclear ships. A review of operation aspects is essential not only to commercial appraisal; each country whose trade may be carried in nuclear ships - whether it will build such ships or not - will have occasion to give some attention to the problems. It is an international problem and is, as noted later, being considered internationally. This paper; i) reviews some of the operational aspects as seen in the U.K.; ii) summarizes views received by the Nuclear Merchant Ship Unit (NMSU) from U.K. shipping, shipbuilding and nuclear industries on the prospects of a U.K. nuclear merchant ship. (author)
Red rover: inside the story of robotic space exploration, from genesis to the mars rover curiosity

CERN Document Server

Wiens, Roger

2013-01-01

In its eerie likeness to Earth, Mars has long captured our imaginationsboth as a destination for humankind and as a possible home to extraterrestrial life. It is our twenty-first century New World; its explorers robots, shipped 350 million miles from Earth to uncover the distant planet’s secrets.Its most recent scout is Curiositya one-ton, Jeep-sized nuclear-powered space laboratorywhich is now roving the Martian surface to determine whether the red planet has ever been physically capable of supporting life. In Red Rover, geochemist Roger Wiens, the principal investigator for the ChemCam laser instrument on the rover and veteran of numerous robotic NASA missions, tells the unlikely story of his involvement in sending sophisticated hardware into space, culminating in the Curiosity rover's amazing journey to Mars.In so doing, Wiens paints the portrait of one of the most exciting scientific stories of our time: the new era of robotic space exploration. Starting with NASA’s introduction of the Discovery...
ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.
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
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.
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...
Shipping Information Pipeline

DEFF Research Database (Denmark)

Jensen, Thomas; Vatrapu, Ravi

2015-01-01

and national borders within international shipping which is a rather complex domain. The intellectual objective is to generate and evaluate the efficacy and effectiveness of design principles for inter-organizational information infrastructures in the international shipping domain that can have positive...
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.
Robots de servicio

Directory of Open Access Journals (Sweden)

Rafael Aracil

2008-04-01

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

Energy Technology Data Exchange (ETDEWEB)

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

1999-05-15

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

Directory of Open Access Journals (Sweden)

Sougat Ray

2017-01-01

Full Text Available Hospital ships are operated by the Naval forces in or near war zones to provide medical assistance to the wounded personnel of all nationalities and not be used for any military purpose. Hospital ships possibly existed in ancient times and the Athenian Navy had a ship named Therapia. However, it was only during the 17th century that it became a common practice for the naval squadrons to be accompanied by large ships with the facilities of carrying the wounded after each engagement. In 1860, the steamships HMS Melbourne and HMS Mauritius were equipped with genuine medical facilities. They were manned by the Medical Staff Corps and provided services to the British expedition to China. During the World War I and World War II, passenger ships were converted for use as hospital ships and were started to be used on a massive scale. RMS Aquitania and HMHS Britannic were two famous examples of hospital ships used extensively. Modern US hospital ships USNS Mercy and USNS Comfort are operated by Military Sealift Command of the US Navy. Their primary mission is to provide emergency on-site care for US combatant forces deployed in war or other operations.

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
Civilian nuclear ships

International Nuclear Information System (INIS)

Oelgaard, P.L.

1993-03-01

This report contains a review of the information available on nuclear powered ships, built for civilian purposes. In the introduction a short discussion is given of the reasons for the limited use of nuclear ships for these purposes. In the second section a brief review is presented of data for the three experimental/merchant ships build by the United States, Germany and Japan, i.e. NS Savannah, NS Otto Hahn and NS Mutsu. In the third section the Soviet/Russian icebreaker NS Lenin is considered. Its design, operational experience and the introduction of a new nuclear propulsion plant is reviewed. In the fourth section the newer Soviet/Russian icebreakers with nuclear propulsion are considered. Finally design of the Soviet/Russian icebreaker transport/container ship NS Sevmorput is reviewed in the fifth section. The future Russian plans for nuclear vessels for the arctic waters are briefly discussed. (au)
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....
Robots: l'embarras de richesses [:survey of robots available

International Nuclear Information System (INIS)

Meieran, H.; Brittain, K.; Sturkey, R.

1989-01-01

A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)
International Standardization in the Design of "Shore to Ship" - Power Supply Systems of Ships in Port

Science.gov (United States)

Tarnapowicz, Dariusz; German-Galkin, Sergiej

2018-03-01

The decisive source of air pollution emissions in ports is the berthed ships. This is primarily caused by the work of ship's autonomous generator sets. One way of reducing the air pollution emissions in ports is the supply of ships from electricity inland system. The main problem connected with the power connection of ships to the inland network is caused by different values of levels and frequencies of voltages in these networks (in various countries) in relation to different values of levels and frequencies of voltages present in the ship's network. It is also important that the source power can range from a few hundred kW up to several MW. In order to realize a universal „Shore to Ship" system that allows the connection of ships to the electricity inland network, the international standardization is necessary. This article presents the current recommendations, standards and regulations for the design of „Shore to Ship" systems.
Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

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

International Nuclear Information System (INIS)

Kobayashi, Michiyuki; Murata, Hiroyuki; Sawada, Kenichi; Inasaka, Fujio; Aya, Izuo; Shiozaki, Koki

1999-01-01

By inputting the experimental data, information and others on thermo-hydraulic characteristics of integrated ship propulsion reactor accumulated hitherto by the Ship Research Institute and some recent cooperation results into the nuclear ship engineering simulation system, it was conducted not only to contribute an improvement study on next ship reactor by executing general analysis and evaluation on motion characteristics under ship body motion conditions, safety at accidents, and others of the integrated ship reactor but also to investigate and prepare some measures to apply fundamental experiment results based on obtained here information to safety countermeasure of the nuclear ships. In 1997 fiscal year, on safety of the integrated ship propulsion reactor loading nuclear ship, by adding experimental data on unstable flow analysis and information on all around of the analysis to general data base fundamental program, development to intellectual data base program was intended; on effect of pulsation flow on thermo-hydraulic characteristics of ship propulsion reactor; after pulsation flow visualization experiment, experimental equipment was reconstructed into heat transfer type to conduct numerical analysis of pulsation flow by confirming validity of numerical analysis code under comparison with the visualization experiment results; and on thermo-hydraulic behavior in storage container at accident of active safety type ship propulsion reactor; a flashing vibration test using new apparatus finished on its higher pressurization at last fiscal year to examine effects of each parameter such as radius and length of exhausting nozzle and pool water temperature. (G.K.)
Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

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

CERN Document Server

Artemiadis

2014-01-01

Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for pe
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...
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...
Are Sex Robots as Bad as Killing Robots

OpenAIRE

Richardson, Kathleen

2016-01-01

In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...
Proposal on an automatic ship shell member arranging system; Sengai buzai jido seiri system no teian ni tsuite

Energy Technology Data Exchange (ETDEWEB)

Yoshitomi, T; Azumi, N [Kyushu Kyoritsu University, Fukuoka (Japan)

1996-04-10

Based on an investigation on the current status of member sorting and on analysis on restrictions to automation of the ship shell process, this paper describes a basic plan for a system to automate sorting works for members. The system is intended for power saving in new fields, improvement in safety and hygiene, and prevention of errors in member sorting. The automation is intended on small bones that are large in number and tend to cause errors in sorting. The area of an elbow plate of 2,000 mm {times} 800 mm thought to be small bones of the largest class is 0.80 m{sup 2}, and the weight of the small bones is made almost constant at 80 kgf. Therefore, a robot working as a major component is selected from models that have a capability of carrying a weight of 100 kgf and are capable of numerical control. A robot body is mounted on a moving trolley to sort out members cut out from steel sheets. Because the data to operate the robot can be created automatically from the data base, sorting errors due to human mistakes decrease. Amount of the member finding and handling works also decrease in the assembly process. 4 figs.
The Human Element and Autonomous Ships

Directory of Open Access Journals (Sweden)

Sauli Ahvenjärvi

2016-09-01

Full Text Available The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.
Multi-robot control interface

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

2011-12-06

Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.
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.
On impact mechanics in ship collisions

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup; Zhang, Shengming

1998-01-01

The purpose of this paper is to present analytical, closed-form expressions for the energy released for crushing and the impact impulse during ship collisions. Ship–ship collisions, ship collisions with rigid walls and ship collisions with flexible offshore structures are considered. The derived ...
Automated Visual Inspection of Ship Hull Surfaces Using the Wavelet Transform

Directory of Open Access Journals (Sweden)

Carlos Fernández-Isla

2013-01-01

Full Text Available A new online visual inspection technique is proposed, based on a wavelet reconstruction scheme over images obtained from the hull. This type of visual inspection to detect defects in hull surfaces is commonly carried out at shipyards by human inspectors before the hull repair task starts. We propose the use of Shannon entropy for automatic selection of the band for image reconstruction which provides a low decomposition level, thus avoiding excessive degradation of the image, allowing more precise defect segmentation. The proposed method here is capable of on-line assisting to a robotic system to perform grit blasting operations over damage areas of ship hulls. This solution allows a reliable and cost-effective operation for hull grit spot blasting. A prototype of the automated blasting system has been developed and tested in the Spanish NAVANTIA shipyards.

FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.
Advanced Demonstration of Motion Correction for Ship-to-Ship Passive Inspections

Energy Technology Data Exchange (ETDEWEB)

Ziock, Klaus-Peter [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Boehnen, Chris Bensing [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Ernst, Joseph [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

2013-09-30

Passive radiation detection is a key tool for detecting illicit nuclear materials. In maritime applications it is most effective against small vessels where attenuation is of less concern. Passive imaging provides: discrimination between localized (threat) and distributed (non-threat) sources, removal of background fluctuations due to nearby shorelines and structures, source localization to an individual craft in crowded waters, and background subtracted spectra. Unfortunately, imaging methods cannot be easily applied in ship-to-ship inspections because relative motion of the vessels blurs the results over many pixels, significantly reducing sensitivity. This is particularly true for the smaller water craft where passive inspections are most valuable. In this project we performed tests and improved the performance of an instrument (developed earlier under, “Motion Correction for Ship-to-Ship Passive Inspections”) that uses automated tracking of a target vessel in visible-light images to generate a 3D radiation map of the target vessel from data obtained using a gamma-ray imager.
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.
An assessment of simplified methods to determine damage from ship-to-ship collisions

International Nuclear Information System (INIS)

Parks, M.B.; Ammerman, D.J.

1996-01-01

Sandia National Laboratories (SNL) is studying the safety of shipping, radioactive materials (RAM) by sea, the SeaRAM project (McConnell, et al. 1995), which is sponsored by the US Department of Energy (DOE). The project is concerned with the potential effects of ship collisions and fires on onboard RAM packages. Existing methodologies are being assessed to determine their adequacy to predict the effect of ship collisions and fires on RAM packages and to estimate whether or not a given accident might lead to a release of radioactivity. The eventual goal is to develop a set of validated methods, which have been checked by comparison with test data and/or detailed finite element analyses, for predicting the consequences of ship collisions and fires. These methods could then be used to provide input for overall risk assessments of RAM sea transport. The emphasis of this paper is on methods for predicting- effects of ship collisions
High cost for drilling ships

International Nuclear Information System (INIS)

Hooghiemstra, J.

2007-01-01

Prices for the rent of a drilling ship are very high. Per day the rent is 1% of the price for building such a ship, and those prices have risen as well. Still, it is attractive for oil companies to rent a drilling ship [nl
Accidents in nuclear ships

Energy Technology Data Exchange (ETDEWEB)

Oelgaard, P L [Risoe National Lab., Roskilde (Denmark); [Technical Univ. of Denmark, Lyngby (Denmark)

1996-12-01

This report starts with a discussion of the types of nuclear vessels accidents, in particular accidents which involve the nuclear propulsion systems. Next available information on 61 reported nuclear ship events in considered. Of these 6 deals with U.S. ships, 54 with USSR ships and 1 with a French ship. The ships are in almost all cases nuclear submarines. Only events that involve the sinking of vessels, the nuclear propulsion plants, radiation exposures, fires/explosions, sea-water leaks into the submarines and sinking of vessels are considered. For each event a summary of available information is presented, and comments are added. In some cases the available information is not credible, and these events are neglected. This reduces the number of events to 5 U.S. events, 35 USSR/Russian events and 1 French event. A comparison is made between the reported Soviet accidents and information available on dumped and damaged Soviet naval reactors. It seems possible to obtain good correlation between the two types of events. An analysis is made of the accident and estimates are made of the accident probabilities which are found to be of the order of 10{sup -3} per ship reactor years. It if finally pointed out that the consequences of nuclear ship accidents are fairly local and does in no way not approach the magnitude of the Chernobyl accident. It is emphasized that some of the information on which this report is based, may not be correct. Consequently some of the results of the assessments made may not be correct. (au).
Accidents in nuclear ships

International Nuclear Information System (INIS)

Oelgaard, P.L.

1996-12-01

This report starts with a discussion of the types of nuclear vessels accidents, in particular accidents which involve the nuclear propulsion systems. Next available information on 61 reported nuclear ship events in considered. Of these 6 deals with U.S. ships, 54 with USSR ships and 1 with a French ship. The ships are in almost all cases nuclear submarines. Only events that involve the sinking of vessels, the nuclear propulsion plants, radiation exposures, fires/explosions, sea-water leaks into the submarines and sinking of vessels are considered. For each event a summary of available information is presented, and comments are added. In some cases the available information is not credible, and these events are neglected. This reduces the number of events to 5 U.S. events, 35 USSR/Russian events and 1 French event. A comparison is made between the reported Soviet accidents and information available on dumped and damaged Soviet naval reactors. It seems possible to obtain good correlation between the two types of events. An analysis is made of the accident and estimates are made of the accident probabilities which are found to be of the order of 10 -3 per ship reactor years. It if finally pointed out that the consequences of nuclear ship accidents are fairly local and does in no way not approach the magnitude of the Chernobyl accident. It is emphasized that some of the information on which this report is based, may not be correct. Consequently some of the results of the assessments made may not be correct. (au)
Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

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

2017-01-01

In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....
Trends of shipping markets development

Directory of Open Access Journals (Sweden)

Tomasz Nowosielski

2012-06-01

Full Text Available Shipping markets are dependent on international trade transactions that generate transport needs. These needs can dynamically change depending on global natural resources and commodity markets situation. The changes affecting shipping markets can also be caused by changes to the existing cargo flows and by establishing new ones in different geographies. It is anticipated that in the future shipping markets will change, visible by a decline in shipping in North America and Europe and an increase in Asia.
Robotics Potential Fields

Directory of Open Access Journals (Sweden)

Jordi Lucero

2009-01-01

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

OpenAIRE

Lazakis, Iraklis; Dikis, Konstantinos; Michala, Anna Lito; Theotokatos, Gerasimos

2016-01-01

Structural and machinery failures in the day-to-day ship operations may lead to major accidents, endangering crew and\\ud passengers onboard, posing a threat to the environment, damaging the ship itself and having a great impact in terms of business\\ud losses. In this respect, this paper presents the INCASS (Inspection Capabilities for Enhanced Ship Safety) project which aims\\ud bringing an innovative solution to the ship inspection regime through the introduction of enhanced inspection of shi...
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...
Design and Optimal Research of a Non-Contact Adjustable Magnetic Adhesion Mechanism for a Wall-Climbing Welding Robot

Directory of Open Access Journals (Sweden)

Minghui Wu

2013-01-01

Full Text Available Wall-climbing welding robots (WCWRs can replace workers in manufacturing and maintaining large unstructured equipment, such as ships. The adhesion mechanism is the key component of WCWRs. As it is directly related to the robot's ability in relation to adsorbing, moving flexibly and obstacle-passing. In this paper, a novel non-contact adjustably magnetic adhesion mechanism is proposed. The magnet suckers are mounted under the robot's axils and the sucker and wall are in non-contact. In order to pass obstacles, the sucker and the wheel unit can be pulled up and pushed down by a lifting mechanism. The magnetic adhesion force can be adjusted by changing the height of the gap between the sucker and the wall by the lifting mechanism. In order to increase the adhesion force, the value of the sucker's magnetic energy density (MED is maximized by optimizing the magnet sucker's structure parameters with a finite element method. Experiments prove that the magnetic adhesion mechanism has enough adhesion force and that the WCWR can complete wall-climbing work within a large unstructured environment.
Guide to ship sanitation

National Research Council Canada - National Science Library

2011-01-01

"The third edition of the Guide to Ship Sanitation presents the public health significance of ships in terms of disease and highlights the importance of applying appropriate control measures"--Back cover...
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
Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

Science.gov (United States)

Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

2017-01-01

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.
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
Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System

Directory of Open Access Journals (Sweden)

Manuel F. Silva

2012-01-01

Full Text Available This paper presents a climbing robot with wheeled locomotion and adhesion through permanent magnets, developed with the intention of being used in the inspection of different types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, and ship hulls. In this paper are presented the main considerations thought for its project, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture, and the human-machine interface developed for the manual and automatic control of the vehicle while in operation. Although it can be manually controlled, the vehicle is designed to have a semiautonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing slightly irregular and curved surfaces with a large radius.
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…
Cybersecurity Framework for Ship Industrial Control System

OpenAIRE

Maule, R. William; Hake, Joseph

2016-01-01

Ship mechanical and electrical control systems, and the communications grid through which these devices operate, are a high priority concern for Navy leadership. Ship systems use microprocessor-based controls to interface with physical objects, and Programmable Logic Controllers (PLCs) to automate ship electromechanical processes. Ship operations are completely dependent on these devices. The commercial security products upon which ships depend do not work on ICS, leaving ships vulnerable. Th...

Containment of spills from ships

International Nuclear Information System (INIS)

Engerer, M.J.

1992-01-01

Oil escaping from a ship is contained within a limited area surrounding the ship by means of a flexible ring structure. The ring structure is stored in a collapsed state in a compartment extending around the ship. In response to an oil spill, the ring structure is dropped from the compartment and immediately surrounds the ship. A circular inflatable flotation section of the ring structure is charged with gas under pressure. The gas is supplied from a bottle cascade aboard the ship, through lines preconnected to the flotation section and paid out from free-wheeling reels. The flotation section supports a thin circumferential wall of predetermined height that submerges and assumes a vertical cylinder-like shape surrounding the escaping oil. The oil floats within the confines of the ring structure, and the ring structure is progressively expanded to a predetermined size selected to accommodate the total volume of oil carried by the ship. When the ring structure achieves its expanded state, pressure in the flotation section is raised to render the structure relatively rigid and resistant to collapse in response to wave action. Oil can be removed from the interior of the ring structure by recovery ships using suction lines or other conventional recovery methods. 12 figs
Real-Time Simulation of Ship-Structure and Ship-Ship Interaction

DEFF Research Database (Denmark)

Lindberg, Ole; Glimberg, Stefan Lemvig; Bingham, Harry B.

2013-01-01

, because it is simple, easy to implement and computationally efficient. Multiple many-core graphical processing units (GPUs) are used for parallel execution and the model is implemented using a combination of C/C++, CUDA and MPI. Two ship hydrodynamic cases are presented: Kriso Container Carrier at steady...
Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

Directory of Open Access Journals (Sweden)

Mazen Ghandour

2017-06-01

Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding
EX1001 Ship Shakedown (EX1001, EM302) on NOAA Ship Okeanos Explorer in Hawaiian Islands

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — The ship has been alongside for repairs and leave since November, 2009. The ship shakedown cruise is scheduled to provide an opportunity for the ship to get underway...
Robots and lattice automata

CERN Document Server

Adamatzky, Andrew

2015-01-01

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

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

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

Science.gov (United States)

Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605
46 CFR 148.02-1 - Shipping papers.

Science.gov (United States)

2010-10-01

... 46 Shipping 5 2010-10-01 2010-10-01 false Shipping papers. 148.02-1 Section 148.02-1 Shipping... MATERIALS IN BULK Vessel Requirements § 148.02-1 Shipping papers. (a) Carriers may not accept for..., unless the hazardous materials offered for such shipment is accompanied by a shipping paper on which the...
Naval Ship Database: Database Design, Implementation, and Schema

Science.gov (United States)

2013-09-01

ClassId Class identifier Name Ship name Pendant Ship pendant CommissionDate Ship commission date DecommissionDate Ship decommission date; NULL if still...active FlagshipId Ship Id of the ship Figure 3: Ship table definition Table 3: Ship table example rows Id Prefix ClassId Name Pendant ...computation if required. A bridged connection will allow computation analysis to be done in Matlab and allow the processed data to be imported back
Ship Technology Workshop Materials from Collaboration with Mexico to Reduce Emissions from Ships

Science.gov (United States)

On September 26, 2012, a ship technology seminar was held to provide Mexican stakeholders with information about some of the ship technologies needed to meet the requirements of MARPOL Annex VI and an ECA.
Robotic vision system for random bin picking with dual-arm robots

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.
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....
Marine Robot Autonomy

CERN Document Server

2013-01-01

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

OpenAIRE

Keuning, J.A.

2014-01-01

The invention concerns a ship whereby the hull and the mechanical propulsion device are designed such that the Froude number is larger than 0.5. In the aft ship the hull has a bottom with V-shaped bottom surfaces with a deadrise angle that is less than 40 degrees and the hull has substantially vertical sides. In the hull are a passenger compartment and a trim tank. The trim tank volume is such that the weight of a filled trim tank is more than 30 % of the weight of displacement of the hull wi...
46 CFR 151.45-7 - Shipping papers.

Science.gov (United States)

2010-10-01

... 46 Shipping 5 2010-10-01 2010-10-01 false Shipping papers. 151.45-7 Section 151.45-7 Shipping... BULK LIQUID HAZARDOUS MATERIAL CARGOES Operations § 151.45-7 Shipping papers. Each barge carrying... towing vessel shall either have a copy of the shipping papers for each barge in his tow or he shall make...
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…
The investigation of ship maneuvering with hydrodynamic effects between ships in curved narrow channel

Directory of Open Access Journals (Sweden)

Chun-Ki Lee

2016-01-01

Full Text Available The hydrodynamic interaction between two large vessels can't be neglected when two large vessels are closed to each other in restricted waterways such as in a harbor or narrow channel. This paper is mainly concerned with the ship maneuvering motion based on the hydrodynamic interaction effects between two large vessels moving each other in curved narrow channel. In this research, the characteristic features of the hydrodynamic interaction forces between two large vessels are described and illustrated, and the effects of velocity ratio and the spacing between two vessels are summarized and discussed. Also, the Inchon outer harbor area through the PALMI island channel in Korea was selected, and the ship maneuvering simulation was carried out to propose an appropriate safe speed and distance between two ships, which is required to avoid sea accident in confined waters. From the inspection of this investigation, it indicates the following result. Under the condition of SP12≤0.5L, it may encounter a dangerous tendency of grounding or collision due to the combined effect of the interaction between ships and external forces. Also considering the interaction and wind effect as a parameter, an overtaken and overtaking vessel in narrow channel can navigate while keeping its own original course under the following conditions; the lateral separation between two ships is about kept at 0.6 times of ship length and 15 degrees of range in maximum rudder angle. On the other hand, two ships while overtaking in curved narrow channel such as Inchon outer harbor in Korea should be navigated under the following conditions; SP12 is about kept at 1.0 times of ship length and the wind velocity should not be stronger than 10 m/s.
Optimization in liner shipping

DEFF Research Database (Denmark)

Brouer, Berit Dangaard; Karsten, Christian Vad; Pisinger, David

2017-01-01

Seaborne trade is the lynchpin in almost every international supply chain, and about 90% of non-bulk cargo worldwide is transported by container. In this survey we give an overview of data-driven optimization problems in liner shipping. Research in liner shipping is motivated by a need for handling...... still more complex decision problems, based on big data sets and going across several organizational entities. Moreover, liner shipping optimization problems are pushing the limits of optimization methods, creating a new breeding ground for advanced modelling and solution methods. Starting from liner...... shipping network design, we consider the problem of container routing and speed optimization. Next, we consider empty container repositioning and stowage planning as well as disruption management. In addition, the problem of bunker purchasing is considered in depth. In each section we give a clear problem...
Ship construction and welding

CERN Document Server

Mandal, Nisith R

2017-01-01

This book addresses various aspects of ship construction, from ship types and construction materials, to welding technologies and accuracy control. The contents of the book are logically organized and divided into twenty-one chapters. The book covers structural arrangement with longitudinal and transverse framing systems based on the service load, and explains basic structural elements like hatch side girders, hatch end beams, stringers, etc. along with structural subassemblies like floors, bulkheads, inner bottom, decks and shells. It presents in detail double bottom construction, wing tanks & duct keels, fore & aft end structures, etc., together with necessary illustrations. The midship sections of various ship types are introduced, together with structural continuity and alignment in ship structures. With regard to construction materials, the book discusses steel, aluminum alloys and fiber reinforced composites. Various methods of steel material preparation are discussed, and plate cutting and form...

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...
Non-manufacturing applications of robotics

International Nuclear Information System (INIS)

Dauchez, P.

2000-12-01

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

Energy Technology Data Exchange (ETDEWEB)

Florentinus, A.; Hamelinck, C.; Van den Bos, A.; Winkel, R.; Cuijpers, M. [Ecofys Netherlands, Utrecht (Netherlands)

2012-01-15

Biofuels could be one of the options to realize a lower carbon intensity in the propulsion of ships and also possibly reduce the effect of ship emissions on local air quality. Therefore, EMSA, the European Maritime Safety Agency, is evaluating if and how biofuels could be used in the shipping sector as an alternative fuel. To determine the potential of biofuels for ships, a clearer picture is needed on technical and organizational limitations of biofuels in ships, both on board of the ship as in the fuel supply chain to the ship. Economic and sustainability analysis of biofuels should be included in this picture, as well as an overview on current and potential policy measures to stimulate the use of biofuels in shipping. Ecofys has determined the potential of biofuels, based on analysis of collected data through literature review, own expertise and experiences, direct communication with EMSA, research publications, market developments based on press and other media, and consultations with relevant stakeholders in the shipping market.
Thermo-hydraulic characteristics of ship propulsion reactor in the conditions of ship motions and safety assessment

International Nuclear Information System (INIS)

Kobayashi, Michiyuki; Aya, Izuo; Inasaka, Fujio; Murata, Hiroyuki; Odano, Naoteru; Shiozaki, Koki

1998-01-01

A research project from 1995-1999 had a plan to make experimental studies on (1) safety of nuclear ship loaded with an integral ship propulsion reactor (2) effects of pulsating flow on the thermo-hydraulic characteristics of ship propulsion reactor and (3) thermo-hydraulic behaviors of the reactor container at the time of accident in a passively safe ship propulsion reactor. Development of a data base for ship propulsion reactor was attempted using previous experimental data on the thermo-hydraulic characteristics of the reactor in the institute in addition to the present results aiming to make general analytical evaluation for the safety of the engineering-simulation system for nuclear ship. A general data base was obtained by integrating the data list and the analytical program for static characteristics. A test equipment which allows to visualize the pulsating flow was produced and visualization experiments have started. (M.N.)
A Fully Nonlinear, Dynamically Consistent Numerical Model for Solid-Body Ship Motion. I. Ship Motion with Fixed Heading

Science.gov (United States)

Lin, Ray-Quing; Kuang, Weijia

2011-01-01

In this paper, we describe the details of our numerical model for simulating ship solidbody motion in a given environment. In this model, the fully nonlinear dynamical equations governing the time-varying solid-body ship motion under the forces arising from ship wave interactions are solved with given initial conditions. The net force and moment (torque) on the ship body are directly calculated via integration of the hydrodynamic pressure over the wetted surface and the buoyancy effect from the underwater volume of the actual ship hull with a hybrid finite-difference/finite-element method. Neither empirical nor free parametrization is introduced in this model, i.e. no a priori experimental data are needed for modelling. This model is benchmarked with many experiments of various ship hulls for heave, roll and pitch motion. In addition to the benchmark cases, numerical experiments are also carried out for strongly nonlinear ship motion with a fixed heading. These new cases demonstrate clearly the importance of nonlinearities in ship motion modelling.
Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

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

2007-01-01

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

Science.gov (United States)

2010-04-01

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

Directory of Open Access Journals (Sweden)

Roger Skjetne

2004-01-01

Full Text Available Complete nonlinear dynamic manoeuvering models of ships, with numerical values, are hard to find in the literature. This paper presents a modeling, identification, and control design where the objective is to manoeuver a ship along desired paths at different velocities. Material from a variety of references have been used to describe the ship model, its difficulties, limitations, and possible simplifications for the purpose of automatic control design. The numerical values of the parameters in the model is identified in towing tests and adaptive manoeuvering experiments for a small ship in a marine control laboratory.
Human-Robot Interaction

Science.gov (United States)

Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

2015-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera
Effect of Buffer Bow Structure in Ship-Ship Collision

DEFF Research Database (Denmark)

Yamada, Yasuhira; Endo, Hisayoshi; Pedersen, Preben Terndrup

2008-01-01

tankers, the introduction of buffer bulbous bows has been proposed. Relatively soft buffer bows absorb part of the kinetic energy of the striking ship before penetrating the inner hull of the struck vessel. The purpose of the present paper is to verify the effectiveness of a prototype buffer bulbous bow......) and the forward velocity of the struck ship on the collapse mode of the bow of the striking vessel are investigated. Collapse modes, contact forces and energy absorption capabilities of the buffer bows are compared with those of conventional bows....
Next generation light robotic

DEFF Research Database (Denmark)

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

2017-01-01

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

Directory of Open Access Journals (Sweden)

Thor I. Fossen

1996-04-01

Full Text Available Todays model-based dynamic positioning (DP systems require that the ship and thruster dynamics are known with some accuracy in order to use linear quadratic optical control theory. However, it is difficult to identify the mathematical model of a dynamically posititmed (DP ship since the ship is not persistently excited under DP. In addition the ship parameter estimation problem is nonlinear and multivariable with only position and thruster state measurements available for parameter estimation. The process and measurement noise must also be modeled in order to avoid parameter drift due to environmental disturbances and sensor failure. This article discusses an off-line parallel extended Kalman filter (EKF algorithm utilizing two measurement series in parallel to estimate the parameters in the DP ship model. Full-scale experiments with a supply vessel are used to demonstrate the convergence and robustness of the proposed parameter estimator.
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...
Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.

2007-01-01

The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose
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...
Robot fish bio-inspired fishlike underwater robots

CERN Document Server

Li, Zheng; Youcef-Toumi, Kamal; Alvarado, Pablo

2015-01-01

This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.
Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

Directory of Open Access Journals (Sweden)

Addythia Saphala

2015-10-01

Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which can be considered as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.
46 CFR 167.05-25 - Nautical school ship.

Science.gov (United States)

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Nautical school ship. 167.05-25 Section 167.05-25 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-25 Nautical school ship. The term nautical school ship means a vessel operated by or in connection with a nautical school...
Liner Shipping Fleet Repositioning

DEFF Research Database (Denmark)

Tierney, Kevin; Jensen, Rune Møller

2011-01-01

Liner shipping fleet repositioning consists of moving vessels between services in a liner ship- ping network in order to better orient the overall network to the world economy, and to ensure the proper maintenance of vessels. Thus, fleet repositioning involves sailing and loading activities subject...
Hydrodynamics of Ship Propellers

DEFF Research Database (Denmark)

Breslin, John P.; Andersen, Poul

This book deals with flows over propellers operating behind ships, and the hydrodynamic forces and moments which the propeller generates on the shaft and on the ship hull.The first part of the text is devoted to fundamentals of the flow about hydrofoil sections (with and without cavitation...... of an intermittently cavitating propeller in a wake and the pressures and forces it exerts on the shaft and on the ship hull is examined. A final chapter discusses the optimization of efficiency of compound propulsors. The authors have taken care to clearly describe physical concepts and mathematical steps. Appendices...
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
Robotic surgery update.

Science.gov (United States)

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.
Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved
Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.
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....
International climate policy : consequences for shipping

OpenAIRE

Mæstad, Ottar; Evensen, Annika Jaersen; Mathiesen, Lars; Olsen, Kristian

2000-01-01

This report summarises the main results from the project Norwegian and international climate policy consequences for shipping. The aim of the project has been to shed light on how climate policies might affect shipping, both from the cost side and from the demand side. The project has been divided into three sub-projects, investigating the consequences of climate policies for 1. Optimal shipping operations and management 2. The competitiveness of shipping relative to land transport 3. The tra...
An Adaptive Robot Game

DEFF Research Database (Denmark)

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

2010-01-01

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

Science.gov (United States)

Moran, Michael E

2007-01-01

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

DEFF Research Database (Denmark)

Hansen, Søren Vinther

is used as input to the system and by comparing model and ship behaviour, an index describing the ship’s performance is generated. The work in this thesis is based on data logged through the automation system on board a PostPanmax container ship where data have been logged through a year. A routine...... in the models have been identified. The models used in this work are based on empirical relations or based on regression analyses of model tests and full-scale trials. In order to achieve valid results the conditions where performance is estimated have to be inside the boundaries of the model. Filters have been......The purpose of the research project is to establish a reliable index in the performance evaluation of ships. During operation the ship will experience added resistance due to fouling of hull and propeller. The added resistance will lead to increased fuel consumption and thus increased emissions...
Advanced mechanics in robotic systems

CERN Document Server

Nava Rodríguez, Nestor Eduardo

2011-01-01

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

NARCIS (Netherlands)

Koren, B.

2008-01-01

The flow of water around a ship powered by a combustion engine is a key factor in the ship's fuel consumption. The simulation of flow patterns around ship hulls is therefore an important aspect of ship design. While lengthy computations are required for such simulations, research by Jeroen Wackers
48 CFR 1371.118 - Changes-ship repair.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Changes-ship repair. 1371.118 Section 1371.118 Federal Acquisition Regulations System DEPARTMENT OF COMMERCE DEPARTMENT SUPPLEMENTAL REGULATIONS ACQUISITIONS INVOLVING SHIP CONSTRUCTION AND SHIP REPAIR Provisions and Clauses 1371.118 Changes—ship repair. Insert clause...
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.
The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

Science.gov (United States)

Arnold, Thomas; Scheutz, Matthias

2017-06-01

Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.
Some concepts of future nuclear ship

International Nuclear Information System (INIS)

Fujino, Masataka

2000-01-01

Characteristic features of nuclear power generation are as follows: (1) Thermal energy can be continuously extracted for a long time without fuel feed, (2) Nuclear energy is suitable for generating huge power, (3) Oxygen is unnecessary for combustion of fuel, and (4) Unlike fossil fuel, nuclear power generation does not exhaust NOx, SOx, and CO 2 : it can be considered environmentally friendly. In view of these features, the Japan Atomic Energy Research Institute commissioned the Shipbuilding Research Association of Japan (JSRA) to survey what kinds of nuclear ship would be put to practical use in the near future. For this purpose, a research committee was organized in 1992 by the JSRA, and concluded its investigation in 1996. The main aim of this research was to clarify the requirements of ship performance as nuclear ships, and then to extract the technical issues of the marine reactor installed in nuclear ships to be solved. As a result of the survey, it was suggested that displacement-type large high-speed container ship would be one of the promising future nuclear merchant ships, and 6500 m deep-sea and 600 m undersea scientific research submersibles would be other promising nuclear special purpose ships. At the same time, various requirements of marine reactors, which are expected to be installed in these ships, were clarified mainly from the technical viewpoints. (author)

Total Analysis System for Ship Structural Strength

OpenAIRE

Takuya, Yoneya; Hiroyuki, Kobayashi; Abdul M., Rahim; Yoshimichi, Sasaki; Masaki, Irisawa; Technical Investigation and Information Department, Research Center; Technical Investigation and Information Department, Research Center; Singapore Office; Technical Investigation and Information Department, Research Center; Technical Investigation and Information Department, Research Center

2001-01-01

This paper outlines a total analysis system for ship hull structures, which integrates a wide variety of analysis functions to realise practical applications of rational methods for assessing ship structural strength. It is based on direct calculation of wave-induced loads as well as three-dimensional structural analysis of an entire-ship or hold structure. Three major analysis functions of the total system are ship motion and wave load analysis, ship structural analysis and statistical analy...
The Transformation of Swedish Shipping, 1970-2010

OpenAIRE

Sjögren, Hans; Taro Lennerfors, Thomas; Taudal Poulsen, Rene

2012-01-01

Since the early 1970s, as shipping has undergone a period of structural change, Swedish shipping has rapidly declined from a position of global importance. The Swedish-controlled fleet has dwindled, and the structure of the industry itself has changed. This article explores the influence of shipping markets, shipping regulations, company strategies, maritime know-how, and financial resources on the development of Swedish shipping from 1970 to 2010. A comparison is made between, on the one han...
Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.
Effective and Safe Ships

DEFF Research Database (Denmark)

Pedersen, Preben Terndrup; Amdahl, Jørgen; Rutgersson, Olle

1996-01-01

A Joint Nordic Research project "Effecive and Safe Ships" is presented. The project is aiming to develop methods and tools for quantitative evaluation fo ship safety. This report is the report of the preliminary phase where the plan for the main project is developed. The objectives of the project...
Grasping in Robotics

CERN Document Server

2013-01-01

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

DEFF Research Database (Denmark)

Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

2017-01-01

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

NARCIS (Netherlands)

Bijwaard, G.E.; Knapp, S.

2009-01-01

Due to the shipping industry's international legal framework, there are loopholes in the system, which can increase the risk of incidents with high economic costs due to the substandard operation of vessels. This article uses duration analysis and through the creation of ship life cycles provides
Simple analytical relations for ship bow waves

Science.gov (United States)

Noblesse, Francis; Delhommeau, G.?Rard; Guilbaud, Michel; Hendrix, Dane; Yang, Chi

Simple analytical relations for the bow wave generated by a ship in steady motion are given. Specifically, simple expressions that define the height of a ship bow wave, the distance between the ship stem and the crest of the bow wave, the rise of water at the stem, and the bow wave profile, explicitly and without calculations, in terms of the ship speed, draught, and waterline entrance angle, are given. Another result is a simple criterion that predicts, also directly and without calculations, when a ship in steady motion cannot generate a steady bow wave. This unsteady-flow criterion predicts that a ship with a sufficiently fine waterline, specifically with waterline entrance angle 2, may generate a steady bow wave at any speed. However, a ship with a fuller waterline (25E) can only generate a steady bow wave if the ship speed is higher than a critical speed, defined in terms of αE by a simple relation. No alternative criterion for predicting when a ship in steady motion does not generate a steady bow wave appears to exist. A simple expression for the height of an unsteady ship bow wave is also given. In spite of their remarkable simplicity, the relations for ship bow waves obtained in the study (using only rudimentary physical and mathematical considerations) are consistent with experimental measurements for a number of hull forms having non-bulbous wedge-shaped bows with small flare angle, and with the authors' measurements and observations for a rectangular flat plate towed at a yaw angle.
46 CFR 173.051 - Public nautical school ships.

Science.gov (United States)

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Public nautical school ships. 173.051 Section 173.051 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SUBDIVISION AND STABILITY SPECIAL RULES PERTAINING TO VESSEL USE School Ships § 173.051 Public nautical school ships. Each public nautical school...
Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).
Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.
Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

Science.gov (United States)

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.
Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

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

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

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

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.
Ship emissions and air pollution in Denmark

DEFF Research Database (Denmark)

Olesen, Helge Rørdam; Winther, Morten; Ellermann, Thomas

A project has been carried out to map the contribution from ship traffic to air pollution in Denmark. A main element in the project is the establishment of a new, improved inventory of ship emissions for the waters around Denmark. The inventory makes use of the so-called AIS system, which...... continuously keeps track of ship positions. The inventory provides basis for model calculations of air quality in Denmark for the years 2007, 2011 and 2020. The study has focus on identifying the contribution from ships, and on assessing the effect of international regulations of ship pollution. A minor...... component of the study concerns the contribution to local air pollution from ships at port....
Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

Science.gov (United States)

Marras, Stefano; Porfiri, Maurizio

2012-08-07

The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.
Influences of the separation distance, ship speed and channel dimension on ship maneuverability in a confined waterway

Science.gov (United States)

Du, Peng; Ouahsine, Abdellatif; Sergent, Philippe

2018-05-01

Ship maneuvering in the confined inland waterway is investigated using the system-based method, where a nonlinear transient hydrodynamic model is adopted and confinement models are implemented to account for the influence of the channel bank and bottom. The maneuvering model is validated using the turning circle test, and the confinement model is validated using the experimental data. The separation distance, ship speed, and channel width are then varied to investigate their influences on ship maneuverability. With smaller separation distances and higher speeds near the bank, the ship's trajectory deviates more from the original course and the bow is repelled with a larger yaw angle, which increase the difficulty of maneuvering. Smaller channel widths induce higher advancing resistances on the ship. The minimum distance to the bank are extracted and studied. It is suggested to navigate the ship in the middle of the channel and with a reasonable speed in the restricted waterway.
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.
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.

Robots at Work

OpenAIRE

Graetz, Georg; Michaels, Guy

2015-01-01

Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...
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
27 CFR 44.187 - Shipping containers.

Science.gov (United States)

2010-04-01

... 27 Alcohol, Tobacco Products and Firearms 2 2010-04-01 2010-04-01 false Shipping containers. 44... Shipping containers. Each shipping case, crate, or other container in which tobacco products, or cigarette... same containers in which they were received from the factory. (72 Stat. 1418, as amended; 26 U.S.C...
27 CFR 44.254 - Shipping containers.

Science.gov (United States)

2010-04-01

... 27 Alcohol, Tobacco Products and Firearms 2 2010-04-01 2010-04-01 false Shipping containers. 44.254 Section 44.254 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU... Requirements § 44.254 Shipping containers. Each shipping case, crate, or other container, in which cigars are...
49 CFR 176.24 - Shipping papers.

Science.gov (United States)

2010-10-01

... 49 Transportation 2 2010-10-01 2010-10-01 false Shipping papers. 176.24 Section 176.24... Requirements § 176.24 Shipping papers. (a) A person may not accept a hazardous material for transportation or transport a hazardous material by vessel unless that person has received a shipping paper prepared in...
49 CFR 177.817 - Shipping papers.

Science.gov (United States)

2010-10-01

... 49 Transportation 2 2010-10-01 2010-10-01 false Shipping papers. 177.817 Section 177.817... Information and Regulations § 177.817 Shipping papers. (a) General requirements. A person may not accept a... received a shipping paper prepared in accordance with part 172 of this subchapter or the material is...
49 CFR 174.24 - Shipping papers.

Science.gov (United States)

2010-10-01

... 49 Transportation 2 2010-10-01 2010-10-01 false Shipping papers. 174.24 Section 174.24... Requirements § 174.24 Shipping papers. (a) A person may not accept a hazardous material for transportation or transport a hazardous material by rail unless that person receives a shipping paper prepared in accordance...
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
Evidence for robots.

Science.gov (United States)

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.
Development of nuclear powered ship in Japan

International Nuclear Information System (INIS)

Sato, Hiroshi

1976-01-01

The development of nuclear merchant ship in Japan was started in 1955 by the establishment of Nuclear Ship Study Group, and since then, the investigation, test and research on nuclear ships have been continued. As a result, a nuclear ocean observation and supply ship was designed for trial. Researches were carried out also in JAERI and Institute for Technical Research of Ships. Meanwhile, the nuclear icebreaker Lenin was completed in Soviet Union in 1959, the nuclear ship Savannah set out for maiden voyage in U.S. in 1962, and the construction of the nuclear ore carrier Otto Hahn was prepared in FRG. Japan Nuclear Ship Development Corp. was established in 1963, and started the design and construction of the first nuclear ship in Japan, Mutsu. The basic policy in the construction is the improvement of nuclear ship technology, the securing of safety, and the use of domestic technologies as far as possible. The progress of the design, construction and test of the Mutsu is described. Owing to the problem of radiation leak, the development of nuclear ships stagnated for a while, but the nuclear plant of the Mutsu demonstrated the expected performance in the functional test, land criticality test and zero output test, and it is expected that the bud of the independent development brought up so far can bear valuable fruit. The independent development of marine nuclear reactors should be continued by selecting the way most suitable to Japan. (Kako, I.)
Ship emissions and their externalities for Greece

Science.gov (United States)

Tzannatos, Ernestos

2010-06-01

The existing and emerging international and European policy framework for the reduction of ship exhaust emissions dictates the need to produce reliable national, regional and global inventories in order to monitor emission trends and consequently provide the necessary support for future policy making. Furthermore, the inventories of ship exhaust emissions constitute the basis upon which their external costs are estimated in an attempt to highlight the economic burden they impose upon the society and facilitate the cost-benefit analysis of the proposed emission abatement technologies, operational measures and market-based instruments prior to their implementation. The case of Greece is of particular interest mainly because the dense ship traffic within the Greek seas directly imposes the impact of its exhaust emission pollutants (NO x, SO 2 and PM) upon the highly populated, physically sensitive and culturally precious Greek coastline, as well as upon the land and seas of Greece in general, whereas the contribution of Greece in the global CO 2 inventory at a time of climatic change awareness cannot be ignored. In this context, this paper presents the contribution of Greece in ship exhaust emissions of CO 2, NO x, SO 2 and PM from domestic and international shipping over the last 25 years (1984-2008), utilizing the fuel-based (fuel sales) emission methodology. Furthermore, the ship exhaust emissions generated within the Greek seas and their externalities are estimated for the year 2008, through utilizing the fuel-based (fuel sales) approach for domestic shipping and the activity-based (ship traffic) approach for international shipping. On this basis, it was found that during the 1984 to 2008 period the fuel-based (fuel sales) ship emission inventory for Greece increased at an average annual rate of 2.85%. In 2008, the CO 2, NO x, SO 2 and PM emissions reached 12.9 million tons (of which 12.4 million tons of CO 2) and their externalities were found to be around 3
Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

Directory of Open Access Journals (Sweden)

Francisco J. Rodríguez-Lera

2018-03-01

Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.
1st Iberian Robotics Conference

CERN Document Server

Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

2014-01-01

This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...
Report of Nuclear Powered Ship Meeting

International Nuclear Information System (INIS)

1984-01-01

The development of nuclear-powered ships in Japan broke down due to the radiation leak on the nuclear ship ''Mutsu'' in 1974, and the objective has not yet been attained. The Japan Nuclear Ship Research and Development Agency was reorganized to advance the development of nuclear-powered ships and to develop marine nuclear reactors. Recently, various opinions have been expressed regarding the development of nuclear-powered ships and Mutsu, accordingly, it is necessary to clarify the way it should be. The Atomic Energy Commission organized this meeting to discuss the problem. The practical use of nuclear-powered ships is expected at the beginning of the 21st century, but it is only the guess. But it is important to accumulate the technology, knowledge and experience to prepare for the use of nuclear-powered ships. The continuation of the development of Mutsu is important for the future, and the construction of the new home port is unavoidable. The aim of the research and development, and the concrete way of advancing the research and development of Mutsu are discussed. It is scheduled that the Agency is integrated with other atomic energy organizations by March, 1985. The consideration to be given for implementing the integration is described. (Kako, I.)
19 CFR 4.69 - Shipping articles.

Science.gov (United States)

2010-04-01

... 19 Customs Duties 1 2010-04-01 2010-04-01 false Shipping articles. 4.69 Section 4.69 Customs... VESSELS IN FOREIGN AND DOMESTIC TRADES Foreign Clearances § 4.69 Shipping articles. No vessel of the U.S... officer, of the shipping articles agreements, including any seaman's allotment agreement, required by 46 U...
29 CFR 1915.162 - Ship's boilers.

Science.gov (United States)

2010-07-01

... 29 Labor 7 2010-07-01 2010-07-01 false Ship's boilers. 1915.162 Section 1915.162 Labor Regulations Relating to Labor (Continued) OCCUPATIONAL SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR (CONTINUED) OCCUPATIONAL SAFETY AND HEALTH STANDARDS FOR SHIPYARD EMPLOYMENT Ship's Machinery and Piping Systems § 1915.162 Ship's boilers. (a) Before...
Springer handbook of robotics

CERN Document Server

Khatib, Oussama

2016-01-01

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

Science.gov (United States)

Gettman, Matthew; Rivera, Marcelino

2016-05-01

Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.
Added masses of ship structures

CERN Document Server

Korotkin, Alexandr I

2008-01-01

This essentially self-contained reference book contains data on added masses of ships and various ship and marine engineering structures. Theoretical and experimental methods for determining added masses of these objects are described.
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

Soft-Material Robotics

OpenAIRE

Wang, L; Nurzaman, SG; Iida, Fumiya

2017-01-01

There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...
AssistMe robot, an assistance robotic platform

Directory of Open Access Journals (Sweden)

A. I. Alexan

2012-06-01

Full Text Available This paper presents the design and implementation of a full size assistance robot. Its main purpose it to assist a person and eventually avoid a life threatening situation. Its implementation revolves around a chipKIT Arduino board that interconnects a robotic base controller with a 7 inch TABLET PC and various sensors. Due to the Android and Arduino combination, the robot can interact with the person and provide an easy development platform for future improvement and feature adding. The TABLET PC is Webcam, WIFI and Bluetooth enabled, offering a versatile platform that is able to process data and in the same time provide the user a friendly interface.
Control mechanisms for Nordic ship emissions

Energy Technology Data Exchange (ETDEWEB)

Martinsen, K. [DNV, Oslo (Norway); Torvanger, A. [Cicero, Oslo (Norway)

2013-04-15

Shipping today operates under a complex set of international and domestic regulations. However, the environmental regulations have lagged behind those of other industries. This situation is now changing quite dramatically. The increased focus on environmental issues, combined with the growing realisation of the actual pollution burden imposed by shipping, has led to an upsurge in both international and national regulations. Some are ready and will enter into force in the near future, while others are still being developed. On behalf of the Nordic Council of Ministers DNV has carried out a study on possible control mechanisms for Nordic ship emission. The aim is to assess the baseline shipping emissions and reduction potential and the possible controlling mechanisms (both incentives and regulations) available for reducing the emissions to air from shipping within the Nordic region. (Author)
Spent fuel shipping cask sealing concepts

International Nuclear Information System (INIS)

Sonnier, C.S.

1989-05-01

In late 1985, the International Atomic Energy Agency (IAEA) requested the US Program for Technical Assistance to IAEA Safeguards (POTAS) to provide a study which examined sealing concepts for application to spent fuel shipping casks. This request was approved, and assigned to Sandia National Laboratories (Sandia). In the course of this study, discussions were held with personnel in the International Safeguards Community who were familiar with the shipping casks used in their States. A number of shipping casks were examined, and discussions were held with two shipping cask manufacturers in the US. As a result of these efforts, it was concluded that the shipping casks provided an extremely good containment, and that many of the existing casks can be effectively sealed by applying the seal to the cask closure bolts/nuts
Socially Impaired Robots: Human Social Disorders and Robots' Socio-Emotional Intelligence

OpenAIRE

Vitale, Jonathan; Williams, Mary-Anne; Johnston, Benjamin

2016-01-01

Social robots need intelligence in order to safely coexist and interact with humans. Robots without functional abilities in understanding others and unable to empathise might be a societal risk and they may lead to a society of socially impaired robots. In this work we provide a survey of three relevant human social disorders, namely autism, psychopathy and schizophrenia, as a means to gain a better understanding of social robots' future capability requirements. We provide evidence supporting...
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…
Development of a nuclear ship safety philosophy

International Nuclear Information System (INIS)

Thompson, T.E.

1978-01-01

A unique safety philosophy must be recognized and accepted as an integral part of the design and operation of a nuclear ship. For the nuclear powered ship, the ultimate safety of the reactor and therefore the crew and the environment lies with the safety of the ship itself. The basis for ship safety is its ability to navigate and survive the conditions or the environment in which it may find itself. The subject of traditional ship safety is examined along with its implication for reactor protection and safety. Concepts of reactor safety are also examined. These two philosophies are combined in a manner so as to provide a sound philosophy for the safety of nuclear ships, their crews, and the environment
Robot friendship: Can a robot be a friend?

DEFF Research Database (Denmark)

Emmeche, Claus

2014-01-01

Friendship is used here as a conceptual vehicle for framing questions about the distinctiveness of human cognition in relation to natural systems such as other animal species and to artificial systems such as robots. By exploring this very common form of a human interpersonal relationship......, the author indicates that even though it is difficult to say something generally true about friendship among humans, distinct forms of friendship as practiced and distinct notions of friendship have been investigated in the social and human sciences and in biology. A more general conceptualization...... of friendship as a triadic relation analogous to the sign relation is suggested. Based on this the author asks how one may conceive of robot-robot and robot-human friendships; and how an interdisciplinary perspective upon that relation can contribute to analyse levels of embodied cognition in natural...
Multi-robot caravanning

KAUST Repository

Denny, Jory

2013-11-01

We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.
Self-Organizing Robots

CERN Document Server

Murata, Satoshi

2012-01-01

It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the rob...
15 CFR 750.11 - Shipping tolerances.

Science.gov (United States)

2010-01-01

... in the ECCN applicable to your item reads “ $ value” or “in $ value”, there is no shipping tolerance... is no shipping tolerance with respect to the number of units. However, the value of all of your... shipping tolerance on this license because the items are controlled by an ECCN where “$ value” is the...
Ship design methodologies of preliminary design

CERN Document Server

Papanikolaou, Apostolos

2014-01-01

This book deals with ship design and in particular with methodologies of the preliminary design of ships. The book is complemented by a basic bibliography and five appendices with useful updated charts for the selection of the main dimensions and other basic characteristics of different types of ships (Appendix A), the determination of hull form from the data of systematic hull form series (Appendix B), the detailed description of the relational method for the preliminary estimation of ship weights (Appendix C), a brief review of the historical evolution of shipbuilding science and technology from the prehistoric era to date (Appendix D) and finally a historical review of regulatory developments of ship's damage stability to date (Appendix E). The book can be used as textbook for ship design courses or as additional reading for university or college students of naval architecture courses and related disciplines; it may also serve as a reference book for naval architects, practicing engineers of rel...
Potential risks of nuclear ships

International Nuclear Information System (INIS)

Oelgaard, P.L.

1994-07-01

This report represents an attempt to evaluate the potential risks of nuclear ships. Firstly reasons are given why nuclear ship accidents will not lead to accidents of the magnitude of the Chernobyl accident. This is due to much lower content of radioactive material and to different reactor designs. Next a review is given of the types of accidents which have actually occurred. Of these the reactor accidents which may lead to serious consequences for the crew and the environment are considered further. These are reactivity accidents and loss of coolant accidents. In addition the long term risks of sunken nuclear ships and sea disposed reactor compartments etc. are also discussed. Based on available accident data an attempt is made to estimate the probability of serious nuclear ship accidents. (au)
Occupational accidents aboard merchant ships

DEFF Research Database (Denmark)

Hansen, H.L.; Nielsen, D.; Frydenberg, Morten

2002-01-01

Objectives: To investigate the frequency, circumstances, and causes of occupational accidents aboard merchant ships in international trade, and to identify risk factors for the occurrence of occupational accidents as well as dangerous working situations where possible preventive measures may...... be initiated. Methods: The study is a historical follow up on occupational accidents among crew aboard Danish merchant ships in the period 1993–7. Data were extracted from the Danish Maritime Authority and insurance data. Exact data on time at risk were available. Results: A total of 1993 accidents were...... aboard. Relative risks for notified accidents and accidents causing permanent disability of 5% or more were calculated in a multivariate analysis including ship type, occupation, age, time on board, change of ship since last employment period, and nationality. Foreigners had a considerably lower recorded...
Human-robot interaction tests on a novel robot for gait assistance.

Science.gov (United States)

Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Carpino, Giorgio; Accoto, Dino; Guglielmelli, Eugenio

2013-06-01

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.
Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

DEFF Research Database (Denmark)

Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen

2009-01-01

Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...
Concept Design and Risk Assessment of Nuclear Propulsion Ship

International Nuclear Information System (INIS)

Gil, Youngmi; Yoo, Seongjin; Kim, Yeontae; Oh, June; Byun, Yoonchul; Woo, Ilguk; Kim, Jiho; Choi, Suhn

2014-01-01

The nuclear propulsion ships (hereinafter referred to as 'nuclear ships') have been considered as an eco-friendly ship. There have historically been warship and submarine with the source of nuclear power. The use of nuclear ships has been recently extending to the icebreaker, the deep-water exploration ship, and the floating nuclear power plant. Prior to developing the new ship, we evaluated the economics of various types of ships and concluded that the container ship could be appropriate for the nuclear propulsion. In order to verify its safety, we performed the ship calculation based on the optimal arrangement of the nuclear reactor. Finally, we verified its safety by the HAZID. In the former research, we confirmed the applicability of the nuclear propulsion system for the large container ship. In this study, we verified the safety of the nuclear ships according to the HAZID analysis. We expect that this research will lead to safe design of the nuclear ships
Concept Design and Risk Assessment of Nuclear Propulsion Ship

Energy Technology Data Exchange (ETDEWEB)

Gil, Youngmi; Yoo, Seongjin; Kim, Yeontae; Oh, June; Byun, Yoonchul; Woo, Ilguk [Daewoo Shipbuilding and Marine Engineering Co. Ltd., Seoul (Korea, Republic of); Kim, Jiho; Choi, Suhn [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2014-05-15

The nuclear propulsion ships (hereinafter referred to as 'nuclear ships') have been considered as an eco-friendly ship. There have historically been warship and submarine with the source of nuclear power. The use of nuclear ships has been recently extending to the icebreaker, the deep-water exploration ship, and the floating nuclear power plant. Prior to developing the new ship, we evaluated the economics of various types of ships and concluded that the container ship could be appropriate for the nuclear propulsion. In order to verify its safety, we performed the ship calculation based on the optimal arrangement of the nuclear reactor. Finally, we verified its safety by the HAZID. In the former research, we confirmed the applicability of the nuclear propulsion system for the large container ship. In this study, we verified the safety of the nuclear ships according to the HAZID analysis. We expect that this research will lead to safe design of the nuclear ships.
From sex robots to love robots: is mutual love with a robot possible?

NARCIS (Netherlands)

Nyholm, S.R.; Frank, L.E.; Danaher, J.; McArthur, N.

2017-01-01

Some critics of sex-robots worry that their use might spread objectifying attitudes about sex, and common sense places a higher value on sex within love-relationships than on casual sex. If there could be mutual love between humans and sex-robots, this could help to ease the worries about
The relation between people's attitudes and anxiety towards robots in human-robot interaction

NARCIS (Netherlands)

de Graaf, M.M.A.; Ben Allouch, Soumaya

2013-01-01

This paper examines the relation between an interaction with a robot and peoples’ attitudes and emotion towards robots. In our study, participants have had an acquaintance talk with a social robot and both their general attitude and anxiety towards social robots were measured before and after the

Automatic temperature control method of shipping can

International Nuclear Information System (INIS)

Nishikawa, Kaoru.

1992-01-01

The present invention provides a method of rapidly and accurately controlling the temperature of a shipping can, which is used upon shipping inspection for a nuclear fuel assembly. That is, a measured temperature value of the shipping can is converted to a gas pressure setting value in a jacket of the shipping can by conducting a predetermined logic calculation by using a fuzzy logic. A gas pressure control section compares the pressure setting value of a fuzzy estimation section and the measured value of the gas pressure in the jacket of the shipping can, and conducts air supply or exhaustion of the jacket gas so as to adjust the measured value with the setting value. These fuzzy estimation section and gas pressure control section control the gas pressure in the jacket of the shipping can to control the water level in the jacket. As a result, the temperature of the shipping can is controlled. With such procedures, since the water level in the jacket can be controlled directly and finely, temperature of the shipping can is automatically controlled rapidly and accurately compared with a conventional case. (I.S.)
Ship Observations - VOS and Navy

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — Combination of Voluntary Observing Ship (VOS) and US Navy Ship weather observations. Obs generally taken 2-4 times daily at 00, 06, 12, and 18z.
Robotic hand project

OpenAIRE

Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

2014-01-01

In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...
Shipping Fairways

Data.gov (United States)

Department of Homeland Security — Various shipping zones delineate activities and regulations for marine vessel traffic. Traffic lanes define specific traffic flow, while traffic separation zones...
Navy Ships: Turning Over Auxiliary Ship Operations to the Military Sealift Command Could Save Millions

National Research Council Canada - National Science Library

1997-01-01

.... One additional multiproduct ship of a new class is currently under construction. The Navy has delegated operational control of 27 of these ships to MSC, the military's single manager for sealift, to better...
Update on emissions and environmental impacts from the international fleet of ships: the contribution from major ship types and ports

Directory of Open Access Journals (Sweden)

S. B. Dalsøren

2009-03-01

Full Text Available A reliable and up-to-date ship emission inventory is essential for atmospheric scientists quantifying the impact of shipping and for policy makers implementing regulations and incentives for emission reduction. The emission modelling in this study takes into account ship type and size dependent input data for 15 ship types and 7 size categories. Global port arrival and departure data for more than 32 000 merchant ships are used to establish operational profiles for the ship segments. The modelled total fuel consumption amounts to 217 Mt in 2004 of which 11 Mt is consumed in in-port operations. This is in agreement with international sales statistics. The modelled fuel consumption is applied to develop global emission inventories for CO₂, NO₂, SO₂, CO, CH₄, VOC (Volatile Organic Compounds, N₂O, BC (Black Carbon and OC (Organic Carbon. The global emissions from ships at sea and in ports are distributed geographically, applying extended geographical data sets covering about 2 million global ship observations and global port data for 32 000 ships. In addition to inventories for the world fleet, inventories are produced separately for the three dominating ship types, using ship type specific emission modelling and traffic distributions.

A global Chemical Transport Model (CTM was used to calculate the environmental impacts of the emissions. We find that ship emissions is a dominant contributor over much of the world oceans to surface concentrations of NO₂ and SO₂. The contribution is also large over some coastal zones. For surface ozone the contribution is high over the oceans but clearly also of importance over Western North America (contribution 15–25% and Western Europe (5–15%. The contribution to tropospheric column ozone is up to 5–6%. The overall impact of ship emissions on global methane lifetime is large due to the high NO_x emissions. With
PEAR: Prototyping Expressive Animated Robots - A framework for social robot prototyping

OpenAIRE

Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

2018-01-01

International audience; Social robots are transitioning from lab experiments to commercial products, creating new needs for proto-typing and design tools. In this paper, we present a framework to facilitate the prototyping of expressive animated robots. For this, we start by reviewing the design of existing social robots in order to define a set of basic components of social robots. We then show how to extend an existing 3D animation software to enable the animation of these components. By co...
Ships going slow in reducing their NOx emissions: changes in 2005-2012 ship exhaust inferred from satellite measurements over Europe

Science.gov (United States)

Folkert Boersma, K.; Vinken, Geert C. M.; Tournadre, Jean

2015-07-01

We address the lack of temporal information on ship emissions, and report on rapid short-term variations of satellite-derived ship NOx emissions between 2005 and 2012 over European seas. Our inversion is based on OMI observed tropospheric NO2 columns and GEOS-Chem simulations. Average European ship NOx emissions increased by ˜15% from 2005 to 2008. This increase was followed by a reduction of ˜12% in 2009, a direct result of the global economic downturn in 2008-2009, and steady emissions from 2009 to 2012. Observations of ship passages through the Suez Canal and satellite altimeter derived ship densities suggests that ships in the Mediterranean Sea have reduced their speed by more than 30% since 2008. This reduction in ship speed is accompanied by a persistent 45% reduction of average, per ship NOx emission factors. Our results indicate that the practice of ‘slow steaming’, i.e. the lowering of vessel speed to reduce fuel consumption, has indeed been implemented since 2008, and can be detected from space. In spite of the implementation of slow steaming, one in seven of all NOx molecules emitted in Europe in 2012 originated from the shipping sector, up from one in nine in 2005. The growing share of the shipping contributions to the overall European NOx emissions suggests a need for the shipping sector to implement additional measures to reduce pollutant emissions at rates that are achieved by the road transport and energy producing sectors in Europe.
Study of Volatility of New Ship Building Prices in LNG Shipping

Directory of Open Access Journals (Sweden)

T. Bangar Raju

2016-12-01

Full Text Available The natural gas market has been expanding in size and has attracted particular attention across the global energy market. Although most natural gas transportation is carried out through pipelines, almost one third of it is done with the help of merchant vessels, capable of carrying liquefied natural gas. These LNG carriers have a special design and thus can be treated as a separate class of global fleet. New vessels are huge capital investments by vessel owning companies and just like other vessel classes; the new shipbuilding prices for the LNG segment continue to be a key aspect in the decision making of business players. Additionally these prices can be volatile as new ship building prices fluctuate with time. This paper attempts to analyse the volatility of new ship building prices of LNG carriers. For the study, the average ship building prices for all the LNG carriers having volume carrying capacity is between 160,000 – 173,000 cbm to be delivered between 2016 – 2019 were taken into account. For the analysis, GARCH and EGARCH methods were applied on the data set. The analysis concluded that there is a great deal of volatility in the new ship building prices of LNG vessels. It was also identified that negative shocks were more persistent the positive shocks.
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.
Communication of Robot Status to Improve Human-Robot Collaboration

Data.gov (United States)

National Aeronautics and Space Administration — Future space exploration will require humans and robots to collaborate to perform all the necessary tasks. Current robots mostly operate separately from humans due...
Evaluation of the Service Performance of Ships

DEFF Research Database (Denmark)

Andersen, Poul; Borrod, Anne-Sophie; Blanchot, Hervé

2005-01-01

A simple method has been established for the evaluation of the service performance of ships. Input data are easily collected daily on board and transformed to a well-defined condition that makes possible the comparison between ships, for instance, sister ships, and between different time periods...... of voyages for the same ship. The procedure has been applied to two ships that are identical, with the exception that one has a conventional propeller, whereas the other one is fitted with a high-efficiency propeller of the KAPPEL type. The results are obtained from a period of 2 years steaming for both...
Making Humanoid Robots More Acceptable Based on the Study of Robot Characters in Animation

Directory of Open Access Journals (Sweden)

Fatemeh Maleki

2015-03-01

Full Text Available In this paper we take an approach in Humanoid Robots are not considered as robots who resembles human beings in a realistic way of appearance and act but as robots who act and react like human that make them more believable by people. Regarding this approach we will study robot characters in animation movies and discuss what makes some of them to be accepted just like a moving body and what makes some other robot characters to be believable as a living human. The goal of this paper is to create a rule set that describes friendly, socially acceptable, kind, cute... robots and in this study we will review example robots in popular animated movies. The extracted rules and features can be used for making real robots more acceptable.
Robotics in medicine

Science.gov (United States)

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

2015-11-01

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

Science.gov (United States)

Sabanović, Selma

2014-06-01

Using interviews, participant observation, and published documents, this article analyzes the co-construction of robotics and culture in Japan through the technical discourse and practices of robotics researchers. Three cases from current robotics research--the seal-like robot PARO, the Humanoid Robotics Project HRP-2 humanoid, and 'kansei robotics' - show the different ways in which scientists invoke culture to provide epistemological grounding and possibilities for social acceptance of their work. These examples show how the production and consumption of social robotic technologies are associated with traditional crafts and values, how roboticists negotiate among social, technical, and cultural constraints while designing robots, and how humans and robots are constructed as cultural subjects in social robotics discourse. The conceptual focus is on the repeated assembly of cultural models of social behavior, organization, cognition, and technology through roboticists' narratives about the development of advanced robotic technologies. This article provides a picture of robotics as the dynamic construction of technology and culture and concludes with a discussion of the limits and possibilities of this vision in promoting a culturally situated understanding of technology and a multicultural view of science.
German robots: The impact of industrial robots on workers

OpenAIRE

Dauth, Wolfgang; Findeisen, Sebastian; Südekum, Jens; Wößner, Nicole

2017-01-01

We study the impact of rising robot exposure on the careers of individual manufacturing workers, and the equilibrium impact across industries and local labor markets in Germany. We find no evidence that robots cause total job losses, but they do affect the composition of aggregate employment. Every robot destroys two manufacturing jobs. This accounts for almost 23 percent of the overall decline of manufacturing employment in Germany over the period 1994-2014, roughly 275,000 jobs. But this lo...
Autonomous military robotics

CERN Document Server

Nath, Vishnu

2014-01-01

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

International Nuclear Information System (INIS)

Brachet, Y.; Vallette-Fontaine, M.

2000-01-01

Due to the application of the new IMDG regulations for the transport of radioactive material by sea, the conditions of transport of MTR spent fuel have drastically changed five years ago. In this paper, TRANSNUCLEAIRE analyses the necessary modifications to apply to existing ships in order to comply with the IMDG/INF regulations as well as with the Japanese KAISA 520 regulation. In the MTR spent fuel transport market characterized by a competitive approach, TRANSNUCLEAIRE has carried out many transports by sea in full compliance with the regulations at a price which is as close as possible to that of other industrial goods and without the need to fully dedicate the BOUGUENAIS ship to nuclear transports. Innovative ship design solutions have been implemented and accepted by different Authorities uncluding the Advisory Committee of the Japanese MOT. Due to efficient finite element calculations, benchmarked by laboratory large scale tests, high performances crushing materials have been developed in order to absorb the energy of collision between ships. These developments have led ta propose an efficient ship design complying with all the existing worldwide nuclear regulations. (author)
Toward cognitive robotics

Science.gov (United States)

Laird, John E.

2009-05-01

Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

Three-dimensional reconstruction volume: a novel method for volume measurement in kidney cancer.

Science.gov (United States)

Durso, Timothy A; Carnell, Jonathan; Turk, Thomas T; Gupta, Gopal N

2014-06-01

The role of volumetric estimation is becoming increasingly important in the staging, management, and prognostication of benign and cancerous conditions of the kidney. We evaluated the use of three-dimensional reconstruction volume (3DV) in determining renal parenchymal volumes (RPV) and renal tumor volumes (RTV). We compared 3DV with the currently available methods of volume assessment and determined its interuser reliability. RPV and RTV were assessed in 28 patients who underwent robot-assisted laparoscopic partial nephrectomy for kidney cancer. Patients with a preoperative creatinine level of kidney pre- and postsurgery overestimated 3D reconstruction volumes by 15% to 102% and 12% to 101%, respectively. In addition, volumes obtained from 3DV displayed high interuser reliability regardless of experience. 3DV provides a highly reliable way of assessing kidney volumes. Given that 3DV takes into account visible anatomy, the differences observed using previously published methods can be attributed to the failure of geometry to accurately approximate kidney or tumor shape. 3DV provides a more accurate, reproducible, and clinically useful tool for urologists looking to improve patient care using analysis related to volume.
Despeckling Polsar Images Based on Relative Total Variation Model

Science.gov (United States)

Jiang, C.; He, X. F.; Yang, L. J.; Jiang, J.; Wang, D. Y.; Yuan, Y.

2018-04-01

Relatively total variation (RTV) algorithm, which can effectively decompose structure information and texture in image, is employed in extracting main structures of the image. However, applying the RTV directly to polarimetric SAR (PolSAR) image filtering will not preserve polarimetric information. A new RTV approach based on the complex Wishart distribution is proposed considering the polarimetric properties of PolSAR. The proposed polarization RTV (PolRTV) algorithm can be used for PolSAR image filtering. The L-band Airborne SAR (AIRSAR) San Francisco data is used to demonstrate the effectiveness of the proposed algorithm in speckle suppression, structural information preservation, and polarimetric property preservation.
Conceptions of health service robots

DEFF Research Database (Denmark)

Lystbæk, Christian Tang

2015-01-01

Technology developments create rich opportunities for health service providers to introduce service robots in health care. While the potential benefits of applying robots in health care are extensive, the research into the conceptions of health service robot and its importance for the uptake...... of robotics technology in health care is limited. This article develops a model of the basic conceptions of health service robots that can be used to understand different assumptions and values attached to health care technology in general and health service robots in particular. The article takes...... a discursive approach in order to develop a conceptual framework for understanding the social values of health service robots. First a discursive approach is proposed to develop a typology of conceptions of health service robots. Second, a model identifying four basic conceptions of health service robots...
Continuum limbed robots for locomotion

Science.gov (United States)

Mutlu, Alper

This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.
Soft computing in advanced robotics

CERN Document Server

Kobayashi, Ichiro; Kim, Euntai

2014-01-01

Intelligent system and robotics are inevitably bound up; intelligent robots makes embodiment of system integration by using the intelligent systems. We can figure out that intelligent systems are to cell units, while intelligent robots are to body components. The two technologies have been synchronized in progress. Making leverage of the robotics and intelligent systems, applications cover boundlessly the range from our daily life to space station; manufacturing, healthcare, environment, energy, education, personal assistance, logistics. This book aims at presenting the research results in relevance with intelligent robotics technology. We propose to researchers and practitioners some methods to advance the intelligent systems and apply them to advanced robotics technology. This book consists of 10 contributions that feature mobile robots, robot emotion, electric power steering, multi-agent, fuzzy visual navigation, adaptive network-based fuzzy inference system, swarm EKF localization and inspection robot. Th...
Robotics and remote systems applications

International Nuclear Information System (INIS)

Rabold, D.E.

1996-01-01

This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling
Situation Assessment for Mobile Robots

DEFF Research Database (Denmark)

Beck, Anders Billesø

Mobile robots have become a mature technology. The first cable guided logistics robots were introduced in the industry almost 60 years ago. In this time the market for mobile robots in industry has only experienced a very modest growth and only 2.100 systems were sold worldwide in 2011. In recent...... years, many other domains have adopted the mobile robots, such as logistics robots at hospitals and the vacuum robots in our homes. However, considering the achievements in research the last 15 years within perception and operation in natural environments together with the reductions of costs in modern...... sensor systems, the growth potential for mobile robot applications are enormous. Many new technological components are available to move the limits of commercial mobile robot applications, but a key hindrance is reliability. Natural environments are complex and dynamic, and thus the risk of robots...
Fundamentals of soft robot locomotion

OpenAIRE

Calisti, M.; Picardi, G.; Laschi, C.

2017-01-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human��robot interaction and locomotion. Although field applications have emerged for soft manipulation and human��robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...
Ship-to-Ship Radiocommunication Trial by Using Wireless LAN

Directory of Open Access Journals (Sweden)

Yasuyuki Niwa

2015-12-01

In a former field radiocommunication trial, omni-directional antennas were used and a few hundred kbps throughput between two ships was measured, which was not enough for our research target (over 1Mbps. In order to get faster throughput, a field radiocommunication trial was carried out again with a few types of directional antennas and RSSI (Received Signal Strength Indication and the throughput between two ships was measured simultaneously. As a result, multi-path (2-path model affected by the reflection of the sea surface was confirmed and also the characteristics of the directional antennas such as half-power angle were confirmed, but the measured throughput was fast enough to meet our expectation.
Open Issues in Evolutionary Robotics.

Science.gov (United States)

Silva, Fernando; Duarte, Miguel; Correia, Luís; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.
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.
Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

Science.gov (United States)

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, Marco

2009-01-01

This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.
[Robotics in pediatric surgery].

Science.gov (United States)

Camps, J I

2011-10-01

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

Science.gov (United States)

Beer, Jenay M; Fisk, Arthur D; Rogers, Wendy A

2014-07-01

A critical construct related to human-robot interaction (HRI) is autonomy, which varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots may interact with one another. Thus, there is a need to understand HRI by identifying variables that influence - and are influenced by - robot autonomy. Our overarching goal is to develop a framework for levels of robot autonomy in HRI. To reach this goal, the framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed and redefined within the context of HRI. Additionally, the framework proposes a process for determining a robot's autonomy level, by categorizing autonomy along a 10-point taxonomy. The framework is intended to be treated as guidelines to determine autonomy, categorize the LORA along a qualitative taxonomy, and consider which HRI variables (e.g., acceptance, situation awareness, reliability) may be influenced by the LORA.
Note from the radioprotection group's shipping service

CERN Multimedia

2006-01-01

The service for the import/export of radioactive materials reminds you that shipping requests for potentially radioactive materials must be made via the EDH request form by ticking the box 'radioactive material'. All the necessary information is given on the web site: http://cern.ch/service-rp-shipping Requests not complying with the above procedure will not be taken into account. Radioactive Shipping Service http://cern.ch/service-rp-shipping Tel. 73171 Fax: 69200
[Robot-aided training in rehabilitation].

Science.gov (United States)

Hachisuka, Kenji

2010-02-01

Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.
Current status of robotic simulators in acquisition of robotic surgical skills.

Science.gov (United States)

Kumar, Anup; Smith, Roger; Patel, Vipul R

2015-03-01

This article provides an overview of the current status of simulator systems in robotic surgery training curriculum, focusing on available simulators for training, their comparison, new technologies introduced in simulation focusing on concepts of training along with existing challenges and future perspectives of simulator training in robotic surgery. The different virtual reality simulators available in the market like dVSS, dVT, RoSS, ProMIS and SEP have shown face, content and construct validity in robotic skills training for novices outside the operating room. Recently, augmented reality simulators like HoST, Maestro AR and RobotiX Mentor have been introduced in robotic training providing a more realistic operating environment, emphasizing more on procedure-specific robotic training . Further, the Xperience Team Trainer, which provides training to console surgeon and bed-side assistant simultaneously, has been recently introduced to emphasize the importance of teamwork and proper coordination. Simulator training holds an important place in current robotic training curriculum of future robotic surgeons. There is a need for more procedure-specific augmented reality simulator training, utilizing advancements in computing and graphical capabilities for new innovations in simulator technology. Further studies are required to establish its cost-benefit ratio along with concurrent and predictive validity.
48 CFR 47.305-16 - Shipping characteristics.

Science.gov (United States)

2010-10-01

... 48 Federal Acquisition Regulations System 1 2010-10-01 2010-10-01 false Shipping characteristics... CONTRACT MANAGEMENT TRANSPORTATION Transportation in Supply Contracts 47.305-16 Shipping characteristics... shipments of agreed size. (b) Guaranteed shipping characteristics. (1) The contracting officer shall insert...
Ships - inspiring objects in architecture

Science.gov (United States)

Marczak, Elzbieta

2017-10-01

Sea-going vessels have for centuries fascinated people, not only those who happen to work at sea, but first and foremost, those who have never set foot aboard a ship. The environment in which ships operate is reminiscent of freedom and countless adventures, but also of hard and interesting maritime working life. The famous words of Pompey: “Navigare necesseest, vivere non estnecesse” (sailing is necessary, living - is not necessary), which he pronounced on a stormy sea voyage, arouse curiosity and excitement, inviting one to test the truth of this saying personally. It is often the case, however, that sea-faring remains within the realm of dreams, while the fascination with ships demonstrates itself through a transposition of naval features onto land constructions. In such cases, ship-inspired motifs bring alive dreams and yearnings as well as reflect tastes. Tourism is one of the indicators of people’s standard of living and a measure of a society’s civilisation. Maritime tourism has been developing rapidly in recent decades. A sea cruise offers an insight into life at sea. Still, most people derive their knowledge of passenger vessels and their furnishings from the mass media. Passenger vessels, also known as “floating cities,” are described as majestic and grand, while their on-board facilities as luxurious, comfortable, exclusive and inaccessible to common people on land. Freight vessels, on the other hand, are described as enormous objects which dwarf the human being into insignificance. This article presents the results of research intended to answer the following questions: what makes ships a source of inspiration for land architecture? To what extent and by what means do architects draw on ships in their design work? In what places can we find structures inspired by ships? What ships inspire architects? This article presents examples of buildings, whose design was inspired by the architecture and structural details of sea vessels. An analysis of
A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics.

Science.gov (United States)

Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Hirche, Sandra; Endo, Satoshi; Amor, Heni Ben; Ciocarlie, Matei; Mastrogiovanni, Fulvio; Argall, Brenna D; Bianchi, Matteo

2017-01-01

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.

India's ship recycling trade-off

NARCIS (Netherlands)

Worrell, E.; Athanasopoulou, V.

2014-01-01

The special nature of India's steel industry lends particular importance to ship recycling as a source of scrap. Ship recycling in upgraded 'green' facilities can substitute other 'dirty' ironmaking processes, resulting in energy savings and air pollutant emission reductions for the Indian steel
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....
Robots de servicio

OpenAIRE

Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

2008-01-01

8 págs, 9 figs. El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año...
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
Human-robot skills transfer interfaces for a flexible surgical robot.

Science.gov (United States)

Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

2014-09-01

In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.
SHIPPING REQUESTS ON EDH

CERN Multimedia

Logistics Group

2001-01-01

Users are informed that as from 1 September 2001 all Shipping Requests must be made on EDH using the appropriate electronic form. The submission of user requests directly into EDH will help rationalise the activities of the Shipping Service (Import & Export), with requests being automatically forwarded to hierarchical supervisors thereby improving the processing speed and facilitating the follow-up. Thank you for your collaboration.
Measuring Attitudes Towards Telepresence Robots

OpenAIRE

M Tsui, Katherine; Desai, Munjal; A. Yanco, Holly; Cramer, Henriette; Kemper, Nicander

2011-01-01

Studies using Nomura et al.’s “Negative Attitude toward Robots Scale” (NARS) [1] as an attitudinal measure have featured robots that were perceived to be autonomous, indepen- dent agents. State of the art telepresence robots require an explicit human-in-the-loop to drive the robot around. In this paper, we investigate if NARS can be used with telepresence robots. To this end, we conducted three studies in which people watched videos of telepresence robots (n=70), operated te...
A building cost estimation method for inland ships

NARCIS (Netherlands)

Hekkenberg, R.G.

2014-01-01

There is very little publicly available data about the building cost of inland ships, especially for ships that have dimensions that differ significantly from those of common ships. Also, no methods to determine the building cost of inland ships are described in literature. In this paper, a method
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
2016 International Symposium on Experimental Robotics

CERN Document Server

Nakamura, Yoshihiko; Khatib, Oussama; Venture, Gentiane

2017-01-01

Experimental Robotics XV is the collection of papers presented at the International Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. 73 scientific papers were selected and presented after peer review. The papers span a broad range of sub-fields in robotics including aerial robots, mobile robots, actuation, grasping, manipulation, planning and control and human-robot interaction, but shared cutting-edge approaches and paradigms to experimental robotics. The readers will find a breadth of new directions of experimental robotics. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a forum dedicated to experimental robotics research. Robotics has been widening its scientific scope, deepening its methodologies and expanding its applications. However, the significance of experiments remains and will remain at the center of the discipline. The ISER gatherings are...
Test Ship

Data.gov (United States)

Federal Laboratory Consortium — The U. S. Navy dedicated the decommissioned Spruance Class destroyer ex-PAUL F. FOSTER (EDD 964), Test Ship, primarily for at sea demonstration of short range weapon...
The complex network of global cargo ship movements.

Science.gov (United States)

Kaluza, Pablo; Kölzsch, Andrea; Gastner, Michael T; Blasius, Bernd

2010-07-06

Transportation networks play a crucial role in human mobility, the exchange of goods and the spread of invasive species. With 90 per cent of world trade carried by sea, the global network of merchant ships provides one of the most important modes of transportation. Here, we use information about the itineraries of 16 363 cargo ships during the year 2007 to construct a network of links between ports. We show that the network has several features that set it apart from other transportation networks. In particular, most ships can be classified into three categories: bulk dry carriers, container ships and oil tankers. These three categories do not only differ in the ships' physical characteristics, but also in their mobility patterns and networks. Container ships follow regularly repeating paths whereas bulk dry carriers and oil tankers move less predictably between ports. The network of all ship movements possesses a heavy-tailed distribution for the connectivity of ports and for the loads transported on the links with systematic differences between ship types. The data analysed in this paper improve current assumptions based on gravity models of ship movements, an important step towards understanding patterns of global trade and bioinvasion.
Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

Science.gov (United States)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

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

Digital Repository Service at National Institute of Oceanography (India)

Parulekar, A

An evaluation of bottom fauna of ship-wreck sites in estuarine and coastal waters of Goa, India, revealed an exceptionally high biotic enrichment. In terms of number of species, faunal dispersion, faunal diversity, biomass and productivity, in space...
Ships and the Sailors Inside Them

National Research Council Canada - National Science Library

Sims, Philip

2004-01-01

.... Iron shipbuilding allowed safer and healthier ships but their internal compartmentation created communication problems which were gradually solved with mechanical systems Ships developed their own...
Prototypic fabrication of TRIGA irradiated fuel shipping casks

International Nuclear Information System (INIS)

Kim, B.K.; Lee, Y.W.; Whang, C.K.; Lee, J.B.

1980-01-01

This is the safety analysis report on the prototypic fabrication of ''TRIGA Irradiated Fuel Shipping Cask'' conducted by KAERI in 1980. The results of the evaluation show that the shipping cask is in compliance with the applicable regulation for the normal conditions of transport as well as hypothetical accident conditions. The prototypic fabrication of the shipping cask (type B) was carried out for the first time in Korea after getting technical experience from fabrication of the ''TRIGA Spent Fuel Shipping Cask'' and ''the KO-RI Unit 1 surveillance capsule shipping cask'' in 1979. This report contains structural evaluation, thermal evaluation, shielding, criticality, quality assurance, and handling procedures of the shipping cask
Challenges to Ship Hydrodynamics in the XXI Century

Directory of Open Access Journals (Sweden)

Lech Kobylinski

2014-09-01

Full Text Available The beginning of twenty-first century is characterized with important changes in world shipping and exploitation of ocean resources. Three important trends are clearly visible: environment protection, safety and economy. They materialize in important changes in the structure of world fleet where some existing ship types are going to disappear and new ship types emerge. Increasing the size of some ship types is another visible tendency. Stress on environment protection has serious impact on the hydrodynamic characteristics of ships whether with regard to safety zero accident rate is the goal. Important challenges to ship hydrodynamics caused by those tendencies are discussed in the paper.
Low cost submarine robot

Directory of Open Access Journals (Sweden)

Ponlachart Chotikarn

2010-10-01

Full Text Available A submarine robot is a semi-autonomous submarine robot used mainly for marine environmental research. We aim todevelop a low cost, semi-autonomous submarine robot which is able to travel underwater. The robot’s structure was designedand patented using a novel idea of the diving system employing a volume adjustment mechanism to vary the robot’s density.A light weight, flexibility and small structure provided by PVC can be used to construct the torpedo-liked shape robot.Hydraulic seal and O-ring rubbers are used to prevent water leaking. This robot is controlled by a wired communicationsystem.
Ship operations report, 1975

International Nuclear Information System (INIS)

1976-01-01

The NOAA Ship Operations Report 1975 was developed to provide a summary of projects undertaken during calendar year 1975. The report was prepared from season, cruise and special reports submitted by ships of the fleet. This report is promulgated for inhouse dissemination in the National Oceanic and Atmospheric Administration, for collaborating and interested agencies, and for use by members of the scientific community. Throughout the year, ships routinely collected and transmitted weather data. Similarly, as NOAA participants in the Integrated Global Ocean Station System (IGOSS) service program, XBT observations were taken and either radioed or submitted in log form via mail. In addition, particulate and radionuclide samples were taken in cooperation with the Atomic Energy Commission, sediment samples were obtained for the Smithsonian Institution and observations were made of marine mammals

Single liner shipping service design

DEFF Research Database (Denmark)

Plum, Christian Edinger Munk; Pisinger, David; Salazar-González, Juan-José

2014-01-01

The design of container shipping networks is an important logistics problem, involving assets and operational costs measured in billions of dollars. To guide the optimal deployment of the ships, a single vessel round trip is considered by minimizing operational costs and flowing the best paying...
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.
ROBOTICS 2014 - The International Conference on ROBOTICS, Bucharest, Romania, October 23-24, 2014

Directory of Open Access Journals (Sweden)

Iulian TABĂRĂ

2014-12-01

Full Text Available ROBOTICS 2014 was organized by Robotics Society of Romania (RSR with the support of University POLITEHNICA of Bucharest (UPB, Institute of Solid Mechanics of the Romanian Academy (ISMRA and Technical University of Civil Engineering Bucharest (TUCEB, Ministry of National Education (MNE, under the patronage of International Federation for the Promotion of Mechanism and Machine Science (IFToMM. The first scientific event in the field of Robotics in Romania was held at the University POLITEHNICA of Bucharest (UPB, in 1981, by Professor Chrisitan PELECUDI, head of the Mechanisms and Robots research and design team MERO (MEchanisms and RObots and was named "National Symposium of Robotics ". Since the first edition have been held in Romania various scientific events dedicated to Robotics under the name of National Seminars (first fifteen events, since 1981 and National and International Conferences (last five editions. This is the 22nd edition of these scientific events, the first three (1981, 1982, and 1983 being held at the Polytechnic University of Bucharest.
Auxiliary facilities on nuclear ship 'MUTSU'

International Nuclear Information System (INIS)

Tsujimura, Shotaro; Takigami, Yoshio.

1989-01-01

The nuclear ship 'MUTSU' has been moored at SEKINEHAMA, MUTU City in AOMORI Prefecture and several tests and works are being carried out on the ship. The construction of the auxiliary facilities for these works on the ship was completed in safety in August 1988. After that the facilities have fulfilled their function. The outlines of design, fabrication and construction of the facilities are described in this paper. (author)
Robotic hand with modular extensions

Science.gov (United States)

Salisbury, Curt Michael; Quigley, Morgan

2015-01-20

A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.
Production Balance of Ship Erection

Institute of Scientific and Technical Information of China (English)

JIANG Ru-hong; TAN Jia-hua; LIU Cun-gen

2008-01-01

A network plan model of ship erection was established based on the network planning technologyand the work-package breakdown system. The load-oriented production control method was introduced to buildup a throughput diagram model thus it is possible to describe the ship erection process numerically. Based onthe digitaiized models some cases of production balance of ship erection were studied and three balance indexeswere put forward, they are the load balance rate, the input manpower balance rate and the maximum gantrycrane operating times. Such an analytic method based on the balance evaluation is the important foundationfor digitization and intelligentization of shipyard production management.
Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

DEFF Research Database (Denmark)

Alonso García, Alejandro; Villarmarzo Arruñada, Noelia; Pedersen, Rasmus

2018-01-01

The use of collaborative robots enhances human capabilities, leading to better working conditions and increased productivity. In building construction, such robots are needed, among other tasks, to install large glass panels, where the robot takes care of the heavy lifting part of the job while...
MASTER OF THE SHIP, MANAGER AND INSTRUCTOR

Directory of Open Access Journals (Sweden)

Florin IORDANOAIA

2010-01-01

Full Text Available The master of the ship is the person on the board who has the qualification and the necessary certificate of competency for running a maritime transport ship. He is the one who takes the ship into administration from the ship-owner, he is the only leader, the legal and direct chief of the entire crew, being invested with authority upon all the members of the crew. The master fulfils the attributes and displays his activity according to the legal laws of his flag, of the marine regulations and of the international conventions. In all the relationships which he establishes with physical or juridical people, the master represents the ship-owner, in a double condition, as an officer and as a commercial manager. In this paper, it is analysed the situation of the ship masters, the relationships which these masters have with the crew and the problems which appear during their voyage. At the end of the paper there are proposed measures to increase the quality of the training of the ship masters, to solve the situations connected with the members of the crew.
Ship dynamics for maritime ISAR imaging.

Energy Technology Data Exchange (ETDEWEB)

Doerry, Armin Walter

2008-02-01

Demand is increasing for imaging ships at sea. Conventional SAR fails because the ships are usually in motion, both with a forward velocity, and other linear and angular motions that accompany sea travel. Because the target itself is moving, this becomes an Inverse- SAR, or ISAR problem. Developing useful ISAR techniques and algorithms is considerably aided by first understanding the nature and characteristics of ship motion. Consequently, a brief study of some principles of naval architecture sheds useful light on this problem. We attempt to do so here. Ship motions are analyzed for their impact on range-Doppler imaging using Inverse Synthetic Aperture Radar (ISAR). A framework for analysis is developed, and limitations of simple ISAR systems are discussed.
Communication from the Radioactive Shipping Service

CERN Multimedia

DDGS Unit

2011-01-01

The radioactive materials Import/Export service reminds you that all movements of potentially radioactive material must be declared in advance. For exports, shipping requests must be made via the EDH request form, ticking the box “radioactive material”. For imports, an electronic form must be completed before the arrival of the material. Requests which do not comply with the above procedure and any unauthorized imports of radioactive material will be refused.The same applies to imports/exports of radioactive sources. All necessary information is given in the web site: http://cern.ch/service-rp-shipping Yann Donjoux / Radioactive Shipping Service Phone: +41 22 767.31.71 Fax: +41 22 766.92.00 Email: service-rp-shipping@cern.ch
Nuclear powered freight ships - safe and reliable

International Nuclear Information System (INIS)

Schafstall, H.C.

1978-12-01

The five nuclear-powered ships built in the world so far have entered over 100 ports in 14 countries about 1000 times in 15 years, during which there were no accidents endangering the safety of a ship. However, for the expansion of freight shipping with nuclear power, comprehensive international regulations for safety requirements, responsibility etc., are necessary. Although the NEA/IAEO symposium excluded economic questions on the safety of nuclear powered ships, the trends regarding further development in individual countries became clear
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 ...
American Studies Association — Crossroads of Cultures, Atlanta, Ga., Nov. 11-14, 2004

OpenAIRE

Pothier, Jacques

2006-01-01

Dans le cadre de son congrès annuel et à l’initiative de sa présidente en exercice, Shelley Fisher Fishkin, l’American Studies Association avait lancé une International Initiative : inviter les représentants de toutes les associations d’études américaines du monde. Parallèlement, American Quarterly, la revue de l’Association, invitait les directeurs des rédactions des revues américanistes.Je représentais donc l’AFEA, la RFEA et Transatlantica.Qu’est-ce que l’American Studies Association ?Le C...
Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

Science.gov (United States)

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference); the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.
Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

Directory of Open Access Journals (Sweden)

Joachim de Greeff

Full Text Available Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference; the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.
Structural health monitoring for ship structures

Energy Technology Data Exchange (ETDEWEB)

Farrar, Charles [Los Alamos National Laboratory; Park, Gyuhae [Los Alamos National Laboratory; Angel, Marian [Los Alamos National Laboratory; Bement, Matthew [Los Alamos National Laboratory; Salvino, Liming [NSWC, CADEROCK

2009-01-01

Currently the Office of Naval Research is supporting the development of structural health monitoring (SHM) technology for U.S. Navy ship structures. This application is particularly challenging because of the physical size of these structures, the widely varying and often extreme operational and environmental conditions associated with these ships missions, lack of data from known damage conditions, limited sensing that was not designed specifically for SHM, and the management of the vast amounts of data that can be collected during a mission. This paper will first define a statistical pattern recognition paradigm for SHM by describing the four steps of (1) Operational Evaluation, (2) Data Acquisition, (3) Feature Extraction, and (4) Statistical Classification of Features as they apply to ship structures. Note that inherent in the last three steps of this process are additional tasks of data cleansing, compression, normalization and fusion. The presentation will discuss ship structure SHM challenges in the context of applying various SHM approaches to sea trials data measured on an aluminum multi-hull high-speed ship, the HSV-2 Swift. To conclude, the paper will discuss several outstanding issues that need to be addressed before SHM can make the transition from a research topic to actual field applications on ship structures and suggest approaches for addressing these issues.
Report of Nuclear Powered Ship Council

International Nuclear Information System (INIS)

1982-01-01

From the forecast of energy balance in the world to 21st century, the diversification of energy supply and the technical development enabling it are necessary in Japan. The stable supply of marine fuel is important to maintain and develop the national life. At present, as the marine fuel substituting for petroleum, atomic energy is at the position nearest to practical use. In advanced countries, the basic technology required for the practical use of nuclear-powered merchant ships seems to have been established, but Japan is about 10 years behind them due to the delay of the Mutsu project. In order to maintain and improve the technical level of shipbuilders, the independent technology related to nuclear-powered ships must be established in Japan. In the economical examination of nuclear-powered ships, ice breakers and ice breaking tankers are advantageous, but in other types of ships, a number of conditions must be satisfied to be economical. The Mutsu must be operated to collect the data and experience, and the project of an improved marine prototype reactor must be decided. Also a demonstration ship must be built. The standards for the design, construction and operation of nuclear-powered ships and the public acceptance are necessary. (Kako, I.)
Robot Tracer with Visual Camera

Science.gov (United States)

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

2017-12-01

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

NARCIS (Netherlands)

Schleijpen, H.M.A.; Neele, P.P.

2004-01-01

The exhaust gas plume is an important and sometimes dominating contributor to the infrared signature of ships. Suppression of the infrared ship signatures has been studied by TNO for the Royal Netherlands Navy over considerable time. This study deals with the suppression effects, which can be
Robotics for nuclear power plants

International Nuclear Information System (INIS)

Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

1984-01-01

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

Robotics for nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

1984-10-01

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

Directory of Open Access Journals (Sweden)

Disha A Patel

2015-01-01

Full Text Available Background: Ritonavir (RTV and atazanavir sulfate (ATV are protease inhibitor and RTV mostly used as a booster for increasing the bioavailability of other protease inhibitors like ATV. Aims: Quality assessment of the new dosage form of RTV and ATV i.e., tablets is very essential and hence this work deals with to develop sensitive, simple and precise method for simultaneous estimation of ATV and RTV in tablet dosage form by absorbance correction method. Materials and Methods: The present work was carried out on Shimadzu Ultraviolate(UV-1700 double beam spectrophotometer with 1 cm path length supported by S Shimadzu, model-1700(Japan, UV-Probe software, version 2.31 was used for spectral measurements with 10 mm matched quartz cells. Standard ATV and RTV were supplied by Cipla Pharmaceutical Ltd. Methanol was purchased from Finar Chemicals Pvt. Ltd. Results and Conclusion: The λmax or the absorption maxima for ATV and RTV were found to be 279 and 240 nm, respectively in methanol as solvent. The drugs follow Beer-Lambert′s law in the concentration range 30-90 and 10-30 μg/mL for ATV and RTV, respectively. The percentage recovery was found to be 100-100.33% and 100-101.5% for ATV and RTV, respectively. The method was validated for different parameters as per the International Conference for Harmonization Guidelines.
30 Years of Robotic Surgery.

Science.gov (United States)

Leal Ghezzi, Tiago; Campos Corleta, Oly

2016-10-01

The idea of reproducing himself with the use of a mechanical robot structure has been in man's imagination in the last 3000 years. However, the use of robots in medicine has only 30 years of history. The application of robots in surgery originates from the need of modern man to achieve two goals: the telepresence and the performance of repetitive and accurate tasks. The first "robot surgeon" used on a human patient was the PUMA 200 in 1985. In the 1990s, scientists developed the concept of "master-slave" robot, which consisted of a robot with remote manipulators controlled by a surgeon at a surgical workstation. Despite the lack of force and tactile feedback, technical advantages of robotic surgery, such as 3D vision, stable and magnified image, EndoWrist instruments, physiologic tremor filtering, and motion scaling, have been considered fundamental to overcome many of the limitations of the laparoscopic surgery. Since the approval of the da Vinci(®) robot by international agencies, American, European, and Asian surgeons have proved its factibility and safety for the performance of many different robot-assisted surgeries. Comparative studies of robotic and laparoscopic surgical procedures in general surgery have shown similar results with regard to perioperative, oncological, and functional outcomes. However, higher costs and lack of haptic feedback represent the major limitations of current robotic technology to become the standard technique of minimally invasive surgery worldwide. Therefore, the future of robotic surgery involves cost reduction, development of new platforms and technologies, creation and validation of curriculum and virtual simulators, and conduction of randomized clinical trials to determine the best applications of robotics.
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...
Note from the radioprotection group's shipping service

CERN Multimedia

2006-01-01

Le service SHIPPING du groupe de radioprotection souhaite vous rappeler qu'avant toute expédition de matériel susceptible d'être radioactif, une demande de transport doit être établie par EDH en cochant la case appropriée (danger radioactif). Merci de bien vouloir prendre note des informations figurant dans le site Web: http://cern.ch/service-rp-shipping Toute demande non conforme ne sera pas prise en compte. Radioactive Shipping Service http://cern.ch/service-rp-shippingTél: 73171Fax: 69200
Accuracy of visual wave observation from merchant ships and estimated wave loads; Accuracy of visual wave observation from merchant ships and estimated wave loads

Energy Technology Data Exchange (ETDEWEB)

Kawabe, H. [National Defense Academy, Kanagawa (Japan); Masaoka, K. [University of Osaka Prefecture, Osaka (Japan). Faculty of Engineering

1998-06-01

There is a large number of studies on discussions concerning accuracy of visual observation of waves and the correction method thereon. This paper give considerations on observation accuracy placing a viewpoint on that by merchant ships. Based on ship meteorological observation tables reported to the Meteorological Agency of Japan on meteorology in North Pacific during 14 years from 1976 to1989, wave observation values taken by merchant ships and observation ships were compared statistically to investigate the accuracy of visual wave observations carried out by merchant ships. With regard to wave heights, the observation values taken by the observation ships and the merchant ships have strong correlation, where the merchant ships evaluate them somewhat higher than the observation ships. Regarding wave cycles of wind waves, the merchant ships tend to have the observation values on longer cycle side. Correlation between the observations values by the merchant ships and the observation ships is weak both in wind waves and swells. There is not much of variation in accuracy of observations during daytime and at night performed by the merchant ships. It will be necessary in the future to give considerations on a method to correct the observation values on wave cycles taken by the merchant ship, and on a correction method in which both of the wave cycles and the wave heights are corrected simultaneously to make the observation values of the merchant ship equal to those of the observation ships. Thus, the observation values reported by general merchant ships in a large number every year will have to be utilized more effectively. 11 refs., 21 figs., 2 tabs.
Ships going slow in reducing their NOx emissions: changes in 2005–2012 ship exhaust inferred from satellite measurements over Europe

International Nuclear Information System (INIS)

Boersma, K Folkert; Vinken, Geert C M; Tournadre, Jean

2015-01-01

We address the lack of temporal information on ship emissions, and report on rapid short-term variations of satellite-derived ship NO x emissions between 2005 and 2012 over European seas. Our inversion is based on OMI observed tropospheric NO 2 columns and GEOS-Chem simulations. Average European ship NO x emissions increased by ∼15% from 2005 to 2008. This increase was followed by a reduction of ∼12% in 2009, a direct result of the global economic downturn in 2008–2009, and steady emissions from 2009 to 2012. Observations of ship passages through the Suez Canal and satellite altimeter derived ship densities suggests that ships in the Mediterranean Sea have reduced their speed by more than 30% since 2008. This reduction in ship speed is accompanied by a persistent 45% reduction of average, per ship NO x emission factors. Our results indicate that the practice of ‘slow steaming’, i.e. the lowering of vessel speed to reduce fuel consumption, has indeed been implemented since 2008, and can be detected from space. In spite of the implementation of slow steaming, one in seven of all NO x molecules emitted in Europe in 2012 originated from the shipping sector, up from one in nine in 2005. The growing share of the shipping contributions to the overall European NO x emissions suggests a need for the shipping sector to implement additional measures to reduce pollutant emissions at rates that are achieved by the road transport and energy producing sectors in Europe. (letter)
Nuclear powered ships. Findings from a feasibility study

International Nuclear Information System (INIS)

Namikawa, Shunichiro; Maerli, Morten Bremer; Hoffmann, Peter Nyegaard; Brodin, Erik

2011-01-01

Nuclear shipping is attractive for several reasons, one of which is its positive effect on emissions (CO 2 , NOx and SOx). The benefits, however, do not come without risks of possible harmful effects on humans and wildlife. Nuclear ships set themselves apart from conventional ships, as well as from on-shore nuclear power-plants, on several counts. 1) The reactor-unit are non-stationary, and the reactor is subject to the ship motions. 2) Ship reactors must be compact due to space constraints. 3) Special design considerations are required to ensure reactor safety and security, as well as to enable refuelling. 4) A naval nuclear fuel cycle infrastructure for fuel fabrication, handling, and disposal is needed. Technological feasibility of nuclear shipping is by itself inconclusive to a expansion into civilian applications and use. Civilian nuclear propulsion needs to be commercially viable and politically acceptable. Appropriate legislation must be in place, and nuclear shipping concepts with proven safety records and highest possible nuclear proliferation-resistance must be established. Possible 'showstoppers' to a viable nuclear civilian shipping industry are outlined in the paper in view of Political, Technical, Regulatory, Commercial, Safety and Security aspects. Further, different types of ships with different propulsion system are compared in lights of life cycle cost and air emission. (author)
Advances in robot kinematics

CERN Document Server

Khatib, Oussama

2014-01-01

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

OpenAIRE

Biswas, Mriganka; Murray, John

2014-01-01

This paper presents a model for developing long-term human-robot interactions and social relationships based on the principle of 'human' cognitive biases applied to a robot. The aim of this work is to study how a robot influenced with human ‘misattribution’ helps to build better human-robot interactions than unbiased robots. The results presented in this paper suggest that it is important to know the effect of cognitive biases in human characteristics and interactions in order to better u...
Robotic systems in spine surgery.

Science.gov (United States)

Onen, Mehmet Resid; Naderi, Sait

2014-01-01

Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.
Robots in the Roses

OpenAIRE

2014-01-01

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

Science.gov (United States)

Smith, Donna C.

2011-01-01

Approved as a Wallops control center backup system, the Wallops Ship Surveillance Software is a day-of-launch risk analysis tool for spaceport activities. The system calculates impact probabilities and displays ship locations relative to boundary lines. It enables rapid analysis of possible flight paths to preclude the need to cancel launches and allow execution of launches in a timely manner. Its design is based on low-cost, large-customer- base elements including personal computers, the Windows operating system, C/C++ object-oriented software, and network interfaces. In conformance with the NASA software safety standard, the system is designed to ensure that it does not falsely report a safe-for-launch condition. To improve the current ship surveillance method, the system is designed to prevent delay of launch under a safe-for-launch condition. A single workstation is designated the controller of the official ship information and the official risk analysis. Copies of this information are shared with other networked workstations. The program design is divided into five subsystems areas: 1. Communication Link -- threads that control the networking of workstations; 2. Contact List -- a thread that controls a list of protected item (ocean vessel) information; 3. Hazard List -- threads that control a list of hazardous item (debris) information and associated risk calculation information; 4. Display -- threads that control operator inputs and screen display outputs; and 5. Archive -- a thread that controls archive file read and write access. Currently, most of the hazard list thread and parts of other threads are being reused as part of a new ship surveillance system, under the SureTrak project.
Robot Motion and Control 2011

CERN Document Server

2012-01-01

Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...
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.
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.
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.
29 CFR 1915.164 - Ship's propulsion machinery.

Science.gov (United States)

2010-07-01

... 29 Labor 7 2010-07-01 2010-07-01 false Ship's propulsion machinery. 1915.164 Section 1915.164 Labor Regulations Relating to Labor (Continued) OCCUPATIONAL SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR (CONTINUED) OCCUPATIONAL SAFETY AND HEALTH STANDARDS FOR SHIPYARD EMPLOYMENT Ship's Machinery and Piping Systems § 1915.164 Ship's...
47 CFR 80.59 - Compulsory ship inspections.

Science.gov (United States)

2010-10-01

... 47 Telecommunication 5 2010-10-01 2010-10-01 false Compulsory ship inspections. 80.59 Section 80... STATIONS IN THE MARITIME SERVICES Applications and Licenses § 80.59 Compulsory ship inspections. (a) Inspection of ships subject to the Communications Act or the Safety Convention. (1) The FCC will not normally...
Internationalisation Within Liner Shipping

DEFF Research Database (Denmark)

Prockl, Günter; Kinra, Aseem; Kotzab, Herbert

2018-01-01

, the degree of internationalisation, measured on the basis of sea-oriented operations, differs from that measured according to land-oriented front-end marketing and sales activities. The purpose of this study is to further examine the internationalisation patterns of shipping lines. An examination...... of the front-end activities and the structures of leading container-shipping companies is conducted. The sales office networks of the sector’s 20 largest companies worldwide (by twenty-foot equivalent unit capacity) are analysed as key indicators. The numbers of sales offices are measured by analysing...... the websites of the sample (20 companies), as well as annual reports and other publicly available data sources. The findings show that not all shipping companies are international, by virtue of the industry. While it is difficult to observe differences in the overall patterns of the sales networks at a macro...

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Directory of Open Access Journals (Sweden)

Philipp Beckerle

2017-05-01

Full Text Available Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human–robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.
A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Science.gov (United States)

Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Hirche, Sandra; Endo, Satoshi; Amor, Heni Ben; Ciocarlie, Matei; Mastrogiovanni, Fulvio; Argall, Brenna D.; Bianchi, Matteo

2017-01-01

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human–robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions. PMID:28588473
Advances in Robotics and Virtual Reality

CERN Document Server

Hassanien, Aboul

2012-01-01

A beyond human knowledge and reach, robotics is strongly involved in tackling challenges of new emerging multidisciplinary fields. Together with humans, robots are busy exploring and working on the new generation of ideas and problems whose solution is otherwise impossible to find. The future is near when robots will sense, smell and touch people and their lives. Behind this practical aspect of human-robotics, there is a half a century spanned robotics research, which transformed robotics into a modern science. The Advances in Robotics and Virtual Reality is a compilation of emerging application areas of robotics. The book covers robotics role in medicine, space exploration and also explains the role of virtual reality as a non-destructive test bed which constitutes a premise of further advances towards new challenges in robotics. This book, edited by two famous scientists with the support of an outstanding team of fifteen authors, is a well suited reference for robotics researchers and scholars from related ...
Can Social Robots Qualify for Moral Consideration? Reframing the Question about Robot Rights

Directory of Open Access Journals (Sweden)

Herman T. Tavani

2018-03-01

Full Text Available A controversial question that has been hotly debated in the emerging field of robot ethics is whether robots should be granted rights. Yet, a review of the recent literature in that field suggests that this seemingly straightforward question is far from clear and unambiguous. For example, those who favor granting rights to robots have not always been clear as to which kinds of robots should (or should not be eligible; nor have they been consistent with regard to which kinds of rights—civil, legal, moral, etc.—should be granted to qualifying robots. Also, there has been considerable disagreement about which essential criterion, or cluster of criteria, a robot would need to satisfy to be eligible for rights, and there is ongoing disagreement as to whether a robot must satisfy the conditions for (moral agency to qualify either for rights or (at least some level of moral consideration. One aim of this paper is to show how the current debate about whether to grant rights to robots would benefit from an analysis and clarification of some key concepts and assumptions underlying that question. My principal objective, however, is to show why we should reframe that question by asking instead whether some kinds of social robots qualify for moral consideration as moral patients. In arguing that the answer to this question is “yes,” I draw from some insights in the writings of Hans Jonas to defend my position.
Multi-Robot Assembly Strategies and Metrics

Science.gov (United States)

MARVEL, JEREMY A.; BOSTELMAN, ROGER; FALCO, JOE

2018-01-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies. PMID:29497234
Multi-Robot Assembly Strategies and Metrics.

Science.gov (United States)

Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

2018-02-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.
MASTER OF THE SHIP, MANAGER AND INSTRUCTOR

OpenAIRE

Florin IORDANOAIA

2010-01-01

The master of the ship is the person on the board who has the qualification and the necessary certificate of competency for running a maritime transport ship. He is the one who takes the ship into administration from the ship-owner, he is the only leader, the legal and direct chief of the entire crew, being invested with authority upon all the members of the crew. The master fulfils the attributes and displays his activity according to the legal laws of his flag, of the marine regulations and...
Present and Future of Nuclear Robotics

International Nuclear Information System (INIS)

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

1997-01-01

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

OpenAIRE

Čulin, Jelena; Bielić, Toni

2016-01-01

The environmental impact of shipping on marine environment includes discharge of garbage. Plastic litter is of particular concern due to abundance, resistance to degradation and detrimental effect on marine biota. According to recently published studies, a further research is required to assess human health risk. Monitoring data indicate that despite banning plastic disposal at sea, shipping is still a source of plastic pollution. Some of the measures to combat the problem are discussed.
Allocation of ESS by interval optimization method considering impact of ship swinging on hybrid PV/diesel ship power system

International Nuclear Information System (INIS)

Wen, Shuli; Lan, Hai; Hong, Ying-Yi; Yu, David C.; Zhang, Lijun; Cheng, Peng

2016-01-01

Highlights: • An uncertainty model of PV generation on board is developed based on the experiments. • The moving and swinging of the ship are considered in the optimal ESS sizing problem. • Optimal sizing of ESS in a hybrid PV/diesel/ESS ship power system is gained by the interval optimization method. • Different cases were studied to show the significance of the proposed method considering the swinging effects on the cost. - Abstract: Owing to low efficiency of traditional ships and the serious environmental pollution that they cause, the use of solar energy and an energy storage system (ESS) in a ship’s power system is increasingly attracting attention. However, the swinging of a ship raises crucial challenges in designing an optimal system for a large oil tanker ship, which are associated with uncertainties in solar energy. In this study, a series of experiments are performed to investigate the characteristics of a photovoltaic (PV) system on a moving ship. Based on the experimental results, an interval uncertainty model of on-board PV generation is established, which considers the effect of the swinging of the ship. Due to the power balance equations, the outputs of the diesel generator and the ESS on a large oil tanker are also modeled using interval variables. An interval optimization method is developed to determine the optimal size of the ESS in this hybrid ship power system to reduce the fuel cost, capital cost of the ESS, and emissions of greenhouse gases. Variations of the ship load are analyzed using a new method, taking five operating conditions into account. Several cases are compared in detail to demonstrate the effectiveness of the proposed algorithm.
Robots as Confederates

DEFF Research Database (Denmark)

Fischer, Kerstin

2016-01-01

This paper addresses the use of robots in experimental research for the study of human language, human interaction, and human nature. It is argued that robots make excellent confederates that can be completely controlled, yet which engage human participants in interactions that allow us to study...... numerous linguistic and psychological variables in isolation in an ecologically valid way. Robots thus combine the advantages of observational studies and of controlled experimentation....
Developing new behavior strategies of robot soccer team SjF TUKE Robotics

Directory of Open Access Journals (Sweden)

Mikuláš Hajduk

2016-09-01

Full Text Available There are too many types of robotic soccer approaches at present. SjF TUKE Robotics, who won robot soccer world tournament for year 2010 in category MiroSot, is a team with multiagent system approach. They have one main agent (master and five agent players, represented by robots. There is a point of view, in the article, for code programmer how to create new behavior strategies by creating a new code for master. There is a methodology how to prepare and create it following some rules.
Learning robotics using Python

CERN Document Server

Joseph, Lentin

2015-01-01

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

CSIR Research Space (South Africa)

Namoshe, M

2008-12-01

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

Directory of Open Access Journals (Sweden)

J. J. Corbett

2010-10-01

Full Text Available This paper presents 5 km×5 km Arctic emissions inventories of important greenhouse gases, black carbon and other pollutants under existing and future (2050 scenarios that account for growth of shipping in the region, potential diversion traffic through emerging routes, and possible emissions control measures. These high-resolution, geospatial emissions inventories for shipping can be used to evaluate Arctic climate sensitivity to black carbon (a short-lived climate forcing pollutant especially effective in accelerating the melting of ice and snow, aerosols, and gaseous emissions including carbon dioxide. We quantify ship emissions scenarios which are expected to increase as declining sea ice coverage due to climate change allows for increased shipping activity in the Arctic. A first-order calculation of global warming potential due to 2030 emissions in the high-growth scenario suggests that short-lived forcing of ~4.5 gigagrams of black carbon from Arctic shipping may increase global warming potential due to Arctic ships' CO₂ emissions (~42 000 gigagrams by some 17% to 78%. The paper also presents maximum feasible reduction scenarios for black carbon in particular. These emissions reduction scenarios will enable scientists and policymakers to evaluate the efficacy and benefits of technological controls for black carbon, and other pollutants from ships.
Improving the competitiveness of green ship recycling

NARCIS (Netherlands)

Jain, K.P.

2017-01-01

The end of life of a ship is determined by its owner on the basis of various commercial and technical factors. Once decided to scrap a ship, almost all end-of-life (EOL) ships are sold to recycling yards for dismantling; except for a few which are converted into museums, hotels, storage, and
Design-Oriented Enhanced Robotics Curriculum

Science.gov (United States)

Yilmaz, M.; Ozcelik, S.; Yilmazer, N.; Nekovei, R.

2013-01-01

This paper presents an innovative two-course, laboratory-based, and design-oriented robotics educational model. The robotics curriculum exposed senior-level undergraduate students to major robotics concepts, and enhanced the student learning experience in hybrid learning environments by incorporating the IEEE Region-5 annual robotics competition…
Interaction with Soft Robotic Tentacles

DEFF Research Database (Denmark)

Jørgensen, Jonas

2018-01-01

Soft robotics technology has been proposed for a number of applications that involve human-robot interaction. In this tabletop demonstration it is possible to interact with two soft robotic platforms that have been used in human-robot interaction experiments (also accepted to HRI'18 as a Late...
Survival of falling robots

Science.gov (United States)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-01-01

As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.
Robot Games for Elderly

DEFF Research Database (Denmark)

Hansen, Søren Tranberg

2011-01-01

improve a person’s overall health, and this thesis investigates how games based on an autonomous, mobile robot platform, can be used to motivate elderly to move physically while playing. The focus of the investigation is on the development of games for an autonomous, mobile robot based on algorithms using...... spatio-temporal information about player behaviour - more specifically, I investigate three types of games each using a different control strategy. The first game is based on basic robot control which allows the robot to detect and follow a person. A field study in a rehabilitation centre and a nursing....... The robot facilitates interaction, and the study suggests that robot based games potentially can be used for training balance and orientation. The second game consists in an adaptive game algorithm which gradually adjusts the game challenge to the mobility skills of the player based on spatio...

Survival of falling robots

Science.gov (United States)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-02-01

As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.
Lessons of nuclear robot history

International Nuclear Information System (INIS)

Oomichi, Takeo

2014-01-01

Severe accidents occurred at Fukushima Daiichi Nuclear Power Station stirred up people's great expectation of nuclear robot's deployment. However unexpected nuclear disaster, especially rupture of reactor building caused by core meltdown and hydrogen explosion, made it quite difficult to introduce nuclear robot under high radiation environment to cease accidents and dispose damaged reactor. Robotics Society of Japan (RSJ) set up committee to look back upon lessons learned from 50 year's past experience of nuclear robot development and summarized 'Lessons of nuclear robot history', which was shown on the home page website of RSJ. This article outlined it with personal comment. History of nuclear robot developed for inspection and maintenance at normal operation and for specific required response at nuclear accidents was reviewed with many examples at home and abroad for TMI, Chernobyl and JCO accidents. Present state of Fukushima accident response robot's introduction and development was also described with some comments on nuclear robot development from academia based on lessons. (T. Tanaka)
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.
Achieving Energy Efficient Ship Operations Under Third Party Management

DEFF Research Database (Denmark)

Taudal Poulsen, René; Sornn-Friese, Henrik

2015-01-01

Profitable energy saving measures are often not fully implemented in shipping, causing energy efficiency gaps. The paper identifies energy efficiency gaps in ship operations, and explores their causes. Lack of information on energy efficiency, lack of energy training at sea and onshore and lack...... of time to produce and provide reliable energy efficiency information cause energy efficiency gaps. The paper brings together the energy efficiency and ship management literatures, demonstrating how ship management models influence energy efficiency in ship operations. Achieving energy efficiency in ship...
Analysis of Ship Groundings on Soft Sea Beds

DEFF Research Database (Denmark)

Simonsen, Bo Cerup; Pedersen, Preben Terndrup

1997-01-01

it influences the ship heave and pitch motions as well as the friction between the ship and the soil.In this paper a rational calculation model is presented for the sea bed soil reaction forces on the ship bottom. The model is based on the assumption that the penetration of the ship bow generates a flow of pore......The consequences associated with ships running aground depend very much on the soil characteristics of the sea bed and the geometrical shape of the ship bow. The penetration into the sea bed depends on these factors and the penetration is an important factor for the ship motion because...... by the theory of frictional soils in rupture. Frictional stresses on the bow surface are assumed to be related to the normal pressure by a simple Coulumb relation. The total soil reaction as a function of velocity and penetration is found by integration of normal pressure and frictional stresses over...
Optimization of ship inner shell to improve the safety of seagoing transport ship

Directory of Open Access Journals (Sweden)

Yan-Yun YU

2013-09-01

Full Text Available A practical Ship Inner Shell Optimization Method (SISOM, the purpose of which is to improve the safety of the seagoing transport ship by decreasing the maximum Still Water Bending Moment (SWBM of the hull girder under all typical loading conditions, is presented in this paper. The objective of SISOM is to make the maximum SWBM minimum, and the section areas of the inner shell are taken as optimization variables. The main requirements of the ship performances, such as cargo hold capacity, propeller and rudder immersion, bridge visibility, damage stability and prevention of pollution etc., are taken as constraints. The penalty function method is used in SISOM to change the above nonlinear constraint problem into an unconstrained one, which is then solved by applying the steepest descent method. After optimization, the optimal section area distribution of the inner shell is obtained, and the shape of inner shell is adjusted according to the optimal section area. SISOM is applied to a product oil tanker and a bulk carrier, and the maximum SWBM of the two ships is significantly decreased by changing the shape of inner shell plate slightly. The two examples prove that SISOM is highly efficient and valuable to engineering practice.
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
Referees check robots after qualifying match at regional robotic competition at KSC

Science.gov (United States)

1999-01-01

Referees check the robots on the floor of the playing field after a qualifying match of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex . Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow- like disks from the floor, as well as climb onto the platform (with flags) and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.
Design and Implementation of a New DELTA Parallel Robot in Robotics Competitions

Directory of Open Access Journals (Sweden)

Jonqlan Lin

2015-10-01

Full Text Available This investigation concerns the design and implementation of the DELTA parallel robot, covering the entire mechatronic process, involving kinematics, control design and optimizing methods. To accelerate the construction of the robot, 3D printing is used to fabricate end-effector parts. The parts are modular, low-cost, reconfigurable and can be assembled in less time than is required for conventionally fabricated parts. The controller, including the control algorithm and human-machine interface (HMI, is coded using the Borland C++ Builder 6 Personal software environment. The integration of the motion controller with image recognition into an opto-mechatronics system is presented. The robot system has been entered into robotic competitions in Taiwan. The experimental results reveal that the proposed DELTA robot completed the tasks in those competitions successfully.
Working with Robots: The Real Story.

Science.gov (United States)

Fey, Carol

1986-01-01

Looks at some of the realities of life with robots: robots aren't replacing entire shifts of workers; a robot is just a tool; regular plant personnel maintain robots; and job category and seniority dictate who is trained to maintain robots. (CT)
Robots: An Impact on Education.

Science.gov (United States)

Blaesi, LaVon; Maness, Marion

1984-01-01

Provides background information on robotics and robots, considering impact of robots on the workplace and concerns of the work force. Discusses incorporating robotics into the educational system at all levels, exploring industry-education partnerships to fund introduction of new technology into the curriculum. New funding sources and funding…
An Adaptive Ship Detection Scheme for Spaceborne SAR Imagery

Directory of Open Access Journals (Sweden)

Xiangguang Leng

2016-08-01

Full Text Available With the rapid development of spaceborne synthetic aperture radar (SAR and the increasing need of ship detection, research on adaptive ship detection in spaceborne SAR imagery is of great importance. Focusing on practical problems of ship detection, this paper presents a highly adaptive ship detection scheme for spaceborne SAR imagery. It is able to process a wide range of sensors, imaging modes and resolutions. Two main stages are identified in this paper, namely: ship candidate detection and ship discrimination. Firstly, this paper proposes an adaptive land masking method using ship size and pixel size. Secondly, taking into account the imaging mode, incidence angle, and polarization channel of SAR imagery, it implements adaptive ship candidate detection in spaceborne SAR imagery by applying different strategies to different resolution SAR images. Finally, aiming at different types of typical false alarms, this paper proposes a comprehensive ship discrimination method in spaceborne SAR imagery based on confidence level and complexity analysis. Experimental results based on RADARSAT-1, RADARSAT-2, TerraSAR-X, RS-1, and RS-3 images demonstrate that the adaptive scheme proposed in this paper is able to detect ship targets in a fast, efficient and robust way.
Robotics in hazardous waste management

International Nuclear Information System (INIS)

Mahalingam, R.J.; Jayaraman, K.M.; Cunningham, A.J.; Meieran, H.B.; Zafrir, H.; Kroitoru, L.

1994-01-01

This paper addresses the advent of mobile robotic systems into the earth sciences and environmental studies. It presents issues surrounding the rationale for employing stationary and mobile robots to assist in waste chemical site remediation and cleanup activities, missions that could be conducted, and the current availability status for these devices. This rationale is an extension of that being promoted by the US Department of Energy (DOE) to assist in resolving environmental restoration and waste management (ER and WM) issues associated with several DOE national laboratories, facilities, and other sites. DOE has also committed to restore the environment surrounding the existing storage facilities and sites to a safe state. Technologies that are expected to play a major role in these activities are stationary and mobile robotic devices, and in particular, mobile robots. Specific topics discussed in this article include: introduction to robotics: motivations for considering robots in HWM: incorporation of robotics into HWM methods--this subsection includes a rationale for performing a ''screening test'' to determine the advantages of using a robot; safety and performance factors; illustrations for robots in action and current and future trends
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.
Hand-held medical robots.

Science.gov (United States)

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

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

Science.gov (United States)

Tyree, Kimberly

2004-01-01

The EVA Robotic Assistant (ERA) project at NASA Johnson Space Center studies human-robot interaction and robotic assistance for future human planetary exploration. Over the past four years, the ERA project has been performing field tests with one or more four-wheeled robotic platforms and one or more space-suited humans. These tests have provided experience in how robots can assist humans, how robots and humans can communicate in remote environments, and what combination of humans and robots works best for different scenarios. The most efficient way to understand what tasks human explorers will actually perform, and how robots can best assist them, is to have human explorers and scientists go and explore in an outdoor, planetary-relevant environment, with robots to demonstrate what they are capable of, and roboticists to observe the results. It can be difficult to have a human expert itemize all the needed tasks required for exploration while sitting in a lab: humans do not always remember all the details, and experts in one arena may not even recognize that the lower level tasks they take for granted may be essential for a roboticist to know about. Field tests thus create conditions that more accurately reveal missing components and invalid assumptions, as well as allow tests and comparisons of new approaches and demonstrations of working systems. We have performed field tests in our local rock yard, in several locations in the Arizona desert, and in the Utah desert. We have tested multiple exploration scenarios, such as geological traverses, cable or solar panel deployments, and science instrument deployments. The configuration of our robot can be changed, based on what equipment is needed for a given scenario, and the sensor mast can even be placed on one of two robot bases, each with different motion capabilities. The software architecture of our robot is also designed to be as modular as possible, to allow for hardware and configuration changes. Two focus
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
Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social.

Science.gov (United States)

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user's needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human-robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human-human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human-robot interaction by (a) fostering feelings of social connection, empathy and prosociality, and by (b) enhancing performance on joint human-robot tasks. Lastly, we describe circumstances under which
Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social

Science.gov (United States)

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user’s needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human–robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human–human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human–robot interaction by (a) fostering feelings of social connection, empathy and prosociality, and by (b) enhancing performance on joint human–robot tasks. Lastly, we describe circumstances under
Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social

Directory of Open Access Journals (Sweden)

Eva Wiese

2017-10-01

Full Text Available Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user’s needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human–robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human–human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human–robot interaction by (a fostering feelings of social connection, empathy and prosociality, and by (b enhancing performance on joint human–robot tasks. Lastly, we describe

Two Legged Walking Robot

OpenAIRE

Kraus, V.

2015-01-01

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

International Nuclear Information System (INIS)

Jones, N.

1976-01-01

A brief survey of the literature extant on the collision protection of ships is presented herein. An examination of the characteristics of different energy-absorbing methods suggests that honeycomb structures provide an alternative to deck structures which are currently used to achieve the collision protection of ships. Various features of honeycomb panels are explored and a particular structural arrangement which utilizes both sides of a hull and incorporates honeycomb panels is proposed for the collision protection of a ship. (Auth.)
Automated technological equipment-robot complexes

International Nuclear Information System (INIS)

Zhitomirskii, S.V.; Samorodskikh, B.L.

1984-01-01

This paper surveys the types of automated technological equipment robot complexes. The principal elements of such complexes are described. Complexes are divided into two principal groups: those using simultaneously acting robots, and those using successively acting robots. The great variety of types of robots using successive action is then described
Robotic liver surgery

Science.gov (United States)

Leung, Universe

2014-01-01

Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840
Observations and computations of narrow Kelvin ship wakes

OpenAIRE

Francis Noblesse; Chenliang Zhang; Jiayi He; Yi Zhu; Chenjun Yang; Wei Li

2016-01-01

Computations of far-field ship waves, based on linear potential flow theory and the Hogner approximation, are reported for monohull ships and catamarans. Specifically, far-field ship waves are computed for six monohull ships at four Froude numbers F≡V/gL=0.58, 0.68, 0.86, 1.58 and for six catamarans with nondimensional hull spacing s≡S/L=0.25 at two Froude numbers Fs≡V/gS=1 and 2.5. Here, g is the gravitational acceleration, V and L denote the ship speed and length, and S is the separation di...
Ship Domain Model for Multi-ship Collision Avoidance Decision-making with COLREGs Based on Artificial Potential Field

Directory of Open Access Journals (Sweden)

TengFei Wang

2017-03-01

Full Text Available A multi-ship collision avoidance decision-making and path planning formulation is studied in a distributed way. This paper proposes a complete set of solutions for multi-ship collision avoidance in intelligent navigation, by using a top-to-bottom organization to structure the system. The system is designed with two layers: the collision avoidance decision-making and the path planning. Under the general requirements of the International Regulations for Preventing Collisions at Sea (COLREGs, the performance of distributed path planning decision-making for anti-collision is analyzed for both give-way and stand-on ships situations, including the emergency actions taken by the stand-on ship in case of the give-way ship’s fault of collision avoidance measures. The Artificial Potential Field method(APF is used for the path planning in details. The developed APF method combined with the model of ship domain takes the target ships’ speed and course in-to account, so that it can judge the moving characteristics of obstacles more accurately. Simulation results indicate that the system proposed can work effectiveness.
Nuclear ship accidents, description and analysis

International Nuclear Information System (INIS)

Oelgaard, P.L.

1993-03-01

In this report available information on 44 reported nuclear ship events is considered. Of these 6 deals with U.S. ships and 38 with USSR ships. The ships are in almost all cases nuclear submarines. Only events that involve the sinking of vessels, the nuclear propulsion plants, radiation exposures, fires/ explosions, sea-water leaks into the submarines and sinking of vessels are considered. Comments are made on each of the events, and at the end of the report an attempt is made to point out the weaknesses of the submarine designs which have resulted in the accidents. It is emphasized that some of the information of which this report is based, may be of dubious nature. Consequently some of the results of the assessments made may not be correct. (au)
Ship operations report, 1973

International Nuclear Information System (INIS)

1973-01-01

The NOAA Fleet Operations Report 1973 was developed to provide a summary of project accomplishments during calendar year 1973. The report was prepared from season, cruise and special reports submitted by ships of the fleet. Centralized management of the NOAA Fleet was finalized by changing the operational control of the National Marine Fisheries Service (NMFS) Ships DAVID STARR JORDAN (FRS 44), TOWNSEND CROMWELL (FRS 43) and MURRE II (FRV 63) from NMFS to the National Ocean Survey on July 1, 1973. Throughout the year, ships routinely collected and transmitted weather data. Similarly, as NOAA participants in the Integrated Global Ocean Station System (IGOSS) service program, XBT observations were taken and either radioed or submitted in log form via mail. In addition, particulate and radionuclide samples were taken in cooperation with the Atomic Energy Commission, sediment samples were obtained for the Smithsonian Institution and observations were made of marine mammals
Experiential Learning of Robotics Fundamentals Based on a Case Study of Robot-Assisted Stereotactic Neurosurgery

Science.gov (United States)

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

2016-01-01

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

Energy Technology Data Exchange (ETDEWEB)

Gil, Youngmi; Yoo, Seongjin; Oh, June; Byun, Yoonchul; Woo, Ilguk [Daewoo Shipbuilding and Marine Engineering Co., Ltd, Seoul (Korea, Republic of); Kim, Jiho; Choi, Suhn [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2013-05-15

The use of nuclear ships has been extending to the icebreaker, the deep-water exploration ship, and the floating nuclear power plant. Prior to developing the new ship, the relevant regulations need to be considered. In this study, we reviewed the nuclear ship-related regulations. In addition, economic value is one of the most important factors which should be considered in the pre-design phase. To evaluate the economics of the nuclear ship, we calculated Capital Expenditure (abbreviated as CAPEX) and Operation Expenditure (abbreviated as OPEX) for various types of ships. We reviewed the nuclear ship-related regulations and evaluated the economics of the nuclear ship compared to the diesel ship. The calculation result shows that economic feasibility of the nuclear ship depends on the oil price as well as the cost of the nuclear reactor.
Designing Indonesian Liner Shipping Network

Directory of Open Access Journals (Sweden)

Armand Omar Moeis

2017-06-01

Full Text Available As the largest archipelago nation in the world, Indonesia’s logistics system has not shown excellence according to the parameters of logistics performance index and based on logistics costs percentages from overall GDP. This is due to the imbalances of trading on the western and eastern regions in Indonesia, which impacts the transportation systems costs to and from the eastern regions. Therefore, it is imperative to improve the competitiveness of Indonesian maritime logistics through maritime logistics network design. This research will focus on three levels of decision making in logistics network design, which include type of ships in the strategic level, shipping routes in the tactical level, and container allocation in the operational level with implementing butterfly routes in Indonesia’s logistics networking problems. Furthermore, this research will analyze the impact of Pendulum Nusantara and Sea Toll routes against the company profits and percentages of containers shipped. This research will also foresee how demand uncertainties and multi-period planning should affect decision making in designing the Indonesian Liner Shipping Network.
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...
The Liner Shipping Fleet Repositioning Problem with Cargo Flows

DEFF Research Database (Denmark)

Tierney, Kevin; Jensen, Rune Møller

2012-01-01

We solve an important problem for the liner shipping industry called the Liner Shipping Fleet Repositioning Problem (LSFRP). The LSFRP poses a large financial burden on liner shipping firms. During repositioning, vessels are moved between services in a liner shipping network. Shippers wish...
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.
Beyond Speculative Robot Ethics

NARCIS (Netherlands)

Smits, M.; Van der Plas, A.

2010-01-01

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

LENUS (Irish Health Repository)

Pandalai, S

2010-06-01

Robotic surgery has evolved over the last decade to compensate for limitations in human dexterity. It avoids the need for a trained assistant while decreasing error rates such as perforations. The nature of the robotic assistance varies from voice activated camera control to more elaborate telerobotic systems such as the Zeus and the Da Vinci where the surgeon controls the robotic arms using a console. Herein, we report the first series of robotic assisted colectomies in Ireland using a voice activated camera control system.
Toward understanding social cues and signals in human-robot interaction: effects of robot gaze and proxemic behavior.

Science.gov (United States)

Fiore, Stephen M; Wiltshire, Travis J; Lobato, Emilio J C; Jentsch, Florian G; Huang, Wesley H; Axelrod, Benjamin

2013-01-01

As robots are increasingly deployed in settings requiring social interaction, research is needed to examine the social signals perceived by humans when robots display certain social cues. In this paper, we report a study designed to examine how humans interpret social cues exhibited by robots. We first provide a brief overview of perspectives from social cognition in humans and how these processes are applicable to human-robot interaction (HRI). We then discuss the need to examine the relationship between social cues and signals as a function of the degree to which a robot is perceived as a socially present agent. We describe an experiment in which social cues were manipulated on an iRobot Ava(TM) mobile robotics platform in a hallway navigation scenario. Cues associated with the robot's proxemic behavior were found to significantly affect participant perceptions of the robot's social presence and emotional state while cues associated with the robot's gaze behavior were not found to be significant. Further, regardless of the proxemic behavior, participants attributed more social presence and emotional states to the robot over repeated interactions than when they first interacted with it. Generally, these results indicate the importance for HRI research to consider how social cues expressed by a robot can differentially affect perceptions of the robot's mental states and intentions. The discussion focuses on implications for the design of robotic systems and future directions for research on the relationship between social cues and signals.

Design of Piano -playing Robotic Hand

Directory of Open Access Journals (Sweden)

Lin Jen-Chang

2013-09-01

Full Text Available Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of keyboard instrument. The piano-playing robot is capable of control linear motor, servo-motor and pneumatic devices in accordance with the notes and rhythm in order to drive the mechanical structure to proper positions for pressing the keys and generating music. The devices used for this robot are mainly crucial components produced by HIWIN Technology Corp. The design of robotic hand is based on the direction of anthropomorphic hand such that five fingers will be used for playing piano. The finger actuations include actions of finger rotation, finger pressing, and finger lifting; time required for these 3 stages must meet the requirement of rhythm. The purpose of entertainment robot can be achieved by playing electric piano with robotic hand, and we hope this research can contribute to the development of domestic entertainment music playing robots.
Facts about Noroviruses on Cruise Ships

Science.gov (United States)

... Cruise Tips for Healthy Cruising Related Resources Cruise Ship Inspection Scores & Information Inspection Scores Cruise Line Directory Green ... 800-CDC-INFO ( 1-800-232-4636 ). Cruise Ship Inspection Scores & Information Inspection Scores Cruise Line Directory Green ...
Robotic aortic surgery.

Science.gov (United States)

Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

2011-01-01

Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.
Black carbon from ships: a review of the effects of ship speed, fuel quality and exhaust gas scrubbing

Science.gov (United States)

Lack, D. A.; Corbett, J. J.

2012-05-01

The International Maritime Organization (IMO) has moved to address the health and climate impact of the emissions from the combustion of low-quality residual fuels within the commercial shipping industry. Fuel sulfur content (FS) limits and an efficiency design index for future ships are examples of such IMO actions. The impacts of black carbon (BC) emissions from shipping are now under review by the IMO, with a particular focus on the potential impacts of future Arctic shipping. Recognizing that associating impacts with BC emissions requires both ambient and onboard observations, we provide recommendations for the measurement of BC. We also evaluate current insights regarding the effect of ship speed (engine load), fuel quality and exhaust gas scrubbing on BC emissions from ships. Observations demonstrate that BC emission factors (EFBC) increases 3 to 6 times at very low engine loads (engine load, even with reduced load fuel savings. If fleets were required to operate at lower maximum engine loads, presumably associated with reduced speeds, then engines could be re-tuned, which would reduce BC emissions. Ships operating in the Arctic are likely running at highly variable engine loads (25-100%) depending on ice conditions and ice breaking requirements. The ships operating at low load may be emitting up to 50% more BC than they would at their rated load. Such variable load conditions make it difficult to assess the likely emissions rate of BC. Current fuel sulfur regulations have the effect of reducing EFBC by an average of 30% and potentially up to 80% regardless of engine load; a removal rate similar to that of scrubbers. Uncertainties among current observations demonstrate there is a need for more information on a) the impact of fuel quality on EFBC using robust measurement methods and b) the efficacy of scrubbers for the removal of particulate matter by size and composition.
Automatic production planning for the construction of complex ships

NARCIS (Netherlands)

Rose, C.D.

2017-01-01

European shipyards specialize in building complex ship types including offshore vessels, yachts, dredgers, and cruise ships. One key difference between these ships and the simple cargo ships typically built in the Far East is the amount and variety of mission-related equipment required to operate
Living with robots: investigating the user acceptance of social robots in domestic environments

NARCIS (Netherlands)

de Graaf, M.M.A.

2015-01-01

Over the most recent decades, the field of social robotics has advanced rapidly. There are a growing number of different types of robots, and their roles within society are expanding. This dissertation has argued that investigating the long-term acceptance of social robots in home environments is
From Child-Robot Interaction to Child-Robot-Therapist Interaction: A Case Study in Autism

Directory of Open Access Journals (Sweden)

I. Giannopulu

2012-01-01

Full Text Available Troubles in social communication as well as deficits in the cognitive treatment of emotions are supposed to be a fundamental part of autism. We present a case study based on multimodal interaction between a mobile robot and a child with autism in spontaneous, free game play. This case study tells us that the robot mediates the interaction between the autistic child and therapist once the robot-child interaction has been established. In addition, the child uses the robot as a mediator to express positive emotion playing with the therapist. It is thought that the three-pronged interaction i.e., child-robot-therapist could better facilitate the transfer of social and emotional abilities to real life settings. Robot therapy has a high potential to improve the condition of brain activity in autistic children.
Effects of Interruptibility-Aware Robot Behavior

OpenAIRE

Banerjee, Siddhartha; Silva, Andrew; Feigh, Karen; Chernova, Sonia

2018-01-01

As robots become increasingly prevalent in human environments, there will inevitably be times when a robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile robot system, and evaluates the effects of interruptibility-awareness on human task performance, robot task performance, and on human interpretation of the robot's social aptitude. Our results show that our robot is effective at predicting interruptibility at high accuracy, ...
Robotics for nuclear power plants

International Nuclear Information System (INIS)

Nakayama, Ryoichi; Kimura, Motohiko; Abe, Akira

1993-01-01

A continuing need exists for automatic or remote-controlled machines or robots which can perform inspection and maintenance tasks in nuclear power plants. Toshiba has developed several types of monofunctional and multi- functional robots for such purposes over the past 20 years, some of which have already been used in actual plants. This paper describes new multifunctional robots for inspection and maintenance. An inspection robot has been applied in an actual plant for two years for performance testing. Maintenance robots for grinding tasks have also been developed, which can be easily teleoperated by the operator using automatic control. These new robots are expected to be applied to actual inspection and maintenance work in nuclear power plants. (author)
Social categorization of social robots: anthropomorphism as a function of robot group membership.

Science.gov (United States)

Eyssel, Friederike; Kuchenbrandt, Dieta

2012-12-01

Previous work on social categorization has shown that people often use cues such as a person's gender, age, or ethnicity to categorize and form impressions of others. The present research investigated effects of social category membership on the evaluation of humanoid robots. More specifically, participants rated a humanoid robot that either belonged to their in-group or to a national out-group with regard to anthropomorphism (e.g., mind attribution, warmth), psychological closeness, contact intentions, and design. We predicted that participants would show an in-group bias towards the robot that ostensibly belonged to their in-group--as indicated by its name and location of production. In line with our hypotheses, participants not only rated the in-group robot more favourably--importantly, they also anthropomorphized it more strongly than the out-group robot. Our findings thus document that people even apply social categorization processes and subsequent differential social evaluations to robots. ©2011 The British Psychological Society.
Mobile robotics for CANDU maintenance

International Nuclear Information System (INIS)

Lipsett, M.G.; Rody, K.H.

1996-01-01

Although robotics researchers have been promising that robotics would soon be performing tasks in hazardous environments, the reality has yet to live up to the hype. The presently available crop of robots suitable for deployment in industrial situations are remotely operated, requiring skilled users. This talk describes cases where mobile robots have been used successfully in CANDU stations, discusses the difficulties in using mobile robots for reactor maintenance, and provides near-term goals for achievable improvements in performance and usefulness. (author) 5 refs., 2 ills
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
Liner Shipping Fleet Deployment with Sustainable Collaborative Transportation

Directory of Open Access Journals (Sweden)

Gang Du

2016-02-01

Full Text Available Facing sharp competition in the market for shipping companies, it is necessary to make reasonable and efficient decisions to optimize the container shipping line network so as to improve the shipping efficiency and reduce the transportation cost, as well as to realize the transportation sustainability. Therefore, the liner ship fleet deployment problem with collaborative transportation is proposed in this paper. This problem is formulated as a mixed-integer linear programming model that takes collaborative transportation into consideration. The model includes fixed cost, variable cost, berth cost, transport cost, penalty, compensation cost, and so on. To achieve the sustainable development of collaborative transportation, the shipping companies could make a selection between the internal routes and the external routes to serve each task by comparing the distance between the above routes. A real Asia-Europe-Oceania numerical experiment shows that the proposed sustainable collaborative transportation model can be efficiently solved by C++ calling ILOG CPLEX. Results demonstrate that the optimized shipping line network with sustainable collaborative transportation can improve the service efficiency, as well as the service level of shipping companies.
An example of the use of robotics in French nuclear power plants the ISIS robot

International Nuclear Information System (INIS)

Seguy, J.; Thirion, H.

1988-01-01

The authors report how Robotics in French nuclear power plants (NPP) is used to solve maintenance problems. One of the most typical example of the use of robotics in French NPP is the ISIS robot. The first generation of this robot has performed the repair of corroded upper internal structures in Chinon A3 gaz cooled reactor. Two robots of this type have successfully welded more than 200 repair parts in the core without major failure during more than 12,000 hours
The EMeRGE modular robot, an open platform for quick testing of evolved robot morphologies

DEFF Research Database (Denmark)

Moreno Garcia, Rodrigo; Liu, Ceyue; Faina, Andres

2017-01-01

This work presents the hardware design and implementation of the EMeRGE open modular robot platform. EMeRGE (Easy Modular Embodied Robot Generation) modules are designed to be cheap and easy to build and their hardware is open for anyone to use and modify. Four magnetic connectors enable the quick...... assembly of different complex robot morphologies like the ones generated by evolutionary robotics experiments. Non-human agents, like robotic manipulators, can also take advantage of the magnetic connectors to assemble and disassemble morphologies....
Measurement of the robot motor capability of a robot motor system: a Fitts's-law-inspired approach.

Science.gov (United States)

Lin, Hsien-I; Lee, C S George

2013-07-02

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly.
Remote controlled data collector robot

Directory of Open Access Journals (Sweden)

Jozsef Suto

2012-06-01

Full Text Available Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a prototyping robot, which provides facilities for attaching and fitting different kinds of sensors and actuators. This robot provides an easy way to turn a general purpose robot into a special function one.
Leadership Profiling of Ocean Going Ship Masters1

Directory of Open Access Journals (Sweden)

Ioannis Theotokas

2014-12-01

This paper focuses on the ocean going ship Masters and aims at identifying their leadership profiles and understanding their attitudes and reactions in given circumstances. It analyses and discusses the results of a field study of ship officers of different nationalities employed as Masters on board ships of a leading international maritime group. Results of the research reveal that the characteristics and the competencies of ship Masters as identified using the specially developed questionnaire, are compatible with those proposed by situational leadership theories. Ship Masters seem to give priority to the people on board and their needs and try to be supportive in their decisions.
Distributed propulsion for ships

OpenAIRE

Nylund, Vilde

2017-01-01

It is anticipated that using distributed electric propulsion (DEP) on conventional ships will increase the total propulsive efficiency. This is mainly due to two reasons; firstly, because the total propeller disk area can be increased. Secondly, because each propeller can be optimised for the local wake where it is operating. In this work, the benefits of using DEP has been investigated for a 14 000 TEU container ship. Based on a literary study of the present state of propeller modelling ...
Recent Development of Rehabilitation Robots

Directory of Open Access Journals (Sweden)

Zhiqin Qian

2015-02-01

Full Text Available We have conducted a critical review on the development of rehabilitation robots to identify the limitations of existing studies and clarify some promising research directions in this field. This paper is presented to summarize our findings and understanding. The demands for assistive technologies for elderly and disabled population have been discussed, the advantages and disadvantages of rehabilitation robots as assistive technologies have been explored, the issues involved in the development of rehabilitation robots are investigated, some representative robots in this field by leading research institutes have been introduced, and a few of critical challenges in developing advanced rehabilitation robots have been identified. Finally to meet the challenges of developing practical rehabilitation robots, reconfigurable and modular systems have been proposed to meet the identified challenges, and a few of critical areas leading to the potential success of rehabilitation robots have been discussed.

Studying Robots Outside the Lab

DEFF Research Database (Denmark)

Blond, Lasse

and ethnographic studies will enhance understandings of the dynamics of HRI. Furthermore, the paper emphasizes how users and the context of use matters to integration of robots, as it is shown how roboticists are unable to control how their designs are implemented in practice and that the sociality of social...... robots is inscribed by its users in social practice. This paper can be seen as a contribution to studies of long-term HRI. It presents the challenges of robot adaptation in practice and discusses the limitations of the present conceptual understanding of human-robotic relations. The ethnographic data......As more and more robots enter our social world there is a strong need for further field studies of human-robotic interaction. Based on a two-year ethnographic study of the implementation of the South Korean socially assistive robot in Danish elderly care this paper argues that empirical...
INFLUENCE OF OPERABILITY CRITERIA LIMITING VALUES ON SHIP SPEED

Directory of Open Access Journals (Sweden)

Jasna Prpić-Oršić

2016-09-01

Full Text Available When the ship is caught in heavy seas, there are two manoeuvres that the shipmaster can undertake to avoid excessive ship motion and hull damage: changing course or voluntary speed reduction. This paper presents a study of the effect of the various voluntary speed reduction criteria to attainable speed of ship on seaway. The speed loss is calculated by taking into account wind and wave effect on ship speed, the engine and propeller performance in actual seas as well as the mass inertia of the ship. The attainable ship speed for ship in head, following and beam waves by accounting for voluntary speed reduction is estimated for various significant wave height. The criteria of slamming, deck wetness, propeller emergence, excessive accelerations and roll are taken into account. The impact of variations of the limiting values of certain criteria due to which the captain intentionally reduces the ship speed is analysed and discussed.
Integration of Haptics in Agricultural Robotics

Science.gov (United States)

Kannan Megalingam, Rajesh; Sreekanth, M. M.; Sivanantham, Vinu; Sai Kumar, K.; Ghanta, Sriharsha; Surya Teja, P.; Reddy, Rajesh G.

2017-08-01

Robots can differentiate with open loop system and closed loop system robots. We face many problems when we do not have a feedback from robots. In this research paper, we are discussing all possibilities to achieve complete closed loop system for Multiple-DOF Robotic Arm, which is used in a coconut tree climbing and cutting robot by introducing a Haptic device. We are working on various sensors like tactile, vibration, force and proximity sensors for getting feedback. For monitoring the robotic arm achieved by graphical user interference software which simulates the working of the robotic arm, send the feedback of all the real time analog values which are produced by various sensors and provide real-time graphs for estimate the efficiency of the Robot.
Resultaat van 6 jaar Field Robot Event : studenten, netwerk en een prototype robot

NARCIS (Netherlands)

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

2009-01-01

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

International Nuclear Information System (INIS)

Anon.

1983-01-01

The research and development of nuclear powered ships in Japan have been advanced centering around the Japan Nuclear Ship Development Agency established in 1963. It is regretful that the development of ''Mutsu'' is largely behind the schedule due to the radiation leak in 1974, and the expected objective has not yet been attained even today. The government decided to advance the research on the improvement of marine nuclear reactors in 1980, and this new research function was given to the Agency by changing its organization. However, recently various arguments have arisen concerning the way of the research and development of nuclear ships in Japan centering around ''Mutsu'', such as the necessity of developing nuclear ships, the enormous expenditure for the development, the aging of ''Mutsu'' more than 10 years after the construction, the introduction of nuclear ship technology from foreign countries and so on. By the end of fiscal 1984, the Agency is expected to merge with other organization related to atomic energy, therefore, it is necessary to decide the way of research and development. This meeting organized by the Atomic Energy Commission makes this report to show the way of thinking about the above arguments. (Kako, I.)
Development of software for handling ship's pharmacy.

Science.gov (United States)

Nittari, Giulio; Peretti, Alessandro; Sibilio, Fabio; Ioannidis, Nicholas; Amenta, Francesco

2016-01-01

Ships are required to carry a given amount of medicinal products and medications depending on the flag and the type of vessel. These medicines are stored in the so called ship's "medicine chest" or more properly - a ship pharmacy. Owing to the progress of medical sciences and to the increase in the mean age of seafarers employed on board ships, the number of pharmaceutical products and medical devices required by regulations to be carried on board ships is increasing. This may make handling of the ship's medicine chest a problem primarily on large ships sailing on intercontinental routes due to the difficulty in identifying the correspondence between medicines obtained abroad with those available at the national market. To minimise these problems a tool named Pharmacy Ship (acronym: PARSI) has been developed. The application PARSI is based on a database containing the information about medicines and medical devices required by different countries regulations. In the first application the system was standardised to comply with the Italian regulations issued on the 1st October, 2015 which entered into force on the 18 January 2016. Thanks to PARSI it was possible to standardize the inventory procedures, facilitate the work of maritime health authorities and make it easier for the crew, not professional in the field, to handle the 'medicine chest' correctly by automating the procedures for medicines management. As far as we know there are no other similar tools available at the moment. The application of the software, as well as the automation of different activities, currently carried out manually, will help manage (qualitatively and quantitatively) the ship's pharmacy. The system developed in this study has proved to be an effective tool which serves to guarantee the compliance of the ship pharmacy with regulations of the flag state in terms of medicinal products and medications. Sharing the system with the Telemedical Maritime Assistance Service may result in
Design of Piano -playing Robotic Hand

OpenAIRE

Lin Jen-Chang; Hsin-Cheng Li; Kuo-Cheng Huang; Shu-Wei Lin

2013-01-01

Unlike the market slowdown of industrial robots, service & entertainment robots have been highly regarded by most robotics reseach and market research agencies. In this study we developed a music playing robot (which can also work as a service robot) for public performance. The research is mainly focused on the mechanical and electrical control of piano-playing robot, the exploration of correlations among music theory, rhythm and piano keys, and eventually the research on playing skill of...
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...
Novel robotic systems and future directions

Directory of Open Access Journals (Sweden)

Ki Don Chang

2018-01-01

Full Text Available Robot-assistance is increasingly used in surgical practice. We performed a nonsystematic literature review using PubMed/MEDLINE and Google for robotic surgical systems and compiled information on their current status. We also used this information to predict future about the direction of robotic systems based on various robotic systems currently being developed. Currently, various modifications are being made in the consoles, robotic arms, cameras, handles and instruments, and other specific functions (haptic feedback and eye tracking that make up the robotic surgery system. In addition, research for automated surgery is actively being carried out. The development of future robots will be directed to decrease the number of incisions and improve precision. With the advent of artificial intelligence, a more practical form of robotic surgery system can be introduced and will ultimately lead to the development of automated robotic surgery system.
A Ship Cargo Hold Inspection Approach Using Laser Vision Systems

OpenAIRE

SHEN Yang; ZHAO Ning; LIU Haiwei; MI Chao

2013-01-01

Our paper represents a vision system based on the laser measurement system (LMS) for bulk ship inspection. The LMS scanner with 2-axis servo system is installed on the ship loader to build the shape of the ship. Then, a group of real-time image processing algorithms are implemented to compute the shape of the cargo hold, the inclination angle of the ship and the relative position between the ship loader and the cargo hold. Based on those computed inspection data of the ship, the ship loader c...
Ultimate Strength of Ship Hulls under Torsion

DEFF Research Database (Denmark)

Paik, Jeom Kee; Thayamballi, Anil K.; Pedersen, Preben Terndrup

2001-01-01

For a ship hull with large deck openings such as container vessels and some large bulk carriers, the analysis of warping stresses and hatch opening deformations is an essential part of ship structural analyses. It is thus of importance to better understand the ultimate torsional strength characte......For a ship hull with large deck openings such as container vessels and some large bulk carriers, the analysis of warping stresses and hatch opening deformations is an essential part of ship structural analyses. It is thus of importance to better understand the ultimate torsional strength...... characteristics of ships with large hatch openings. The primary aim of the present study is to investigate the ultimate strength characteristics of ship hulls with large hatch openings under torsion. Axial (warping) as well as shear stresses are normally developed for thin-walled beams with open cross sections...... subjected to torsion. A procedure for calculating these stresses is briefly described. As an illustrative example, the distribution and magnitude of warping and shear stresses for a typical container vessel hull cross section under unit torsion is calculated by the procedure. By theoretical and numerical...
Robotic devices for nuclear plant

Energy Technology Data Exchange (ETDEWEB)

Abel, E

1986-05-01

The article surveys the background of nuclear remote handling and its associated technology, robotics. Manipulators, robots, robot applications, extending the range of applications, and future developments, are all discussed.
46 CFR 71.75-5 - Passenger Ship Safety Certificate.

Science.gov (United States)

2010-10-01

... 46 Shipping 3 2010-10-01 2010-10-01 false Passenger Ship Safety Certificate. 71.75-5 Section 71.75-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) PASSENGER VESSELS INSPECTION AND... Passenger Ship Safety Certificate. (a) All vessels on an international voyage are required to have a...
A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

Directory of Open Access Journals (Sweden)

Juan A. Corrales

2011-10-01

Full Text Available Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.
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
[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.
The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course

Science.gov (United States)

Cappelleri, D. J.; Vitoroulis, N.

2013-01-01

This paper presents a series of novel project-based learning labs for an introductory robotics course that are developed into a semester-long Robotic Decathlon. The last three events of the Robotic Decathlon are used as three final one-week-long project tasks; these replace a previous course project that was a semester-long robotics competition.…
Collision-free motion coordination of heterogeneous robots

Energy Technology Data Exchange (ETDEWEB)

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

2008-11-15

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

International Nuclear Information System (INIS)

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

2008-01-01

This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots
Project ROBOTICS 2008

DEFF Research Database (Denmark)

Conrad, Finn

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

Review of emerging surgical robotic technology.

Science.gov (United States)

Peters, Brian S; Armijo, Priscila R; Krause, Crystal; Choudhury, Songita A; Oleynikov, Dmitry

2018-04-01

The use of laparoscopic and robotic procedures has increased in general surgery. Minimally invasive robotic surgery has made tremendous progress in a relatively short period of time, realizing improvements for both the patient and surgeon. This has led to an increase in the use and development of robotic devices and platforms for general surgery. The purpose of this review is to explore current and emerging surgical robotic technologies in a growing and dynamic environment of research and development. This review explores medical and surgical robotic endoscopic surgery and peripheral technologies currently available or in development. The devices discussed here are specific to general surgery, including laparoscopy, colonoscopy, esophagogastroduodenoscopy, and thoracoscopy. Benefits and limitations of each technology were identified and applicable future directions were described. A number of FDA-approved devices and platforms for robotic surgery were reviewed, including the da Vinci Surgical System, Sensei X Robotic Catheter System, FreeHand 1.2, invendoscopy E200 system, Flex® Robotic System, Senhance, ARES, the Single-Port Instrument Delivery Extended Research (SPIDER), and the NeoGuide Colonoscope. Additionally, platforms were reviewed which have not yet obtained FDA approval including MiroSurge, ViaCath System, SPORT™ Surgical System, SurgiBot, Versius Robotic System, Master and Slave Transluminal Endoscopic Robot, Verb Surgical, Miniature In Vivo Robot, and the Einstein Surgical Robot. The use and demand for robotic medical and surgical platforms is increasing and new technologies are continually being developed. New technologies are increasingly implemented to improve on the capabilities of previously established systems. Future studies are needed to further evaluate the strengths and weaknesses of each robotic surgical device and platform in the operating suite.
Civil Engineering for the SHiP facility

CERN Document Server

Osborne, John Andrew

2015-01-01

The enlarged scope of the recently proposed experiment to search for Heavy Neutral Leptons, SPSC-EOI-010, is a general purpose fixed target facility which in the initial phase is aimed at a general Search for Hidden Particles (SHiP) as well as tau neutrino physics. This report represents an annex to the SHiP Technical Proposal summarizing the civil engineering considerations for SHiP.
Human-machine Interface for Presentation Robot

Czech Academy of Sciences Publication Activity Database

Krejsa, Jiří; Ondroušek, V.

2012-01-01

Roč. 6, č. 2 (2012), s. 17-21 ISSN 1897-8649 Institutional research plan: CEZ:AV0Z20760514 Keywords : human-robot interface * mobile robot * presentation robot Subject RIV: JD - Computer Applications, Robotics
Vision servo of industrial robot: A review

Science.gov (United States)

Zhang, Yujin

2018-04-01

Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.
Mutual Visibility by Robots with Persistent Memory

OpenAIRE

Bhagat, Subhash; Mukhopadhyaya, Krishnendu

2017-01-01

This paper addresses the mutual visibility problem for a set of semi-synchronous, opaque robots occupying distinct positions in the Euclidean plane. Since robots are opaque, if three robots lie on a line, the middle robot obstructs the visions of the two other robots. The mutual visibility problem asks the robots to coordinate their movements to form a configuration, within finite time and without collision, in which no three robots are collinear. Robots are endowed with a constant bits of pe...
Robotic assisted andrological surgery

Science.gov (United States)

Parekattil, Sijo J; Gudeloglu, Ahmet

2013-01-01

The introduction of the operative microscope for andrological surgery in the 1970s provided enhanced magnification and accuracy, unparalleled to any previous visual loop or magnification techniques. This technology revolutionized techniques for microsurgery in andrology. Today, we may be on the verge of a second such revolution by the incorporation of robotic assisted platforms for microsurgery in andrology. Robotic assisted microsurgery is being utilized to a greater degree in andrology and a number of other microsurgical fields, such as ophthalmology, hand surgery, plastics and reconstructive surgery. The potential advantages of robotic assisted platforms include elimination of tremor, improved stability, surgeon ergonomics, scalability of motion, multi-input visual interphases with up to three simultaneous visual views, enhanced magnification, and the ability to manipulate three surgical instruments and cameras simultaneously. This review paper begins with the historical development of robotic microsurgery. It then provides an in-depth presentation of the technique and outcomes of common robotic microsurgical andrological procedures, such as vasectomy reversal, subinguinal varicocelectomy, targeted spermatic cord denervation (for chronic orchialgia) and robotic assisted microsurgical testicular sperm extraction (microTESE). PMID:23241637
Problems of Sport Biomechanics and Robotics

Directory of Open Access Journals (Sweden)

Wlodzimierz S. Erdmann

2013-02-01

Full Text Available This paper presents many common areas of interest of different specialists. There are problems described from sport, biomechanics, sport biomechanics, sport engineering, robotics, biomechanics and robotics, sport biomechanics and robotics. There are many approaches to sport from different sciences and engineering. Robotics is a relatively new area and has had moderate attention from sport specialists. The aim of this paper is to present several areas necessary to develop sport robots based on biomechanics and also to present different types of sport robots: serving balls, helping to provide sports training, substituting humans during training, physically participating in competitions, physically participating in competitions against humans, serving as models of real sport performance, helping organizers of sport events and robot toys. Examples of the application of robots in sports communities are also given.
Pyrotechnic robot - constructive design and command

Directory of Open Access Journals (Sweden)

Ionel A. Staretu

2013-10-01

Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.
Probabilistic approaches to robotic perception

CERN Document Server

Ferreira, João Filipe

2014-01-01

This book tries to address the following questions: How should the uncertainty and incompleteness inherent to sensing the environment be represented and modelled in a way that will increase the autonomy of a robot? How should a robotic system perceive, infer, decide and act efficiently? These are two of the challenging questions robotics community and robotic researchers have been facing. The development of robotic domain by the 1980s spurred the convergence of automation to autonomy, and the field of robotics has consequently converged towards the field of artificial intelligence (AI). Since the end of that decade, the general public’s imagination has been stimulated by high expectations on autonomy, where AI and robotics try to solve difficult cognitive problems through algorithms developed from either philosophical and anthropological conjectures or incomplete notions of cognitive reasoning. Many of these developments do not unveil even a few of the processes through which biological organisms solve thes...
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.
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.
Robot-assisted gait training for stroke patients: current state of the art and perspectives of robotics

Directory of Open Access Journals (Sweden)

Morone G

2017-05-01

Full Text Available Giovanni Morone,1,2 Stefano Paolucci,1,2 Andrea Cherubini,3 Domenico De Angelis,1 Vincenzo Venturiero,1 Paola Coiro,1 Marco Iosa1,2 1Private Inpatient Unit, 2Clinical Laboratory of Experimental Neurorehabilitation, IRCCS Santa Lucia Foundation, Rome, Italy; 3Department of Robotics, LIRMM UM-CNRS, Montpellier, France Abstract: In this review, we give a brief outline of robot-mediated gait training for stroke patients, as an important emerging field in rehabilitation. Technological innovations are allowing rehabilitation to move toward more integrated processes, with improved efficiency and less long-term impairments. In particular, robot-mediated neurorehabilitation is a rapidly advancing field, which uses robotic systems to define new methods for treating neurological injuries, especially stroke. The use of robots in gait training can enhance rehabilitation, but it needs to be used according to well-defined neuroscientific principles. The field of robot-mediated neurorehabilitation brings challenges to both bioengineering and clinical practice. This article reviews the state of the art (including commercially available systems and perspectives of robotics in poststroke rehabilitation for walking recovery. A critical revision, including the problems at stake regarding robotic clinical use, is also presented. Keywords: exoskeleton, neurorehabilitation, robot-assisted walking training, wearable robot, activities of daily living, motor learning, plasticity
Robotics in percutaneous cardiovascular interventions.

Science.gov (United States)

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

2017-11-01

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

Science.gov (United States)

Ando, Noriyasu; Kanzaki, Ryohei

2017-09-01

The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology. Copyright © 2017 Elsevier Ltd. All rights reserved.
Cognitive Coordination for Cooperative Multi-Robot Teamwork

NARCIS (Netherlands)

Wei, C.

2015-01-01

Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot
Effect of cyclic loading and retightening on reverse torque value in external and internal implants.

Science.gov (United States)

Cho, Woong-Rae; Huh, Yoon-Hyuk; Park, Chan-Jin; Cho, Lee-Ra

2015-08-01

The aim of this study was to evaluate the effect of cyclic loading and screw retightening on reverse torque value (RTV) in external and internal type implants. Cement-retained abutments were connected with 30 Ncm torque to external and internal type implants. Experimental groups were classified according to implant connection type and retightening/loading protocol. In groups with no retightening, RTV was evaluated after cyclic loading for 100,000 cycles. In groups with retightening, RTV was measured after 3, 10, 100 cycles as well as every 20,000 cycles until 100,000 cycles of loading. Every group showed decreased RTV after cyclic loading. Before and after cyclic loading, external type implants had significantly higher RTVs than internal type implants. In external type implants, retightening did not affect the decrease in RTV. In contrast, retightening 5 times and retightening after 10 cycles of dynamic loading was effective for maintaining RTV in internal type implants. Retightening of screws is more effective in internal type implants than external type implants. Retightening of screws is recommended in the early stage of functional loading.
Student teams maneuver robots in qualifying match at regional robotic competition at KSC

Science.gov (United States)

1999-01-01

All four robots, maneuvered by student teams behind protective walls, converge on a corner of the playing field during qualifying matches of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex . Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow- like disks from the floor, as well as climb onto the platform (with flags) and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.
Robotic assisted minimally invasive surgery

Directory of Open Access Journals (Sweden)

Palep Jaydeep

2009-01-01

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

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