On Open- source Multi-robot simulators

CSIR Research Space (South Africa)

Namoshe, M

2008-07-01

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

Simulation of Intelligent Single Wheel Mobile Robot

Directory of Open Access Journals (Sweden)

Maki K. Rashid

2008-11-01

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

ROBOSIM, a simulator for robotic systems

Science.gov (United States)

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

1991-01-01

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

MARS: An Educational Environment for Multiagent Robot Simulations

Directory of Open Access Journals (Sweden)

Marco Casini

2016-01-01

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

Modelling, simulation and validation of the industrial robot

Directory of Open Access Journals (Sweden)

Aleksandrov Slobodan Č.

2014-01-01

Full Text Available In this paper, a DH model of industrial robot, with anthropomorphic configuration and five degrees of freedom - Mitsubishi RV2AJ, is developed. The model is verified on the example robot Mitsubishi RV2AJ. In paper detailed represented the complete mathematical model of the robot and the parameters of the programming. On the basis of this model, simulation of robot motion from point to point is performed, as well as the continuous movement of the pre-defined path. Also, programming of industrial robots identical to simulation programs is made, and comparative analysis of real and simulated experiment is shown. In the final section, a detailed analysis of robot motion is described.

Implementación de un control fuzzy para el control cinemático directo en un robot manipulador Implementation of a fuzzy control for the direct kinematic control of a robot manipulator

Directory of Open Access Journals (Sweden)

D.A Tibaduiza

2011-12-01

Full Text Available En este artículo se muestra el desarrollo e implementación de la lógica difusa como herramienta de control de posición para cada una de las articulaciones de un robot tipo PUMA. Se hace una descripción general del robot y se muestra el cálculo del volumen de trabajo, el cual es usado para la fuzzificación en el desarrollo del controlador. Finalmente es mostrado el desarrollo y la simulación del controlador usando la toolbox fuzzy de Matlab, así como la descripción de una implementación realizada en un PLC.In this article, the development and implementation of a fuzzy logic system as position control tool of each one of the joints in a PUMA robot is shown. A general description, which include general descriptions about the robot as workspace and therefore the development of the strategy of control with the definition of the rules in the fuzzification process is also included. Finally are shown the development and simulation of the controller using the fuzzy control toolbox of Matlab and the description of a implementation in a PLC.

A simulation and training environment for robotic radiosurgery

Energy Technology Data Exchange (ETDEWEB)

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

2008-09-15

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

A simulation and training environment for robotic radiosurgery

International Nuclear Information System (INIS)

Schlaefer, Alexander; Gill, Jakub; Schweikard, Achim

2008-01-01

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

Simulation-Based Internal Models for Safer Robots

Directory of Open Access Journals (Sweden)

Christian Blum

2018-01-01

Full Text Available In this paper, we explore the potential of mobile robots with simulation-based internal models for safety in highly dynamic environments. We propose a robot with a simulation of itself, other dynamic actors and its environment, inside itself. Operating in real time, this simulation-based internal model is able to look ahead and predict the consequences of both the robot’s own actions and those of the other dynamic actors in its vicinity. Hence, the robot continuously modifies its own actions in order to actively maintain its own safety while also achieving its goal. Inspired by the problem of how mobile robots could move quickly and safely through crowds of moving humans, we present experimental results which compare the performance of our internal simulation-based controller with a purely reactive approach as a proof-of-concept study for the practical use of simulation-based internal models.

Robotics, vision and control fundamental algorithms in Matlab

CERN Document Server

Corke, Peter

2017-01-01

Robotic vision, the combination of robotics and computer vision, involves the application of computer algorithms to data acquired from sensors. The research community has developed a large body of such algorithms but for a newcomer to the field this can be quite daunting. For over 20 years the author has maintained two open-source MATLAB® Toolboxes, one for robotics and one for vision. They provide implementations of many important algorithms and allow users to work with real problems, not just trivial examples. This book makes the fundamental algorithms of robotics, vision and control accessible to all. It weaves together theory, algorithms and examples in a narrative that covers robotics and computer vision separately and together. Using the latest versions of the Toolboxes the author shows how complex problems can be decomposed and solved using just a few simple lines of code. The topics covered are guided by real problems observed by the author over many years as a practitioner of both robotics and compu...

Simulation of robot manipulators

International Nuclear Information System (INIS)

Kress, R.L.; Babcock, S.M.; Bills, K.C.; Kwon, D.S.; Schoenwald, D.A.

1995-01-01

This paper describes Oak Ridge National Laboratory's development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories' Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment

Channel Access Client Toolbox for Matlab

International Nuclear Information System (INIS)

2002-01-01

This paper reports on MATLAB Channel Access (MCA) Toolbox--MATLAB [1] interface to EPICS Channel Access (CA) client library. We are developing the toolbox for SPEAR3 accelerator controls, but it is of general use for accelerator and experimental physics applications programming. It is packaged as a MATLAB toolbox to allow easy development of complex CA client applications entirely in MATLAB. The benefits include: the ability to calculate and display parameters that use EPICS process variables as inputs, availability of MATLAB graphics tools for user interface design, and integration with the MATLABbased accelerator modeling software - Accelerator Toolbox [2-4]. Another purpose of this paper is to propose a feasible path to a synergy between accelerator control systems and accelerator simulation codes, the idea known as on-line accelerator model

Efficient Control Law Simulation for Multiple Mobile Robots

Energy Technology Data Exchange (ETDEWEB)

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

1998-10-06

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

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

Science.gov (United States)

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

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

morphforge: a toolbox for simulating small networks of biologically detailed neurons in Python

Directory of Open Access Journals (Sweden)

Michael James Hull

2014-01-01

Full Text Available The broad structure of a modelling study can often be explained over a cup of coffee, butconverting this high-level conceptual idea into graphs of the final simulation results may requiremany weeks of sitting at a computer. Although models themselves can be complex, oftenmany mental resources are wasted working around complexities of the software ecosystemsuch as fighting to manage files, interfacing between tools and data formats, finding mistakesin code or working out the units of variables. morphforge is a high-level, Python toolboxfor building and managing simulations of small populations of multicompartmental biophysicalmodel neurons. An entire in silico experiment, including the definition of neuronal morphologies,channel descriptions, stimuli, visualisation and analysis of results can be written within a singleshort Python script using high-level objects. Multiple independent simulations can be createdand run from a single script, allowing parameter spaces to be investigated. Consideration hasbeen given to the reuse of both algorithmic and parameterisable components to allow bothspecific and stochastic parameter variations. Some other features of the toolbox include: theautomatic generation of human-readable documentation (e. g. PDF-files about a simulation; thetransparent handling of different biophysical units; a novel mechanism for plotting simulationresults based on a system of tags; and an architecture that supports both the use of establishedformats for defining channels and synapses (e. g. MODL files, and the possibility to supportother libraries and standards easily. We hope that this toolbox will allow scientists to quicklybuild simulations of multicompartmental model neurons for research and serve as a platform forfurther tool development.

Virtual Reality Simulator Systems in Robotic Surgical Training.

Science.gov (United States)

Mangano, Alberto; Gheza, Federico; Giulianotti, Pier Cristoforo

2018-06-01

The number of robotic surgical procedures has been increasing worldwide. It is important to maximize the cost-effectiveness of robotic surgical training and safely reduce the time needed for trainees to reach proficiency. The use of preliminary lab training in robotic skills is a good strategy for the rapid acquisition of further, standardized robotic skills. Such training can be done either by using a simulator or by exercises in a dry or wet lab. While the use of an actual robotic surgical system for training may be problematic (high cost, lack of availability), virtual reality (VR) simulators can overcome many of these obstacles. However, there is still a lack of standardization. Although VR training systems have improved, they cannot yet replace experience in a wet lab. In particular, simulated scenarios are not yet close enough to a real operative experience. Indeed, there is a difference between technical skills (i.e., mechanical ability to perform a simulated task) and surgical competence (i.e., ability to perform a real surgical operation). Thus, while a VR simulator can replace a dry lab, it cannot yet replace training in a wet lab or operative training in actual patients. However, in the near future, it is expected that VR surgical simulators will be able to provide total reality simulation and replace training in a wet lab. More research is needed to produce more wide-ranging, trans-specialty robotic curricula.

Validation of Robotic Surgery Simulator (RoSS).

Science.gov (United States)

Kesavadas, Thenkurussi; Stegemann, Andrew; Sathyaseelan, Gughan; Chowriappa, Ashirwad; Srimathveeravalli, Govindarajan; Seixas-Mikelus, Stéfanie; Chandrasekhar, Rameella; Wilding, Gregory; Guru, Khurshid

2011-01-01

Recent growth of daVinci Robotic Surgical System as a minimally invasive surgery tool has led to a call for better training of future surgeons. In this paper, a new virtual reality simulator, called RoSS is presented. Initial results from two studies - face and content validity, are very encouraging. 90% of the cohort of expert robotic surgeons felt that the simulator was excellent or somewhat close to the touch and feel of the daVinci console. Content validity of the simulator received 90% approval in some cases. These studies demonstrate that RoSS has the potential of becoming an important training tool for the daVinci surgical robot.

Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures

Directory of Open Access Journals (Sweden)

Guillaume Kazmitcheff

2014-01-01

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

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

Fault-Tolerant Robot Programming through Simulation with Realistic Sensor Models

Directory of Open Access Journals (Sweden)

Axel Waggershauser

2008-11-01

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

Pareto design of state feedback tracking control of a biped robot via multiobjective PSO in comparison with sigma method and genetic algorithms: modified NSGAII and MATLAB's toolbox.

Science.gov (United States)

Mahmoodabadi, M J; Taherkhorsandi, M; Bagheri, A

2014-01-01

An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.

Testing adaptive toolbox models: a Bayesian hierarchical approach.

Science.gov (United States)

Scheibehenne, Benjamin; Rieskamp, Jörg; Wagenmakers, Eric-Jan

2013-01-01

Many theories of human cognition postulate that people are equipped with a repertoire of strategies to solve the tasks they face. This theoretical framework of a cognitive toolbox provides a plausible account of intra- and interindividual differences in human behavior. Unfortunately, it is often unclear how to rigorously test the toolbox framework. How can a toolbox model be quantitatively specified? How can the number of toolbox strategies be limited to prevent uncontrolled strategy sprawl? How can a toolbox model be formally tested against alternative theories? The authors show how these challenges can be met by using Bayesian inference techniques. By means of parameter recovery simulations and the analysis of empirical data across a variety of domains (i.e., judgment and decision making, children's cognitive development, function learning, and perceptual categorization), the authors illustrate how Bayesian inference techniques allow toolbox models to be quantitatively specified, strategy sprawl to be contained, and toolbox models to be rigorously tested against competing theories. The authors demonstrate that their approach applies at the individual level but can also be generalized to the group level with hierarchical Bayesian procedures. The suggested Bayesian inference techniques represent a theoretical and methodological advancement for toolbox theories of cognition and behavior.

Simulation of Robot Kinematics Using Interactive Computer Graphics.

Science.gov (United States)

Leu, M. C.; Mahajan, R.

1984-01-01

Development of a robot simulation program based on geometric transformation softwares available in most computer graphics systems and program features are described. The program can be extended to simulate robots coordinating with external devices (such as tools, fixtures, conveyors) using geometric transformations to describe the…

The SEP "Robot": A Valid Virtual Reality Robotic Simulator for the Da Vinci Surgical System?

NARCIS (Netherlands)

van der Meijden, O. A. J.; Broeders, I. A. M. J.; Schijven, M. P.

2010-01-01

The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's

The ABRAVIBE toolbox for teaching vibration analysis and structural dynamics

DEFF Research Database (Denmark)

Brandt, A.

2013-01-01

, a MATLAB toolbox (the ABRAVIBE toolbox) has been developed as an accompanying toolbox for the recent book "Noise and Vibration Analysis" by the author. This free, open software, published under GNU Public License, can be used with GNU Octave, if an entirely free software platform is wanted, with a few...... functional limitations. The toolbox includes functionality for simulation of mechanical models as well as advanced analysis such as time series analysis, spectral analysis, frequency response and correlation function estimation, modal parameter extraction, and rotating machinery analysis (order tracking...

The SEP "robot": a valid virtual reality robotic simulator for the Da Vinci Surgical System?

Science.gov (United States)

van der Meijden, O A J; Broeders, I A M J; Schijven, M P

2010-04-01

The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's face validity, two questionnaires were constructed. First, a questionnaire was sent to users of the Da Vinci system (reference group) to determine a focused user-group opinion and their recommendations concerning VR-based training applications for robotic surgery. Next, clinical specialists were requested to complete a pre-tested face validity questionnaire after performing a suturing task on the SEP robot simulator. To determine the SEP's construct validity, outcome parameters of the suturing task were compared, for example, relative to participants' endoscopic experience. Correlations between endoscopic experience and outcome parameters of the performed suturing task were tested for significance. On an ordinal five-point, scale the average score for the quality of the simulator software was 3.4; for its hardware, 3.0. Over 80% agreed that it is important to train surgeons and surgical trainees to use the Da Vinci. There was a significant but marginal difference in tool tip trajectory (p = 0.050) and a nonsignificant difference in total procedure time (p = 0.138) in favor of the experienced group. In conclusion, the results of this study reflect a uniform positive opinion using VR training in robotic surgery. Concepts of face and construct validity of the SEP robotic simulator are present; however, these are not strong and need to be improved before implementation of the SEP robotic simulator in its present state for a validated training curriculum to be successful .

Robotic Vehicle Proxy Simulation, Phase I

Data.gov (United States)

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

Face, content and construct validity of a virtual reality simulator for robotic surgery (SEP Robot).

Science.gov (United States)

Gavazzi, Andrea; Bahsoun, Ali N; Van Haute, Wim; Ahmed, Kamran; Elhage, Oussama; Jaye, Peter; Khan, M Shamim; Dasgupta, Prokar

2011-03-01

This study aims to establish face, content and construct validation of the SEP Robot (SimSurgery, Oslo, Norway) in order to determine its value as a training tool. The tasks used in the validation of this simulator were arrow manipulation and performing a surgeon's knot. Thirty participants (18 novices, 12 experts) completed the procedures. The simulator was able to differentiate between experts and novices in several respects. The novice group required more time to complete the tasks than the expert group, especially suturing. During the surgeon's knot exercise, experts significantly outperformed novices in maximum tightening stretch, instruments dropped, maximum winding stretch and tool collisions in addition to total task time. A trend was found towards the use of less force by the more experienced participants. The SEP robotic simulator has demonstrated face, content and construct validity as a virtual reality simulator for robotic surgery. With steady increase in adoption of robotic surgery world-wide, this simulator may prove to be a valuable adjunct to clinical mentorship.

Visual servo simulation of EAST articulated maintenance arm robot

Energy Technology Data Exchange (ETDEWEB)

Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

2016-03-15

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Visual servo simulation of EAST articulated maintenance arm robot

International Nuclear Information System (INIS)

Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

2016-01-01

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

The development of graphic simulation technology for tele-operated robot

International Nuclear Information System (INIS)

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

1998-02-01

In hostile environments like a nuclear power plant, human access is limited to the strict minimum due to the high-level of radiation. The design of tele-robotic system requires careful preparation because of the nature of its safety. Also, the human operator should have a capability of supervising the robot system and responding promptly to the unexpected events. In this study, the graphic simulation technology has been developed to construct tele-robotic system which can effectively perform the specified tasks in nuclear facilities. The developed graphic simulator utilizes the Indigo 2 workstation of Silicon Graphics as a main computer and its software is written in the OpenGL graphic library in X windows environments. The developed simulator, interfaced with the control system of the real robot through the ethernet, acts as a supervisory controller. Since clear and concise visual information on real robot posture and task environments can be processed in real time, the efficiency of tele-operation can be remarkably enhanced with this simulator. This simulator using advanced 3 dimensional graphics has many advantages of modeling complicated shapes of robot and constructing the virtual work environments similar to the real ones. With the use of this developed simulator, the operator can evaluate the performance of the tele-robot before it is put into real operation. This system can prevents the possible disaster of the robot resulting from the collision with its work environments. (author). 9 refs., 23 tabs., 13 figs

ARTS, the Atmospheric Radiative Transfer Simulator - version 2.2, the planetary toolbox edition

Science.gov (United States)

Buehler, Stefan A.; Mendrok, Jana; Eriksson, Patrick; Perrin, Agnès; Larsson, Richard; Lemke, Oliver

2018-04-01

This article describes the latest stable release (version 2.2) of the Atmospheric Radiative Transfer Simulator (ARTS), a public domain software for radiative transfer simulations in the thermal spectral range (microwave to infrared). The main feature of this release is a planetary toolbox that allows simulations for the planets Venus, Mars, and Jupiter, in addition to Earth. This required considerable model adaptations, most notably in the area of gaseous absorption calculations. Other new features are also described, notably radio link budgets (including the effect of Faraday rotation that changes the polarization state) and the treatment of Zeeman splitting for oxygen spectral lines. The latter is relevant, for example, for the various operational microwave satellite temperature sensors of the Advanced Microwave Sounding Unit (AMSU) family.

Modeling and Simulation for Exploring Human-Robot Team Interaction Requirements

Energy Technology Data Exchange (ETDEWEB)

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

2001-12-01

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

STOCHSIMGPU: parallel stochastic simulation for the Systems Biology Toolbox 2 for MATLAB

KAUST Repository

Klingbeil, G.

2011-02-25

Motivation: The importance of stochasticity in biological systems is becoming increasingly recognized and the computational cost of biologically realistic stochastic simulations urgently requires development of efficient software. We present a new software tool STOCHSIMGPU that exploits graphics processing units (GPUs) for parallel stochastic simulations of biological/chemical reaction systems and show that significant gains in efficiency can be made. It is integrated into MATLAB and works with the Systems Biology Toolbox 2 (SBTOOLBOX2) for MATLAB. Results: The GPU-based parallel implementation of the Gillespie stochastic simulation algorithm (SSA), the logarithmic direct method (LDM) and the next reaction method (NRM) is approximately 85 times faster than the sequential implementation of the NRM on a central processing unit (CPU). Using our software does not require any changes to the user\\'s models, since it acts as a direct replacement of the stochastic simulation software of the SBTOOLBOX2. © The Author 2011. Published by Oxford University Press. All rights reserved.

Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery.

Science.gov (United States)

Hayashibe, Mitsuhiro; Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Konishi, Kozo; Kakeji, Yoshihiro; Hashizume, Makoto

2005-01-01

Preoperative simulation and planning of surgical robot setup should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.

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

Science.gov (United States)

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

2013-02-01

To analyse studies validating the effectiveness of robotic surgery simulators. The MEDLINE(®), EMBASE(®) and PsycINFO(®) databases were systematically searched until September 2011. References from retrieved articles were reviewed to broaden the search. The simulator name, training tasks, participant level, training duration and evaluation scoring were extracted from each study. We also extracted data on feasibility, validity, cost-effectiveness, reliability and educational impact. We identified 19 studies investigating simulation options in robotic surgery. There are five different robotic surgery simulation platforms available on the market. In all, 11 studies sought opinion and compared performance between two different groups; 'expert' and 'novice'. Experts ranged in experience from 21-2200 robotic cases. The novice groups consisted of participants with no prior experience on a robotic platform and were often medical students or junior doctors. The Mimic dV-Trainer(®), ProMIS(®), SimSurgery Educational Platform(®) (SEP) and Intuitive systems have shown face, content and construct validity. The Robotic Surgical SimulatorTM system has only been face and content validated. All of the simulators except SEP have shown educational impact. Feasibility and cost-effectiveness of simulation systems was not evaluated in any trial. Virtual reality simulators were shown to be effective training tools for junior trainees. Simulation training holds the greatest potential to be used as an adjunct to traditional training methods to equip the next generation of robotic surgeons with the skills required to operate safely. However, current simulation models have only been validated in small studies. There is no evidence to suggest one type of simulator provides more effective training than any other. More research is needed to validate simulated environments further and investigate the effectiveness of animal and cadaveric training in robotic surgery. © 2012 BJU

Design and Implementation of a Space Environment Simulation Toolbox for Small Satellites

DEFF Research Database (Denmark)

Amini, Rouzbeh; Larsen, Jesper A.; Izadi-Zamanabadi, Roozbeh

This paper presents a developed toolbox for space environment model in SIMULINK that facilitates development and design of Attitude Determination and Control Systems (ADCS) for a Low Earth Orbit (LEO) spacecraft. The toolbox includes, among others, models of orbit propagators, disturbances, Earth...

RoboCup Rescue Robot and Simulation Leagues

NARCIS (Netherlands)

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

2013-01-01

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

Control of complex physically simulated robot groups

Science.gov (United States)

Brogan, David C.

2001-10-01

Actuated systems such as robots take many forms and sizes but each requires solving the difficult task of utilizing available control inputs to accomplish desired system performance. Coordinated groups of robots provide the opportunity to accomplish more complex tasks, to adapt to changing environmental conditions, and to survive individual failures. Similarly, groups of simulated robots, represented as graphical characters, can test the design of experimental scenarios and provide autonomous interactive counterparts for video games. The complexity of writing control algorithms for these groups currently hinders their use. A combination of biologically inspired heuristics, search strategies, and optimization techniques serve to reduce the complexity of controlling these real and simulated characters and to provide computationally feasible solutions.

MOVEMENT SIMULATION OF THREE ARMED ROBOT BY BEING USED AutoLISP

Directory of Open Access Journals (Sweden)

Mustafa BOZDEMİR

2000-01-01

Full Text Available Development of a suitable robot for desired aim and duty is very important for design enginers. On the other hand, designed robots may be unsuccesful in functioning inspite of many efforts. For this reason, before the production of considered robot systems, having prepared a simulation program, investigation of work field, getting done path plan and mistakes could be eliminated before robot production. In this study, movement simulation of a three armed robot has been realized by using AutoLIPS programing language which is supplied with AutoCAD. Analytical and matrix solution methods have been used in simulation equations.

Current state of virtual reality simulation in robotic surgery training: a review.

Science.gov (United States)

Bric, Justin D; Lumbard, Derek C; Frelich, Matthew J; Gould, Jon C

2016-06-01

Worldwide, the annual number of robotic surgical procedures continues to increase. Robotic surgical skills are unique from those used in either open or laparoscopic surgery. The acquisition of a basic robotic surgical skill set may be best accomplished in the simulation laboratory. We sought to review the current literature pertaining to the use of virtual reality (VR) simulation in the acquisition of robotic surgical skills on the da Vinci Surgical System. A PubMed search was conducted between December 2014 and January 2015 utilizing the following keywords: virtual reality, robotic surgery, da Vinci, da Vinci skills simulator, SimSurgery Educational Platform, Mimic dV-Trainer, and Robotic Surgery Simulator. Articles were included if they were published between 2007 and 2015, utilized VR simulation for the da Vinci Surgical System, and utilized a commercially available VR platform. The initial search criteria returned 227 published articles. After all inclusion and exclusion criteria were applied, a total of 47 peer-reviewed manuscripts were included in the final review. There are many benefits to utilizing VR simulation for robotic skills acquisition. Four commercially available simulators have been demonstrated to be capable of assessing robotic skill. Three of the four simulators demonstrate the ability of a VR training curriculum to improve basic robotic skills, with proficiency-based training being the most effective training style. The skills obtained on a VR training curriculum are comparable with those obtained on dry laboratory simulation. The future of VR simulation includes utilization in assessment for re-credentialing purposes, advanced procedural-based training, and as a warm-up tool prior to surgery.

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

DEFF Research Database (Denmark)

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

1992-01-01

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

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

Directory of Open Access Journals (Sweden)

Nirmala Nirmala

2015-05-01

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

Fast modal simulation of paraxial optical systems: the MIST open source toolbox

International Nuclear Information System (INIS)

Vajente, Gabriele

2013-01-01

This paper presents a new approach to the simulation of optical laser systems in the paraxial approximation, with particular applications to interferometric gravitational wave detectors. The method presented here is based on a standard decomposition of the laser field in terms of Hermite–Gauss transverse modes. The innovative feature consists of a symbolic manipulation of the equations describing the field propagation. This approach allows a huge reduction in the computational time, especially when a large number of higher order modes is needed to properly simulate the system. The new algorithm has been implemented in an open source toolbox, called the MIST, based on the MATLAB® environment. The MIST has been developed and is being used in the framework of the design of advanced gravitational wave detectors. Examples from this field of application will be discussed to illustrate the capabilities and performance of the simulation tool. (paper)

SELANSI: a toolbox for simulation of stochastic gene regulatory networks.

Science.gov (United States)

Pájaro, Manuel; Otero-Muras, Irene; Vázquez, Carlos; Alonso, Antonio A

2018-03-01

Gene regulation is inherently stochastic. In many applications concerning Systems and Synthetic Biology such as the reverse engineering and the de novo design of genetic circuits, stochastic effects (yet potentially crucial) are often neglected due to the high computational cost of stochastic simulations. With advances in these fields there is an increasing need of tools providing accurate approximations of the stochastic dynamics of gene regulatory networks (GRNs) with reduced computational effort. This work presents SELANSI (SEmi-LAgrangian SImulation of GRNs), a software toolbox for the simulation of stochastic multidimensional gene regulatory networks. SELANSI exploits intrinsic structural properties of gene regulatory networks to accurately approximate the corresponding Chemical Master Equation with a partial integral differential equation that is solved by a semi-lagrangian method with high efficiency. Networks under consideration might involve multiple genes with self and cross regulations, in which genes can be regulated by different transcription factors. Moreover, the validity of the method is not restricted to a particular type of kinetics. The tool offers total flexibility regarding network topology, kinetics and parameterization, as well as simulation options. SELANSI runs under the MATLAB environment, and is available under GPLv3 license at https://sites.google.com/view/selansi. antonio@iim.csic.es. © The Author(s) 2017. Published by Oxford University Press.

Low-Cost Simulation of Robotic Surgery

DEFF Research Database (Denmark)

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

2013-01-01

The high expenses associated with acquiring and maintaining robotic surgical equipment for minimally invasive surgery entail that training on this equipment is also expensive. Virtual reality (VR) training simulators can reduce this training time; however, the current simulators are also quite...

Light Robotics: an all-optical nano- and micro-toolbox

DEFF Research Database (Denmark)

Glückstad, Jesper; Villangca, Mark Jayson; Palima, Darwin

2017-01-01

potential of this new ‘drone-like’ light-driven micro-robotics in challenging microscopic geometries requires a versatile and real-time reconfigurable light addressing that can dynamically track a plurality of tiny micro-robots in 3D to ensure continuous optimal light coupling on the fly. Our latest......Recently we proposed the concept of so-called Light Robotics including the new and disruptive 3D fabricated micro-tools coined Wave-guided Optical Waveguides that can be real-time optically manipulated and remote-controlled with a joystick in a volume with six-degrees-of-freedom. Exploring the full...

Automatic Modeling and Simulation of Modular Robots

Science.gov (United States)

Jiang, C.; Wei, H.; Zhang, Y.

2018-03-01

The ability of reconfiguration makes modular robots have the ability of adaptable, low-cost, self-healing and fault-tolerant. It can also be applied to a variety of mission situations. In this manuscript, a robot platform which relied on the module library was designed, based on the screw theory and module theory. Then, the configuration design method of the modular robot was proposed. And the different configurations of modular robot system have been built, including industrial mechanical arms, the mobile platform, six-legged robot and 3D exoskeleton manipulator. Finally, the simulation and verification of one system among them have been made, using the analyses of screw kinematics and polynomial planning. The results of experiments demonstrate the feasibility and superiority of this modular system.

System design through Matlab, control toolbox and Simulink

CERN Document Server

Singh, Krishna K

2001-01-01

MATLAB , a software package developed by Math Works, Inc. is powerful, versatile and interactive software for scientific and technical computations including simulations. Specialised toolboxes provided with several built-in functions are a special feature of MATLAB . This book titled System Design through MATLAB , Control Toolbox and SIMULINK aims at getting the reader started with computations and simulations in system engineering quickly and easily and then proceeds to build concepts for advanced computations and simulations that includes the control and compensation of systems. Simulation through SIMULINK has also been described to allow the reader to get the feel of the real world situation. This book is appropriate for undergraduate students undergoing final semester of their project work, postgraduate students who have MATLAB integrated in their course or wish to take up simulation problem in the area of system engineering for their dissertation work and research scholars for whom MATLABÊ

Graphical programming: On-line robot simulation for telerobotic control

International Nuclear Information System (INIS)

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

1993-01-01

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

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

Science.gov (United States)

Fernandez, Ken

1988-01-01

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

Simulating an elastic bipedal robot based on musculoskeletal modeling

NARCIS (Netherlands)

Bortoletto, Roberto; Sartori, Massimo; He, Fuben; Pagello, Enrico

2012-01-01

Many of the processes involved into the synthesis of human motion have much in common with problems found in robotics research. This paper describes the modeling and the simulation of a novel bipedal robot based on series elastic actuators [1]. The robot model takes in- spiration from the human

DynaSim: A MATLAB Toolbox for Neural Modeling and Simulation.

Science.gov (United States)

Sherfey, Jason S; Soplata, Austin E; Ardid, Salva; Roberts, Erik A; Stanley, David A; Pittman-Polletta, Benjamin R; Kopell, Nancy J

2018-01-01

DynaSim is an open-source MATLAB/GNU Octave toolbox for rapid prototyping of neural models and batch simulation management. It is designed to speed up and simplify the process of generating, sharing, and exploring network models of neurons with one or more compartments. Models can be specified by equations directly (similar to XPP or the Brian simulator) or by lists of predefined or custom model components. The higher-level specification supports arbitrarily complex population models and networks of interconnected populations. DynaSim also includes a large set of features that simplify exploring model dynamics over parameter spaces, running simulations in parallel using both multicore processors and high-performance computer clusters, and analyzing and plotting large numbers of simulated data sets in parallel. It also includes a graphical user interface (DynaSim GUI) that supports full functionality without requiring user programming. The software has been implemented in MATLAB to enable advanced neural modeling using MATLAB, given its popularity and a growing interest in modeling neural systems. The design of DynaSim incorporates a novel schema for model specification to facilitate future interoperability with other specifications (e.g., NeuroML, SBML), simulators (e.g., NEURON, Brian, NEST), and web-based applications (e.g., Geppetto) outside MATLAB. DynaSim is freely available at http://dynasimtoolbox.org. This tool promises to reduce barriers for investigating dynamics in large neural models, facilitate collaborative modeling, and complement other tools being developed in the neuroinformatics community.

Simulation of robotic courier deliveries in hospital distribution services.

Science.gov (United States)

Rossetti, M D; Felder, R A; Kumar, A

2000-06-01

Flexible automation in the form of robotic couriers holds the potential for decreasing operating costs while improving delivery performance in hospital delivery systems. This paper discusses the use of simulation modeling to analyze the costs, benefits, and performance tradeoffs related to the installation and use of a fleet of robotic couriers within hospital facilities. The results of this study enable a better understanding of the delivery and transportation requirements of hospitals. Specifically, we examine how a fleet of robotic couriers can meet the performance requirements of the system while maintaining cost efficiency. We show that for clinical laboratory and pharmaceutical deliveries a fleet of six robotic couriers can achieve significant performance gains in terms of turn-around time and delivery variability over the current system of three human couriers per shift or 13 FTEs. Specifically, the simulation results indicate that using robotic couriers to perform both clinical laboratory and pharmaceutical deliveries would result in a 34% decrease in turn-around time, and a 38% decrease in delivery variability. In addition, a break-even analysis indicated that a positive net present value occurs if nine or more FTEs are eliminated with a resulting ROI of 12%. This analysis demonstrates that simulation can be a valuable tool for examining health care distribution services and indicates that a robotic courier system may yield significant benefits over a traditional courier system in this application.

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

Science.gov (United States)

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

To answer the question of whether there is a difference between robotic virtual reality simulator performance assessment and validated human reviewers. Current surgical education relies heavily on simulation. Several assessment tools are available to the trainee, including the actual robotic simulator assessment metrics and the Global Evaluative Assessment of Robotic Skills (GEARS) metrics, both of which have been independently validated. GEARS is a rating scale through which human evaluators can score trainees' performances on 6 domains: depth perception, bimanual dexterity, efficiency, force sensitivity, autonomy, and robotic control. Each domain is scored on a 5-point Likert scale with anchors. We used 2 common robotic simulators, the dV-Trainer (dVT; Mimic Technologies Inc., Seattle, WA) and the da Vinci Skills Simulator (dVSS; Intuitive Surgical, Sunnyvale, CA), to compare the performance metrics of robotic surgical simulators with the GEARS for a basic robotic task on each simulator. A prospective single-blinded randomized study. A surgical education and training center. Surgeons and surgeons in training. Demographic information was collected including sex, age, level of training, specialty, and previous surgical and simulator experience. Subjects performed 2 trials of ring and rail 1 (RR1) on each of the 2 simulators (dVSS and dVT) after undergoing randomization and warm-up exercises. The second RR1 trial simulator performance was recorded, and the deidentified videos were sent to human reviewers using GEARS. Eight different simulator assessment metrics were identified and paired with a similar performance metric in the GEARS tool. The GEARS evaluation scores and simulator assessment scores were paired and a Spearman rho calculated for their level of correlation. Seventy-four subjects were enrolled in this randomized study with 9 subjects excluded for missing or incomplete data. There was a strong correlation between the GEARS score and the simulator metric

An overview on real-time control schemes for wheeled mobile robot

Science.gov (United States)

Radzak, M. S. A.; Ali, M. A. H.; Sha’amri, S.; Azwan, A. R.

2018-04-01

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error at zero level. The controllers are used with other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

Kinematics Simulation Analysis of Packaging Robot with Joint Clearance

Science.gov (United States)

Zhang, Y. W.; Meng, W. J.; Wang, L. Q.; Cui, G. H.

2018-03-01

Considering the influence of joint clearance on the motion error, repeated positioning accuracy and overall position of the machine, this paper presents simulation analysis of a packaging robot — 2 degrees of freedom(DOF) planar parallel robot based on the characteristics of high precision and fast speed of packaging equipment. The motion constraint equation of the mechanism is established, and the analysis and simulation of the motion error are carried out in the case of turning the revolute clearance. The simulation results show that the size of the joint clearance will affect the movement accuracy and packaging efficiency of the packaging robot. The analysis provides a reference point of view for the packaging equipment design and selection criteria and has a great significance on the packaging industry automation.

Validation of a Novel Virtual Reality Simulator for Robotic Surgery

Directory of Open Access Journals (Sweden)

Henk W. R. Schreuder

2014-01-01

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

Autodesk Robot Structural Analysis Professional 2016 essentials

CERN Document Server

Marsh, Ken

2016-01-01

Autodesk Robot Structural Analysis Professional 2016 - Essentials is an excellent introduction to the essential features, functions, and workflows of Autodesk Robot Structural Analysis Professional. Master the tools you will need to make Robot work for you: Go from zero to proficiency with this thorough and detailed introduction to the essential concepts and workflows of Robot Structural Analysis Professional 2016. - Demystify the interface - Manipulate and manage Robot tables like a pro - Learn how to use Robot's modeling tools - Master loading techniques - Harness Robot automated load combinations - Decipher simplified seismic loading - Discover workflows for steel and concrete design - Gain insights to help troubleshoot issues Guided exercises are provided to help cement fundamental concepts in Robot Structural Analysis and drive home key functions. Get up to speed quickly with this essential text and add Robot Structural Analysis Professional 2016 to your analysis and design toolbox. New in 2016: AWC-NDS ...

STOCHSIMGPU: parallel stochastic simulation for the Systems Biology Toolbox 2 for MATLAB.

Science.gov (United States)

Klingbeil, Guido; Erban, Radek; Giles, Mike; Maini, Philip K

2011-04-15

The importance of stochasticity in biological systems is becoming increasingly recognized and the computational cost of biologically realistic stochastic simulations urgently requires development of efficient software. We present a new software tool STOCHSIMGPU that exploits graphics processing units (GPUs) for parallel stochastic simulations of biological/chemical reaction systems and show that significant gains in efficiency can be made. It is integrated into MATLAB and works with the Systems Biology Toolbox 2 (SBTOOLBOX2) for MATLAB. The GPU-based parallel implementation of the Gillespie stochastic simulation algorithm (SSA), the logarithmic direct method (LDM) and the next reaction method (NRM) is approximately 85 times faster than the sequential implementation of the NRM on a central processing unit (CPU). Using our software does not require any changes to the user's models, since it acts as a direct replacement of the stochastic simulation software of the SBTOOLBOX2. The software is open source under the GPL v3 and available at http://www.maths.ox.ac.uk/cmb/STOCHSIMGPU. The web site also contains supplementary information. klingbeil@maths.ox.ac.uk Supplementary data are available at Bioinformatics online.

CBP TOOLBOX VERSION 2.0: CODE INTEGRATION ENHANCEMENTS

Energy Technology Data Exchange (ETDEWEB)

Smith, F.; Flach, G.; BROWN, K.

2013-06-01

This report describes enhancements made to code integration aspects of the Cementitious Barriers Project (CBP) Toolbox as a result of development work performed at the Savannah River National Laboratory (SRNL) in collaboration with Vanderbilt University (VU) in the first half of fiscal year 2013. Code integration refers to the interfacing to standalone CBP partner codes, used to analyze the performance of cementitious materials, with the CBP Software Toolbox. The most significant enhancements are: 1) Improved graphical display of model results. 2) Improved error analysis and reporting. 3) Increase in the default maximum model mesh size from 301 to 501 nodes. 4) The ability to set the LeachXS/Orchestra simulation times through the GoldSim interface. These code interface enhancements have been included in a new release (Version 2.0) of the CBP Toolbox.

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

OpenAIRE

Wirabhuana, Arya

2011-01-01

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

Clinical validation of robot simulation of toothbrushing - comparative plaque removal efficacy

Science.gov (United States)

2014-01-01

Background Clinical validation of laboratory toothbrushing tests has important advantages. It was, therefore, the aim to demonstrate correlation of tooth cleaning efficiency of a new robot brushing simulation technique with clinical plaque removal. Methods Clinical programme: 27 subjects received dental cleaning prior to 3-day-plaque-regrowth-interval. Plaque was stained, photographically documented and scored using planimetrical index. Subjects brushed teeth 33–47 with three techniques (horizontal, rotating, vertical), each for 20s buccally and for 20s orally in 3 consecutive intervals. The force was calibrated, the brushing technique was video supported. Two different brushes were randomly assigned to the subject. Robot programme: Clinical brushing programmes were transfered to a 6-axis-robot. Artificial teeth 33–47 were covered with plaque-simulating substrate. All brushing techniques were repeated 7 times, results were scored according to clinical planimetry. All data underwent statistical analysis by t-test, U-test and multivariate analysis. Results The individual clinical cleaning patterns are well reproduced by the robot programmes. Differences in plaque removal are statistically significant for the two brushes, reproduced in clinical and robot data. Multivariate analysis confirms the higher cleaning efficiency for anterior teeth and for the buccal sites. Conclusions The robot tooth brushing simulation programme showed good correlation with clinically standardized tooth brushing. This new robot brushing simulation programme can be used for rapid, reproducible laboratory testing of tooth cleaning. PMID:24996973

ARC Code TI: X-Plane Communications Toolbox (XPC)

Data.gov (United States)

National Aeronautics and Space Administration — The X-Plane Communications Toolbox (XPC) is an open source research tool used to interact with the commercial flight simulator software X-Plane. XPC allows users to...

A Dynamic Compliance Cervix Phantom Robot for Latent Labor Simulation.

Science.gov (United States)

Luk, Michelle Jennifer; Lobb, Derek; Smith, James Andrew

2018-05-09

Physical simulation systems are commonly used in training of midwifery and obstetrics students, but none of these systems offers a dynamic compliance aspect that would make them more truly representative of cervix ripening. In this study, we introduce a unique soft robot phantom that simulates the cervix softening during the latent labor phase of birth. This proof-of-concept robotic phantom can be dilated by 1 cm and effaced by 35% through the application of a Foley catheter-like loading mechanism. Furthermore, psychophysics trials demonstrate how untrained subjects can identify hard and soft states of the phantom with specificities of 91% and 87%, respectively. Both results indicated the appropriateness for application of this soft robot technology to birth training simulators.

Robotic surgery training with commercially available simulation systems in 2011: a current review and practice pattern survey from the society of urologic robotic surgeons.

Science.gov (United States)

Lallas, Costas D; Davis, John W

2012-03-01

Virtual reality (VR) simulation has the potential to standardize surgical training for robotic surgery. We sought to evaluate all commercially available VR robotic simulators. A MEDLINE(®) literature search was performed of all applicable keywords. Available VR simulators were evaluated with regard to face, content, and construct validation. Additionally, a survey was e-mailed to all members of the Endourological Society, querying the pervasiveness of VR simulators in robotic surgical training. Finally, each company was e-mailed to ask for a price quote for their respective system. There are four VR robotic surgical simulators currently available: RoSS™, dV-Trainer™, SEP Robot™, and da Vinci(®) Skills Simulator™. Each system is represented in the literature and all possess varying degrees of face, content, and construct validity. Although all systems have basic skill sets with performance analysis and metrics software, most do not contain procedural components. When evaluating the results of our survey, most respondents did not possess a VR simulator although almost all believed there to be great potential for these devices in robotic surgical training. With the exception of the SEP Robot, all VR simulators are similar in price. VR simulators have a definite role in the future of robotic surgical training. Although the simulators target technical components of training, their largest impact will be appreciated when incorporated into a comprehensive educational curriculum.

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

DEFF Research Database (Denmark)

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

2015-01-01

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

Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

Science.gov (United States)

Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

2000-01-01

There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

Kinematics modeling and simulation of an autonomous omni-directional mobile robot

Directory of Open Access Journals (Sweden)

Daniel Garcia Sillas

2015-05-01

Full Text Available Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.

Numerical simulation for design of biped locomotion robots

International Nuclear Information System (INIS)

Kume, Etsuo; Takanishi, Atsuo

1993-01-01

A mechanical design study of anthropomorphic walking robots for patrol and inspection in nuclear facilities is being performed at Computing and Information Systems Center (CISC) of JAERI. We mainly focus on developing a software system to find a stable walking pattern, given robot models described by links, joints and so on. One of the features of our software is that some of the body elements, such as actuators and sensors, can be modeled as material particles as well as rigid bodies. The other is that our software has the cabability of obtaining unknown part of robot motions under given part of robot motions, satisfying a stable constraint. In this paper, we present the numerical models and the simulated results. (orig.)

Dynamic modelling and simulation for control of a cylindrical robotic manipulator

International Nuclear Information System (INIS)

Iqbal, A.; Athar, S.M.

1995-03-01

In this report a dynamic model for the three degrees-of-freedom cylindrical manipulator, INFOMATE has been developed. Although the robot dynamics are highly coupled and non-linear, the developed model is relatively straight forward and compact for control engineering and simulation applications. The model has been simulated using the graphical simulation package SIMULINK. Different aspects of INFOMATE associated with forward dynamics, inverse dynamics and control have been investigated by performing various simulation experiments. These simulation experiments confirm the accuracy and applicability of the dynamic robot model. (author) 18 figs

Computer-based laparoscopic and robotic surgical simulators: performance characteristics and perceptions of new users.

Science.gov (United States)

Lin, David W; Romanelli, John R; Kuhn, Jay N; Thompson, Renee E; Bush, Ron W; Seymour, Neal E

2009-01-01

This study aimed to define perceptions of the need and the value of new simulation devices for laparoscopic and robot-assisted surgery. The initial experience of surgeons using both robotic and nonrobotic laparoscopic simulators to perform an advanced laparoscopic skill was evaluated. At the 2006 Society of American Gastroesophageal Surgeons (SAGES) meeting, 63 Learning Center attendees used a new virtual reality robotic surgery simulator (SEP Robot) and either a computer-enhanced laparoscopic simulator (ProMIS) or a virtual reality simulator (SurgicalSIM). Demographic and training data were collected by an intake survey. Subjects then were assessed during one iteration of laparoscopic suturing and knot-tying on the SEP Robot and either the ProMIS or the SurgicalSIM. A posttask survey determined users' impressions of task realism, interface quality, and educational value. Performance data were collected and comparisons made between user-defined groups, different simulation platforms, and posttask survey responses. The task completion rate was significantly greater for experts than for nonexperts on the virtual reality platforms (SurgicalSIM: 100% vs 36%; SEP Robot: 93% vs 63%; p platforms, whereas simulator metrics best discriminated expertise for the videoscopic platform. Similar comparisons for the virtual reality platforms were not feasible because of the low task completion rate for nonexperts. The added degrees of freedom associated with the robotic surgical simulator instruments facilitated completion of the task by nonexperts. All platforms were perceived as effective training tools.

Economic justification of robotic systems using graphical simulation as a tool

International Nuclear Information System (INIS)

Bennett, P.C.

1995-01-01

This paper outlines the simulation and analysis approach taken to address radiation dose reduction using robotic automation from the operational and economic standpoints for the DOE Civilian Radioactive Waste Management system and for the transuranic wave loading facilities within the DOE complex. Simulations of the robotic operations using validated software are described. These simulations provide through-put, capital and operating costs for an economic benefit-cost analysis. Benefit-cost analysis results are also presented

Modbus RTU protocol and arduino IO package: A real time implementation of a 3 finger adaptive robot gripper

Directory of Open Access Journals (Sweden)

Sadun Amirul Syafiq

2017-01-01

Full Text Available Recently, the Modbus RTU protocol has been widely accepted in the application of robotics, communications and industrial control systems due to its simplicity and reliability. With the help of the MATLAB Instrument Control Toolbox, a serial communication between Simulink and a 3 Finger Adaptive Robot Gripper can be realized to demonstrate a grasping functionality. The toolbox includes a “to instrument” and “query instrument” programming blocks that enable the users to create a serial communication with the targeted hardware/robot. Similarly, the Simulink Arduino IO package also offers a real-time feature that enabled it to act as a DAQ device. This paper establishes a real-time robot control by using Modbus RTU and Arduino IO Package for a 3 Finger Adaptive Robot Gripper. The robot communication and grasping performance were successfully implemented and demonstrated. In particular, three (3 different grasping mode via normal, wide and pinch were tested. Moreover, the robot gripper’s feedback data, such as encoder position, motor current and the grasping force were easily measured and acquired in real-time. This certainly essential for future grasping analysis of a 3 Finger Adaptive Robot Gripper.

Robotic Irradiated Sample Handling Concept Design in Reactor TRIGA PUSPATI using Simulation Software

International Nuclear Information System (INIS)

Mohd Khairulezwan Abdul Manan; Mohd Sabri Minhat; Ridzuan Abdul Mutalib; Zareen Khan Abdul Jalil Khan; Nurfarhana Ayuni Joha

2015-01-01

This paper introduces the concept design of an Robotic Irradiated Sample Handling Machine using graphical software application, designed as a general, flexible and open platform to work on robotics. Webots has proven to be a useful tool in many fields of robotics, such as manipulator programming, mobile robots control (wheeled, sub-aquatic and walking robots), distance computation, sensor simulation, collision detection, motion planning and so on. Webots is used as the common interface for all the applications. Some practical cases and application for this concept design are illustrated on the paper to present the possibilities of this simulation software. (author)

Performances on simulator and da Vinci robot on subjects with and without surgical background.

Science.gov (United States)

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

2017-08-17

To assess whether previous training in surgery influences performance on da Vinci Skills Simulator and da Vinci robot. In this prospective study, thirty-seven participants (11 medical students, 17 residents, and 9 attending surgeons) without previous experience in laparoscopy and robotic surgery performed 26 exercises at da Vinci Skills Simulator. Thirty-five then executed a suture using a da Vinci robot. The overall scores on the exercises at the da Vinci Skills Simulator show a similar performance among the groups with no statistically significant pair-wise differences (p poor for the untrained groups (5 (3.5, 9)), without statistically significant difference (p < .05). This study showed, for subjects new to laparoscopy and robotic surgery, insignificant differences in the scores at the da Vinci Skills Simulator and at the da Vinci robot on inanimate models.

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.

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

Science.gov (United States)

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

2016-06-01

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

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

Science.gov (United States)

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

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

UWSim, an underwater robotic simulator on the cloud as educational tool

Directory of Open Access Journals (Sweden)

Javier Pérez

2017-12-01

Full Text Available Due to the introduction of robotic applications in the modern society, such as service robots or self-driving cars, it is possible to use this trend as motivating factor in the learning process of robotics. Several possibilities about how to use this motivation to increase learning rate are analysed, focusing on underwater robotic simulators. Moreover, a cloud learning environment able to evaluate the students with a robotic simulator is proposed as key element of the system. These kinds of tools can be used with just an Internet-capable system through a web browser, reaching a virtually unlimited amount of resources. The implemented features are used in a underwater pipe following application, creating a comparison environment on the cloud that immerse students in a competition to reach the best possible result. Finally, a first experience in a real educational environment using the proposed tool is detailed, demonstrating the viability and suitability of the proposed tool.

Outcomes of a virtual-reality simulator-training programme on basic surgical skills in robot-assisted laparoscopic surgery.

Science.gov (United States)

Phé, Véronique; Cattarino, Susanna; Parra, Jérôme; Bitker, Marc-Olivier; Ambrogi, Vanina; Vaessen, Christophe; Rouprêt, Morgan

2017-06-01

The utility of the virtual-reality robotic simulator in training programmes has not been clearly evaluated. Our aim was to evaluate the impact of a virtual-reality robotic simulator-training programme on basic surgical skills. A simulator-training programme in robotic surgery, using the da Vinci Skills Simulator, was evaluated in a population including junior and seasoned surgeons, and non-physicians. Their performances on robotic dots and suturing-skin pod platforms before and after virtual-simulation training were rated anonymously by surgeons experienced in robotics. 39 participants were enrolled: 14 medical students and residents in surgery, 14 seasoned surgeons, 11 non-physicians. Junior and seasoned surgeons' performances on platforms were not significantly improved after virtual-reality robotic simulation in any of the skill domains, in contrast to non-physicians. The benefits of virtual-reality simulator training on several tasks to basic skills in robotic surgery were not obvious among surgeons in our initial and early experience with the simulator. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Toolbox for Urban Mobility Simulation: High Resolution Population Dynamics for Global Cities

Science.gov (United States)

Bhaduri, B. L.; Lu, W.; Liu, C.; Thakur, G.; Karthik, R.

2015-12-01

In this rapidly urbanizing world, unprecedented rate of population growth is not only mirrored by increasing demand for energy, food, water, and other natural resources, but has detrimental impacts on environmental and human security. Transportation simulations are frequently used for mobility assessment in urban planning, traffic operation, and emergency management. Previous research, involving purely analytical techniques to simulations capturing behavior, has investigated questions and scenarios regarding the relationships among energy, emissions, air quality, and transportation. Primary limitations of past attempts have been availability of input data, useful "energy and behavior focused" models, validation data, and adequate computational capability that allows adequate understanding of the interdependencies of our transportation system. With increasing availability and quality of traditional and crowdsourced data, we have utilized the OpenStreetMap roads network, and has integrated high resolution population data with traffic simulation to create a Toolbox for Urban Mobility Simulations (TUMS) at global scale. TUMS consists of three major components: data processing, traffic simulation models, and Internet-based visualizations. It integrates OpenStreetMap, LandScanTM population, and other open data (Census Transportation Planning Products, National household Travel Survey, etc.) to generate both normal traffic operation and emergency evacuation scenarios. TUMS integrates TRANSIMS and MITSIM as traffic simulation engines, which are open-source and widely-accepted for scalable traffic simulations. Consistent data and simulation platform allows quick adaption to various geographic areas that has been demonstrated for multiple cities across the world. We are combining the strengths of geospatial data sciences, high performance simulations, transportation planning, and emissions, vehicle and energy technology development to design and develop a simulation

Computational simulator of robotic manipulators

International Nuclear Information System (INIS)

Leal, Alexandre S.; Campos, Tarcisio P.R.

1995-01-01

Robotic application for industrial plants is discussed and a computational model for a mechanical manipulator of three links is presented. A neural network feed-forward type has been used to model the dynamic control of the manipulator. A graphic interface was developed in C programming language as a virtual world in order to visualize and simulate the arm movements handling radioactive waste environment. (author). 7 refs, 5 figs

The Biopsychology-Toolbox: a free, open-source Matlab-toolbox for the control of behavioral experiments.

Science.gov (United States)

Rose, Jonas; Otto, Tobias; Dittrich, Lars

2008-10-30

The Biopsychology-Toolbox is a free, open-source Matlab-toolbox for the control of behavioral experiments. The major aim of the project was to provide a set of basic tools that allow programming novices to control basic hardware used for behavioral experimentation without limiting the power and flexibility of the underlying programming language. The modular design of the toolbox allows portation of parts as well as entire paradigms between different types of hardware. In addition to the toolbox, this project offers a platform for the exchange of functions, hardware solutions and complete behavioral paradigms.

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

OpenAIRE

Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

2013-01-01

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

Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2014-08-01

Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

DEVELOPING INDUSTRIAL ROBOT SIMULATION MODEL TUR10-K USING “UNIVERSAL MECHANISM” SOFTWARE COMPLEX

Directory of Open Access Journals (Sweden)

Vadim Vladimirovich Chirkov

2018-02-01

Full Text Available Manipulation robots are complex spatial mechanical systems having five or six degrees of freedom, and sometimes more. For this reason, modeling manipulative robots movement, even in the kinematic formulation, is a complex mathematical task. If one moves from kinematic modeling of motion to dynamic modeling then there must be taken into account the inertial properties of the modeling object. In this case, analytical constructing of such a complex object mathematical model as a manipulation robot becomes practically impossible. Therefore, special computer-aided design systems, called CAE-systems, are used for modeling complex mechanical systems. The purpose of the paper is simulation model construction of a complex mechanical system, such as the industrial robot TUR10-K, to obtain its dynamic characteristics. Developing such models makes it possible to reduce the complexity of designing complex systems process and to obtain the necessary characteristics. Purpose. Developing the simulation model of the industrial robot TUR10-K and obtaining dynamic characteristics of the mechanism. Methodology: the article is used a computer simulation method. Results: There is obtained the simulation model of the robot and its dynamic characteristics. Practical implications: the results can be used in the mechanical systems design and various simulation models.

Research on Kinematic Trajectory Simulation System of KUKA Arc Welding Robot System

Science.gov (United States)

Hu, Min

2017-10-01

In this paper, the simulation trajectory simulation of KUKA arc welding robot system is realized by means of VC platform. It is used to realize the teaching of professional training of welding robot in middle school. It provides teaching resources for the combination of work and study and integration teaching, which enriches the content of course teaching.

Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

DEFF Research Database (Denmark)

Katliar, Mikhail; Fischer, Joerg; Frison, Gianluca

2017-01-01

In this paper we present the implementation of a model-predictive controller (MPC) for real-time control of a cable-robot-based motion simulator. The controller computes control inputs such that a desired acceleration and angular velocity at a defined point in simulator's cabin are tracked while...... satisfying constraints imposed by working space and allowed cable forces of the robot. In order to fully use the simulator capabilities, we propose an approach that includes the motion platform actuation in the MPC model. The tracking performance and computation time of the algorithm are investigated...

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

Science.gov (United States)

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

2017-01-01

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

Kinematics analysis and simulation of a new underactuated parallel robot

Directory of Open Access Journals (Sweden)

Wenxu YAN

2017-04-01

Full Text Available The number of degrees of freedom is equal to the number of the traditional robot driving motors, which causes defects such as low efficiency. To overcome that problem, based on the traditional parallel robot, a new underactuated parallel robot is presented. The structure characteristics and working principles of the underactuated parallel robot are analyzed. The forward and inverse solutions are derived by way of space analytic geometry and vector algebra. The kinematics model is established, and MATLAB is implied to verify the accuracy of forward and inverse solutions and identify the optimal work space. The simulation results show that the robot can realize the function of robot switch with three or four degrees of freedom when the number of driving motors is three, improving the efficiency of robot grasping, with the characteristics of large working space, high speed operation, high positioning accuracy, low manufacturing cost and so on, and it will have a wide range of industrial applications.

Prototyping a robotic dental testing simulator.

Science.gov (United States)

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

2007-05-01

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

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

Science.gov (United States)

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-03-14

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

Directory of Open Access Journals (Sweden)

Michael Mortimer

2017-03-01

Full Text Available The Robot Operating System (ROS provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF, Semantic Robot Description Format (SRDF, and its message description language, can be used to identify key robot characteristics to inform User Interface (UI design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by

Evolution and Morphogenesis of Simulated Modular Robots: A Comparison Between a Direct and Generative Encoding

DEFF Research Database (Denmark)

Veenstra, Frank; Faina, Andres; Risi, Sebastian

2017-01-01

Modular robots oer an important benet in evolutionary robotics, which is to quickly evaluate evolved morphologies and control systems in reality. However, articial evolution of simulated modular robotics is a dicult and time consuming task requiring signicant computational power. While articial...... evolution in virtual creatures has made use of powerful generative encodings, here we investigate how a generative encoding and direct encoding compare for the evolution of locomotion in modular robots when the number of robotic modules changes. Simulating less modules would decrease the size of the genome...

The ROC Toolbox: A toolbox for analyzing receiver-operating characteristics derived from confidence ratings.

Science.gov (United States)

Koen, Joshua D; Barrett, Frederick S; Harlow, Iain M; Yonelinas, Andrew P

2017-08-01

Signal-detection theory, and the analysis of receiver-operating characteristics (ROCs), has played a critical role in the development of theories of episodic memory and perception. The purpose of the current paper is to present the ROC Toolbox. This toolbox is a set of functions written in the Matlab programming language that can be used to fit various common signal detection models to ROC data obtained from confidence rating experiments. The goals for developing the ROC Toolbox were to create a tool (1) that is easy to use and easy for researchers to implement with their own data, (2) that can flexibly define models based on varying study parameters, such as the number of response options (e.g., confidence ratings) and experimental conditions, and (3) that provides optimal routines (e.g., Maximum Likelihood estimation) to obtain parameter estimates and numerous goodness-of-fit measures.The ROC toolbox allows for various different confidence scales and currently includes the models commonly used in recognition memory and perception: (1) the unequal variance signal detection (UVSD) model, (2) the dual process signal detection (DPSD) model, and (3) the mixture signal detection (MSD) model. For each model fit to a given data set the ROC toolbox plots summary information about the best fitting model parameters and various goodness-of-fit measures. Here, we present an overview of the ROC Toolbox, illustrate how it can be used to input and analyse real data, and finish with a brief discussion on features that can be added to the toolbox.

CBP Toolbox Version 3.0 “Beta Testing” Performance Evaluation

Energy Technology Data Exchange (ETDEWEB)

Smith, III, F. G. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

2016-07-29

One function of the Cementitious Barriers Partnership (CBP) is to assess available models of cement degradation and to assemble suitable models into a “Toolbox” that would be made available to members of the partnership, as well as the DOE Complex. To this end, SRNL and Vanderbilt University collaborated to develop an interface using the GoldSim software to the STADIUM^@ code developed by SIMCO Technologies, Inc. and LeachXS/ORCHESTRA developed by Energy research Centre of the Netherlands (ECN). Release of Version 3.0 of the CBP Toolbox is planned in the near future. As a part of this release, an increased level of quality assurance for the partner codes and the GoldSim interface has been developed. This report documents results from evaluation testing of the ability of CBP Toolbox 3.0 to perform simulations of concrete degradation applicable to performance assessment of waste disposal facilities. Simulations of the behavior of Savannah River Saltstone Vault 2 and Vault 1/4 concrete subject to sulfate attack and carbonation over a 500- to 1000-year time period were run using a new and upgraded version of the STADIUM^@ code and the version of LeachXS/ORCHESTRA released in Version 2.0 of the CBP Toolbox. Running both codes allowed comparison of results from two models which take very different approaches to simulating cement degradation. In addition, simulations of chloride attack on the two concretes were made using the STADIUM^@ code. The evaluation sought to demonstrate that: 1) the codes are capable of running extended realistic simulations in a reasonable amount of time; 2) the codes produce “reasonable” results; the code developers have provided validation test results as part of their code QA documentation; and 3) the two codes produce results that are consistent with one another. Results of the evaluation testing showed that the three criteria listed above were met by the CBP partner codes. Therefore, it is concluded that

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

Directory of Open Access Journals (Sweden)

Leonimer Flavio de Melo

2013-09-01

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

Simulated Energy Usage for a Novel 6 DOF Articulated Robot

International Nuclear Information System (INIS)

Shaik, A A; Tlale, N; Bright, G

2014-01-01

The serial robot architecture is widespread in modern day manufacturing, and over the last few decades the technology has matured and settled to its current state. One drawback from the architecture however is the location of motors and gearboxes which are either at the joint it controls or close by. A novel hybrid 6 DOF robot was designed to move all the actuators to the robot base, and to control the desired axis through a set of connected links and gears, while maintaining the same workspace and dexterity. This would reduce the inertia of the movable part of the robot and some of the moment arms on the 3 axes required for translation of the 3 DOF spherical wrist. Doing so would decrease the energy requirements when compared to a 6 DOF serial robot. This paper focuses on the mathematical modelling and simulation of the novel hybrid machine design and compares it to an equivalent serial robot

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

Science.gov (United States)

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

2017-01-01

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

Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2013-09-01

Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

The Linear Time Frequency Analysis Toolbox

DEFF Research Database (Denmark)

Søndergaard, Peter Lempel; Torrésani, Bruno; Balazs, Peter

2011-01-01

The Linear Time Frequency Analysis Toolbox is a Matlab/Octave toolbox for computational time-frequency analysis. It is intended both as an educational and computational tool. The toolbox provides the basic Gabor, Wilson and MDCT transform along with routines for constructing windows (lter...... prototypes) and routines for manipulating coe cients. It also provides a bunch of demo scripts devoted either to demonstrating the main functions of the toolbox, or to exemplify their use in specic signal processing applications. In this paper we describe the used algorithms, their mathematical background...

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

Directory of Open Access Journals (Sweden)

Yi Lu

2014-08-01

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

Methodological Aspects of Modelling and Simulation of Robotized Workstations

Directory of Open Access Journals (Sweden)

Naqib Daneshjo

2018-05-01

Full Text Available From the point of view of development of application and program products, key directions that need to be respected in computer support for project activities are quite clearly specified. User interfaces with a high degree of graphical interactive convenience, two-dimensional and three-dimensional computer graphics contribute greatly to streamlining project methodologies and procedures in particular. This is mainly due to the fact that a high number of solved tasks is clearly graphic in the modern design of robotic systems. Automation of graphical character tasks is therefore a significant development direction for the subject area. The authors present results of their research in the area of automation and computer-aided design of robotized systems. A new methodical approach to modelling robotic workstations, consisting of ten steps incorporated into the four phases of the logistics process of creating and implementing a robotic workplace, is presented. The emphasis is placed on the modelling and simulation phase with verification of elaborated methodologies on specific projects or elements of the robotized welding plant in automotive production.

Broadview Radar Altimetry Toolbox

Science.gov (United States)

Garcia-Mondejar, Albert; Escolà, Roger; Moyano, Gorka; Roca, Mònica; Terra-Homem, Miguel; Friaças, Ana; Martinho, Fernando; Schrama, Ernst; Naeije, Marc; Ambrózio, Américo; Restano, Marco; Benveniste, Jérôme

2017-04-01

The universal altimetry toolbox, BRAT (Broadview Radar Altimetry Toolbox) which can read all previous and current altimetry missions' data, incorporates now the capability to read the upcoming Sentinel3 L1 and L2 products. ESA endeavoured to develop and supply this capability to support the users of the future Sentinel3 SAR Altimetry Mission. BRAT is a collection of tools and tutorial documents designed to facilitate the processing of radar altimetry data. This project started in 2005 from the joint efforts of ESA (European Space Agency) and CNES (Centre National d'Etudes Spatiales), and it is freely available at http://earth.esa.int/brat. The tools enable users to interact with the most common altimetry data formats. The BratGUI is the frontend for the powerful command line tools that are part of the BRAT suite. BRAT can also be used in conjunction with MATLAB/IDL (via reading routines) or in C/C++/Fortran via a programming API, allowing the user to obtain desired data, bypassing the dataformatting hassle. BRAT can be used simply to visualise data quickly, or to translate the data into other formats such as NetCDF, ASCII text files, KML (Google Earth) and raster images (JPEG, PNG, etc.). Several kinds of computations can be done within BRAT involving combinations of data fields that the user can save for posterior reuse or using the already embedded formulas that include the standard oceanographic altimetry formulas. The Radar Altimeter Tutorial, that contains a strong introduction to altimetry, shows its applications in different fields such as Oceanography, Cryosphere, Geodesy, Hydrology among others. Included are also "use cases", with step-by-step examples, on how to use the toolbox in the different contexts. The Sentinel3 SAR Altimetry Toolbox shall benefit from the current BRAT version. While developing the toolbox we will revamp of the Graphical User Interface and provide, among other enhancements, support for reading the upcoming S3 datasets and specific

Combination of Robot Simulation with Real-time Monitoring and Control

Directory of Open Access Journals (Sweden)

Jianyu YANG

2014-08-01

Full Text Available The paper mainly focuses in combining virtual reality based operation simulation with remote real-time monitoring and control method for an experimental robot. A system composition framework was designed and relative arm-wheel experimental robot platform was also built. Virtual robots and two virtual environments were developed. To locate the virtual robot within numerical environments, relative mathematical methods is also discussed, including analytic locating methods for linear motion and self-rotation, as well as linear transformation method with homogeneous matrices for turning motion, in order to decrease division calculations. Several experiments were carried out, trajectory errors were found because of relative slides between the wheel and the floor, during the locating experiments. Writing-monitoring experiments were also performed by programming the robotic arm to write a Chinese character, and the virtual robot in monitoring terminal perfectly followed all the movements. All the experiment results confirmed that virtual environment can not only be used as a good supplement to the traditional video monitoring method, but also offer better control experience during the operation.

DACE - A Matlab Kriging Toolbox

DEFF Research Database (Denmark)

2002-01-01

DACE, Design and Analysis of Computer Experiments, is a Matlab toolbox for working with kriging approximations to computer models.......DACE, Design and Analysis of Computer Experiments, is a Matlab toolbox for working with kriging approximations to computer models....

Next Generation Simulation Framework for Robotic and Human Space Missions

Science.gov (United States)

Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven

2012-01-01

The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.

Object-oriented Matlab adaptive optics toolbox

Science.gov (United States)

Conan, R.; Correia, C.

2014-08-01

Object-Oriented Matlab Adaptive Optics (OOMAO) is a Matlab toolbox dedicated to Adaptive Optics (AO) systems. OOMAO is based on a small set of classes representing the source, atmosphere, telescope, wavefront sensor, Deformable Mirror (DM) and an imager of an AO system. This simple set of classes allows simulating Natural Guide Star (NGS) and Laser Guide Star (LGS) Single Conjugate AO (SCAO) and tomography AO systems on telescopes up to the size of the Extremely Large Telescopes (ELT). The discrete phase screens that make the atmosphere model can be of infinite size, useful for modeling system performance on large time scales. OOMAO comes with its own parametric influence function model to emulate different types of DMs. The cone effect, altitude thickness and intensity profile of LGSs are also reproduced. Both modal and zonal modeling approach are implemented. OOMAO has also an extensive library of theoretical expressions to evaluate the statistical properties of turbulence wavefronts. The main design characteristics of the OOMAO toolbox are object-oriented modularity, vectorized code and transparent parallel computing. OOMAO has been used to simulate and to design the Multi-Object AO prototype Raven at the Subaru telescope and the Laser Tomography AO system of the Giant Magellan Telescope. In this paper, a Laser Tomography AO system on an ELT is simulated with OOMAO. In the first part, we set-up the class parameters and we link the instantiated objects to create the source optical path. Then we build the tomographic reconstructor and write the script for the pseudo-open-loop controller.

Towards a binaural modelling toolbox

DEFF Research Database (Denmark)

Søndergaard, Peter Lempel; Culling, John F.; Dau, Torsten

2011-01-01

The Auditory Modelling Toolbox (AMToolbox) is a new Matlab / Octave toolbox for developing and applying auditory perceptual models and in particular binaural models. The philosophy behind the project is that the models should be implemented in a consistent manner, well documented and user...

Dynamic analysis of a bio-inspired climbing robot using ADAMS-Simulink co-simulation

Science.gov (United States)

Chattopadhyay, P.; Dikshit, H.; Majumder, A.; Ghoshal, S.; Maity, A.

2018-04-01

Climbing robot has been an area of interest since the demand of inspection of pipeline, nuclear power plant, and various big structure is growing up rapidly. This paper represents the development of a bio-inspired modular robot which mimics inchworm locomotion during climbing. In the present paper, the climbing motion is achieved only on a flat vertical plane by magnetic adhesion principle. The robot is modelled as a 4-link planar mechanism with three revolute joints actuated by DC servo motors. Sinusoidal gait pattern is used to approximate the motion of an inchworm. The dynamics of the robot is presented by using ADAMS/MATLAB co-simulation methodology. The simulation result gives the maximum value of joint torque during one complete cycle of motion. This torque value is used for the selection of servo motor specifications required to build the prototype.

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

Science.gov (United States)

Popa, L.; Popa, V.

2017-08-01

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

The GMT/MATLAB Toolbox

Science.gov (United States)

Wessel, Paul; Luis, Joaquim F.

2017-02-01

The GMT/MATLAB toolbox is a basic interface between MATLAB® (or Octave) and GMT, the Generic Mapping Tools, which allows MATLAB users full access to all GMT modules. Data may be passed between the two programs using intermediate MATLAB structures that organize the metadata needed; these are produced when GMT modules are run. In addition, standard MATLAB matrix data can be used directly as input to GMT modules. The toolbox improves interoperability between two widely used tools in the geosciences and extends the capability of both tools: GMT gains access to the powerful computational capabilities of MATLAB while the latter gains the ability to access specialized gridding algorithms and can produce publication-quality PostScript-based illustrations. The toolbox is available on all platforms and may be downloaded from the GMT website.

GOCE User Toolbox and Tutorial

Science.gov (United States)

Knudsen, Per; Benveniste, Jerome

2017-04-01

The GOCE User Toolbox GUT is a compilation of tools for the utilisation and analysis of GOCE Level 2 products.
GUT support applications in Geodesy, Oceanography and Solid Earth Physics. The GUT Tutorial provides information
and guidance in how to use the toolbox for a variety of applications. GUT consists of a series of advanced
computer routines that carry out the required computations. It may be used on Windows PCs, UNIX/Linux Workstations,
and Mac. The toolbox is supported by The GUT Algorithm Description and User Guide and The GUT
Install Guide. A set of a-priori data and models are made available as well. Without any doubt the development
of the GOCE user toolbox have played a major role in paving the way to successful use of the GOCE data for
oceanography. The GUT version 2.2 was released in April 2014 and beside some bug-fixes it adds the capability for the computation of Simple Bouguer Anomaly (Solid-Earth). During this fall a new GUT version 3 has been released. GUTv3 was further developed through a collaborative effort where the scientific communities participate aiming
on an implementation of remaining functionalities facilitating a wider span of research in the fields of Geodesy,
Oceanography and Solid earth studies.
Accordingly, the GUT version 3 has:
 - An attractive and easy to use Graphic User Interface (GUI) for the toolbox,
 - Enhance the toolbox with some further software functionalities such as to facilitate the use of gradients,
anisotropic diffusive filtering and computation of Bouguer and isostatic gravity anomalies.
 - An associated GUT VCM tool for analyzing the GOCE variance covariance matrices.

User's manual for Ecolego Toolbox and the Discretization Block

International Nuclear Information System (INIS)

Broed, Robert; Shulan Xu

2008-03-01

The CLIMB modelling team (Catchment LInked Models of radiological effects in the Biosphere) was instituted in 2004 to provide SSI with an independent modelling capability when reviewing SKB's assessment of long-term safety for a geological repository. Modelling in CLIMB covers all aspects of performance assessment (PA) from near-field releases to radiological consequences in the surface environment. Software used to implement assessment models has been developed within the project. The software comprises a toolbox based on the commercial packages Matlab and Simulink used to solve compartment based differential equation systems, but with an added user friendly graphical interface. This report documents the new simulation toolbox and a newly developed Discretisation Block, which is a powerful tool for solving problems involving a network of compartments in two dimensions

Kinematic rate control of simulated robot hand at or near wrist singularity

Science.gov (United States)

Barker, K.; Houck, J. A.; Carzoo, S. W.

1985-01-01

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.

A DOE Computer Code Toolbox: Issues and Opportunities

International Nuclear Information System (INIS)

Vincent, A.M. III

2001-01-01

The initial activities of a Department of Energy (DOE) Safety Analysis Software Group to establish a Safety Analysis Toolbox of computer models are discussed. The toolbox shall be a DOE Complex repository of verified and validated computer models that are configuration-controlled and made available for specific accident analysis applications. The toolbox concept was recommended by the Defense Nuclear Facilities Safety Board staff as a mechanism to partially address Software Quality Assurance issues. Toolbox candidate codes have been identified through review of a DOE Survey of Software practices and processes, and through consideration of earlier findings of the Accident Phenomenology and Consequence Evaluation program sponsored by the DOE National Nuclear Security Agency/Office of Defense Programs. Planning is described to collect these high-use codes, apply tailored SQA specific to the individual codes, and implement the software toolbox concept. While issues exist such as resource allocation and the interface among code developers, code users, and toolbox maintainers, significant benefits can be achieved through a centralized toolbox and subsequent standardized applications

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

Science.gov (United States)

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

2012-01-01

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

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.

Assessment of Robotic Patient Simulators for Training in Manual Physical Therapy Examination Techniques

Science.gov (United States)

Ishikawa, Shun; Okamoto, Shogo; Isogai, Kaoru; Akiyama, Yasuhiro; Yanagihara, Naomi; Yamada, Yoji

2015-01-01

Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard. PMID:25923719

Assessment of robotic patient simulators for training in manual physical therapy examination techniques.

Directory of Open Access Journals (Sweden)

Shun Ishikawa

Full Text Available Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard.

Assessment of robotic patient simulators for training in manual physical therapy examination techniques.

Science.gov (United States)

Ishikawa, Shun; Okamoto, Shogo; Isogai, Kaoru; Akiyama, Yasuhiro; Yanagihara, Naomi; Yamada, Yoji

2015-01-01

Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard.

A framework for simulation-based optimization demonstrated on reconfigurable robot workcells

DEFF Research Database (Denmark)

Atorf, Linus; Schorn, Christoph; Roßmann, Jürgen

2017-01-01

Today's trends towards automation and robotics, fueled by the emerging Industry 4.0 paradigm shift, open up many new kinds of control and optimization problems. At the same time, advances in 3D simulation technology lead to ever-improving simulation models and algorithms in various domains...

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

Science.gov (United States)

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

2013-01-01

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

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

Directory of Open Access Journals (Sweden)

Abhijit Mahapatra

2013-03-01

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

Design and simulation for a hydraulic actuated quadruped robot

International Nuclear Information System (INIS)

Rong, Xuewen; Li, Yibin; Li, Bin; Ruan, Jiuhong

2012-01-01

This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders

Building a ROS-Based Testbed for Realistic Multi-Robot Simulation: Taking the Exploration as an Example

Directory of Open Access Journals (Sweden)

Zhi Yan

2017-09-01

Full Text Available While the robotics community agrees that the benchmarking is of high importance to objectively compare different solutions, there are only few and limited tools to support it. To address this issue in the context of multi-robot systems, we have defined a benchmarking process based on experimental designs, which aimed at improving the reproducibility of experiments by making explicit all elements of a benchmark such as parameters, measurements and metrics. We have also developed a ROS (Robot Operating System-based testbed with the goal of making it easy for users to validate, benchmark, and compare different algorithms including coordination strategies. Our testbed uses the MORSE (Modular OpenRobots Simulation Engine simulator for realistic simulation and a computer cluster for decentralized computation. In this paper, we present our testbed in details with the architecture and infrastructure, the issues encountered in implementing the infrastructure, and the automation of the deployment. We also report a series of experiments on multi-robot exploration, in order to demonstrate the capabilities of our testbed.

Residents' response to bleeding during a simulated robotic surgery task.

Science.gov (United States)

Walker, Jessica L; Nathwani, Jay N; Mohamadipanah, Hossein; Laufer, Shlomi; Jocewicz, Frank F; Gwillim, Eran; Pugh, Carla M

2017-12-01

The aim of this study was to assess performance measurement validity of our newly developed robotic surgery task trainer. We hypothesized that residents would exhibit wide variations in their intercohort performance as well as a measurable difference compared to surgeons in fellowship training. Our laboratory synthesized a model of a pelvic tumor that simulates unexpected bleeding. Surgical residents and fellows of varying specialties completed a demographic survey and were allowed 20 minutes to resect the tumor using the da Vinci robot and achieve hemostasis. At a standardized event in the simulation, venous bleeding began, and participants attempted hemostasis using suture ligation. A motion tracking system, using electromagnetic sensors, recorded participants' hand movements. A postparticipation Likert scale survey evaluated participants' assessment of the model's realism and usefulness. Three of the seven residents (postgraduate year 2-5), and the fellow successfully resected the tumor in the allotted time. Residents showed high variability in performance and blood loss (125-700 mL) both within their cohort and compared to the fellow (150 mL blood). All participants rated the model as having high realism and utility for trainees. The results support that our bleeding pelvic tumor simulator has the ability to discriminate resident performance in robotic surgery. The combination of motion, decision-making, and blood loss metrics offers a multilevel performance assessment, analyzing both technical and decision-making abilities. Copyright © 2017 Elsevier Inc. All rights reserved.

Graphical models for simulation and control of robotic systems for waste handling

International Nuclear Information System (INIS)

Drotning, W.D.; Bennett, P.C.

1992-01-01

This paper discusses detailed geometric models which have been used within a graphical simulation environment to study transportation cask facility design and to perform design and analyses of robotic systems for handling of nuclear waste. The models form the basis for a robot control environment which provides safety, flexibility, and reliability for operations which span the spectrum from autonomous control to tasks requiring direct human intervention

The Life Cycle Analysis Toolbox

International Nuclear Information System (INIS)

Bishop, L.; Tonn, B.E.; Williams, K.A.; Yerace, P.; Yuracko, K.L.

1999-01-01

The life cycle analysis toolbox is a valuable integration of decision-making tools and supporting materials developed by Oak Ridge National Laboratory (ORNL) to help Department of Energy managers improve environmental quality, reduce costs, and minimize risk. The toolbox provides decision-makers access to a wide variety of proven tools for pollution prevention (P2) and waste minimization (WMin), as well as ORNL expertise to select from this toolbox exactly the right tool to solve any given P2/WMin problem. The central element of the toolbox is a multiple criteria approach to life cycle analysis developed specifically to aid P2/WMin decision-making. ORNL has developed numerous tools that support this life cycle analysis approach. Tools are available to help model P2/WMin processes, estimate human health risks, estimate costs, and represent and manipulate uncertainties. Tools are available to help document P2/WMin decision-making and implement programs. Tools are also available to help track potential future environmental regulations that could impact P2/WMin programs and current regulations that must be followed. An Internet-site will provide broad access to the tools

Experimentally-based optimization of contact parameters in dynamics simulation of humanoid robots

NARCIS (Netherlands)

Vivian, Michele; Reggiani, Monica; Sartori, Massimo

2013-01-01

With this work we introduce a novel methodology for the simulation of walking of a humanoid robot. Motion capture technology is used to calibrate the dynamics engine internal parameters and validate the simulated motor task. Results showed the calibrated contact model allows predicting dynamically

Application of a Perturbation Method for Realistic Dynamic Simulation of Industrial Robots

International Nuclear Information System (INIS)

Waiboer, R. R.; Aarts, R. G. K. M.; Jonker, J. B.

2005-01-01

This paper presents the application of a perturbation method for the closed-loop dynamic simulation of a rigid-link manipulator with joint friction. In this method the perturbed motion of the manipulator is modelled as a first-order perturbation of the nominal manipulator motion. A non-linear finite element method is used to formulate the dynamic equations of the manipulator mechanism. In a closed-loop simulation the driving torques are generated by the control system. Friction torques at the actuator joints are introduced at the stage of perturbed dynamics. For a mathematical model of the friction torques we implemented the LuGre friction model that accounts both for the sliding and pre-sliding regime. To illustrate the method, the motion of a six-axes industrial Staeubli robot is simulated. The manipulation task implies transferring a laser spot along a straight line with a trapezoidal velocity profile. The computed trajectory tracking errors are compared with measured values, where in both cases the tip position is computed from the joint angles using a nominal kinematic robot model. It is found that a closed-loop simulation using a non-linear finite element model of this robot is very time-consuming due to the small time step of the discrete controller. Using the perturbation method with the linearised model a substantial reduction of the computer time is achieved without loss of accuracy

Closed loop interactions between spiking neural network and robotic simulators based on MUSIC and ROS

Directory of Open Access Journals (Sweden)

Philipp Weidel

2016-08-01

Full Text Available In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS to the Multi-Simulator Coordinator (MUSIC. This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning.

A DICOM-RT-based toolbox for the evaluation and verification of radiotherapy plans

International Nuclear Information System (INIS)

Spezi, E; Lewis, D G; Smith, C W

2002-01-01

The verification of radiotherapy plans is an essential step in the treatment planning process. This is especially important for highly conformal and IMRT plans which produce non-intuitive fluence maps and complex 3D dose distributions. In this work we present a DICOM (Digital Imaging and Communication in Medicine) based toolbox, developed for the evaluation and the verification of radiotherapy treatment plans. The toolbox offers the possibility of importing treatment plans generated with different calculation algorithms and/or different optimization engines and evaluating dose distributions on an independent platform. Furthermore the radiotherapy set-up can be exported to the BEAM Monte Carlo code system for dose verification. This can be done by simulating the irradiation of the patient CT dataset or the irradiation of a software-generated water phantom. We show the application of some of the functions implemented in this toolbox for the evaluation and verification of an IMRT treatment of the head and neck region

Numerical Modelling and Simulation of Dynamic Parameters for Vibration Driven Mobile Robot: Preliminary Study

Science.gov (United States)

Baharudin, M. E.; Nor, A. M.; Saad, A. R. M.; Yusof, A. M.

2018-03-01

The motion of vibration-driven robots is based on an internal oscillating mass which can move without legs or wheels. The oscillation of the unbalanced mass by a motor is translated into vibration which in turn produces vertical and horizontal forces. Both vertical and horizontal oscillations are of the same frequency but the phases are shifted. The vertical forces will deflect the bristles which cause the robot to move forward. In this paper, the horizontal motion direction caused by the vertically vibrated bristle is numerically simulated by tuning the frequency of their oscillatory actuation. As a preliminary work, basic equations for a simple off-centered vibration location on the robot platform and simulation model for vibration excitement are introduced. It involves both static and dynamic vibration analysis of robots and analysis of different type of parameters. In addition, the orientation of the bristles and oscillators are also analysed. Results from the numerical integration seem to be in good agreement with those achieved from the literature. The presented numerical integration modeling can be used for designing the bristles and controlling the speed and direction of the robot.

Tolkku - a toolbox for decision support from condition monitoring data

International Nuclear Information System (INIS)

Saarela, Olli; Lehtonen, Mikko; Halme, Jari; Aikala, Antti; Raivio, Kimmo

2012-01-01

This paper describes a software toolbox (a software library) designed for condition monitoring and diagnosis of machines. This toolbox implements both new methods and prior art and is aimed for practical down-to-earth data analysis work. The target is to improve knowledge of the operation and behaviour of machines and processes throughout their entire life-cycles. The toolbox supports different phases of condition based maintenance with tools that extract essential information and automate data processing. The paper discusses principles that have guided toolbox design and the implemented toolbox structure. Case examples are used to illustrate how condition monitoring applications can be built using the toolbox. In the first case study the toolbox is applied to fault detection of industrial centrifuges based on measured electrical current. The second case study outlines an application for centralized monitoring of a fleet of machines that supports organizational learning.

Designing and implementing nervous system simulations on LEGO robots.

Science.gov (United States)

Blustein, Daniel; Rosenthal, Nikolai; Ayers, Joseph

2013-05-25

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

Air Sensor Toolbox

Science.gov (United States)

Air Sensor Toolbox provides information to citizen scientists, researchers and developers interested in learning more about new lower-cost compact air sensor technologies and tools for measuring air quality.

Validation of a novel virtual reality simulator for robotic surgery

NARCIS (Netherlands)

Schreuder, Henk W. R.; Persson, Jan E. U.; Wolswijk, Richard G. H.; Ihse, Ingmar; Schijven, Marlies P.; Verheijen, René H. M.

2014-01-01

With the increase in robotic-assisted laparoscopic surgery there is a concomitant rising demand for training methods. The objective was to establish face and construct validity of a novel virtual reality simulator (dV-Trainer, Mimic Technologies, Seattle, WA) for the use in training of

Research the Gait Characteristics of Human Walking Based on a Robot Model and Experiment

Science.gov (United States)

He, H. J.; Zhang, D. N.; Yin, Z. W.; Shi, J. H.

2017-02-01

In order to research the gait characteristics of human walking in different walking ways, a robot model with a single degree of freedom is put up in this paper. The system control models of the robot are established through Matlab/Simulink toolbox. The gait characteristics of straight, uphill, turning, up the stairs, down the stairs up and down areanalyzed by the system control models. To verify the correctness of the theoretical analysis, an experiment was carried out. The comparison between theoretical results and experimental results shows that theoretical results are better agreement with the experimental ones. Analyze the reasons leading to amplitude error and phase error and give the improved methods. The robot model and experimental ways can provide foundation to further research the various gait characteristics of the exoskeleton robot.

Video-based peer feedback through social networking for robotic surgery simulation: a multicenter randomized controlled trial.

Science.gov (United States)

Carter, Stacey C; Chiang, Alexander; Shah, Galaxy; Kwan, Lorna; Montgomery, Jeffrey S; Karam, Amer; Tarnay, Christopher; Guru, Khurshid A; Hu, Jim C

2015-05-01

To examine the feasibility and outcomes of video-based peer feedback through social networking to facilitate robotic surgical skill acquisition. The acquisition of surgical skills may be challenging for novel techniques and/or those with prolonged learning curves. Randomized controlled trial involving 41 resident physicians performing the Tubes (Da Vinci Intuitive Surgical, Sunnyvale, CA) simulator exercise with versus without peer feedback of video-recorded performance through a social networking Web page. Data collected included simulator exercise score, time to completion, and comfort and satisfaction with robotic surgery simulation. There were no baseline differences between the intervention group (n = 20) and controls (n = 21). The intervention group showed improvement in mean scores from session 1 to sessions 2 and 3 (60.7 vs 75.5, P feedback subjects were more comfortable with robotic surgery than controls (90% vs 62%, P = 0.021) and expressed greater satisfaction with the learning experience (100% vs 67%, P = 0.014). Of the intervention subjects, 85% found that peer feedback was useful and 100% found it effective. Video-based peer feedback through social networking appears to be an effective paradigm for surgical education and accelerates the robotic surgery learning curve during simulation.

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

Science.gov (United States)

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

2017-01-01

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

Patient-specific surgical simulator for the pre-operative planning of single-incision laparoscopic surgery with bimanual robots.

Science.gov (United States)

Turini, Giuseppe; Moglia, Andrea; Ferrari, Vincenzo; Ferrari, Mauro; Mosca, Franco

2012-01-01

The trend of surgical robotics is to follow the evolution of laparoscopy, which is now moving towards single-incision laparoscopic surgery. The main drawback of this approach is the limited maneuverability of the surgical tools. Promising solutions to improve the surgeon's dexterity are based on bimanual robots. However, since both robot arms are completely inserted into the patient's body, issues related to possible unwanted collisions with structures adjacent to the target organ may arise. This paper presents a simulator based on patient-specific data for the positioning and workspace evaluation of bimanual surgical robots in the pre-operative planning of single-incision laparoscopic surgery. The simulator, designed for the pre-operative planning of robotic laparoscopic interventions, was tested by five expert surgeons who evaluated its main functionalities and provided an overall rating for the system. The proposed system demonstrated good performance and usability, and was designed to integrate both present and future bimanual surgical robots.

Robotics, Artificial Intelligence, Computer Simulation: Future Applications in Special Education.

Science.gov (United States)

Moore, Gwendolyn B.; And Others

The report describes three advanced technologies--robotics, artificial intelligence, and computer simulation--and identifies the ways in which they might contribute to special education. A hybrid methodology was employed to identify existing technology and forecast future needs. Following this framework, each of the technologies is defined,…

User's manual for Ecolego Toolbox and the Discretization Block

Energy Technology Data Exchange (ETDEWEB)

Broed, Robert (Facilia consulting AB (Sweden)); Shulan Xu (Swedish Radiation Protection Authority, Stockholm (Sweden))

2008-03-15

The CLIMB modelling team (Catchment LInked Models of radiological effects in the Biosphere) was instituted in 2004 to provide SSI with an independent modelling capability when reviewing SKB's assessment of long-term safety for a geological repository. Modelling in CLIMB covers all aspects of performance assessment (PA) from near-field releases to radiological consequences in the surface environment. Software used to implement assessment models has been developed within the project. The software comprises a toolbox based on the commercial packages Matlab and Simulink used to solve compartment based differential equation systems, but with an added user friendly graphical interface. This report documents the new simulation toolbox and a newly developed Discretisation Block, which is a powerful tool for solving problems involving a network of compartments in two dimensions

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

Science.gov (United States)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Velíšek Karol

2017-01-01

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

Evaluation of Artificial Caudal Fin for Fish Robot with Two Joints by Using Three-Dimensional Fluid-Structure Simulation

Directory of Open Access Journals (Sweden)

Yogo Takada

2013-01-01

Full Text Available A fish robot with image sensors is useful to research for underwater creatures such as fish. However, the propulsion velocity of a fish robot is very slow compared with live fish. It is necessary to swim at a speed several times faster than the speed of the current robots for various usages. Therefore, we are searching for the method of making the robot swim fast. The simulation before making the robot is important. We have made the computational simulation program of three-dimensional fluid-structure analysis. The flow around the caudal fin can be examined by analyzing the fin as an elastic body. We compared the results of numerical analysis with the results of PIV measurement. Both were agreed well. Because the performance of a fish robot with two joints is better than that of a fish robot with one joint, we searched for an excellent fin for the fish robot with two joints by using CFD. We confirmed that the swimming performance of a fish robot becomes very good when the caudal fin is rigid except for the root of the fin which is comparatively flexible.

ESA Atmospheric Toolbox

Science.gov (United States)

Niemeijer, Sander

2017-04-01

The ESA Atmospheric Toolbox (BEAT) is one of the ESA Sentinel Toolboxes. It consists of a set of software components to read, analyze, and visualize a wide range of atmospheric data products. In addition to the upcoming Sentinel-5P mission it supports a wide range of other atmospheric data products, including those of previous ESA missions, ESA Third Party missions, Copernicus Atmosphere Monitoring Service (CAMS), ground based data, etc. The toolbox consists of three main components that are called CODA, HARP and VISAN. CODA provides interfaces for direct reading of data from earth observation data files. These interfaces consist of command line applications, libraries, direct interfaces to scientific applications (IDL and MATLAB), and direct interfaces to programming languages (C, Fortran, Python, and Java). CODA provides a single interface to access data in a wide variety of data formats, including ASCII, binary, XML, netCDF, HDF4, HDF5, CDF, GRIB, RINEX, and SP3. HARP is a toolkit for reading, processing and inter-comparing satellite remote sensing data, model data, in-situ data, and ground based remote sensing data. The main goal of HARP is to assist in the inter-comparison of datasets. By appropriately chaining calls to HARP command line tools one can pre-process datasets such that two datasets that need to be compared end up having the same temporal/spatial grid, same data format/structure, and same physical unit. The toolkit comes with its own data format conventions, the HARP format, which is based on netcdf/HDF. Ingestion routines (based on CODA) allow conversion from a wide variety of atmospheric data products to this common format. In addition, the toolbox provides a wide range of operations to perform conversions on the data such as unit conversions, quantity conversions (e.g. number density to volume mixing ratios), regridding, vertical smoothing using averaging kernels, collocation of two datasets, etc. VISAN is a cross-platform visualization and

Robotics On-Board Trainer (ROBoT)

Science.gov (United States)

Johnson, Genevieve; Alexander, Greg

2013-01-01

ROBoT is an on-orbit version of the ground-based Dynamics Skills Trainer (DST) that astronauts use for training on a frequent basis. This software consists of two primary software groups. The first series of components is responsible for displaying the graphical scenes. The remaining components are responsible for simulating the Mobile Servicing System (MSS), the Japanese Experiment Module Remote Manipulator System (JEMRMS), and the H-II Transfer Vehicle (HTV) Free Flyer Robotics Operations. The MSS simulation software includes: Robotic Workstation (RWS) simulation, a simulation of the Space Station Remote Manipulator System (SSRMS), a simulation of the ISS Command and Control System (CCS), and a portion of the Portable Computer System (PCS) software necessary for MSS operations. These components all run under the CentOS4.5 Linux operating system. The JEMRMS simulation software includes real-time, HIL, dynamics, manipulator multi-body dynamics, and a moving object contact model with Tricks discrete time scheduling. The JEMRMS DST will be used as a functional proficiency and skills trainer for flight crews. The HTV Free Flyer Robotics Operations simulation software adds a functional simulation of HTV vehicle controllers, sensors, and data to the MSS simulation software. These components are intended to support HTV ISS visiting vehicle analysis and training. The scene generation software will use DOUG (Dynamic On-orbit Ubiquitous Graphics) to render the graphical scenes. DOUG runs on a laptop running the CentOS4.5 Linux operating system. DOUG is an Open GL-based 3D computer graphics rendering package. It uses pre-built three-dimensional models of on-orbit ISS and space shuttle systems elements, and provides realtime views of various station and shuttle configurations.

A novel 3D-printed hybrid simulation model for robotic-assisted kidney transplantation (RAKT).

Science.gov (United States)

Uwechue, Raphael; Gogalniceanu, Petrut; Kessaris, Nicos; Byrne, Nick; Chandak, Pankaj; Olsburgh, Jonathon; Ahmed, Kamran; Mamode, Nizam; Loukopoulos, Ioannis

2018-01-27

Robotic-assisted kidney transplantation (RAKT) offers key benefits for patients that have been demonstrated in several studies. A barrier to the wider uptake of RAKT is surgical skill acquisition. This is exacerbated by the challenges of modern surgery with reduced surgical training time, patient safety concerns and financial pressures. Simulation is a well-established method of developing surgical skill in a safe and controlled environment away from the patient. We have developed a 3D printed simulation model for the key step of the kidney transplant operation which is the vascular anastomosis. The model is anatomically accurate, based on the CT scans of patients and it incorporates deceased donor vascular tissue. Crucially, it was developed to be used in the robotic operating theatre with the operating robot to enhance its fidelity. It is portable and relatively inexpensive when compared with other forms of simulation such as virtual reality or animal lab training. It thus has the potential of being more accessible as a training tool for the safe acquisition of RAKT specific skills. We demonstrate this model here.

ICT: isotope correction toolbox.

Science.gov (United States)

Jungreuthmayer, Christian; Neubauer, Stefan; Mairinger, Teresa; Zanghellini, Jürgen; Hann, Stephan

2016-01-01

Isotope tracer experiments are an invaluable technique to analyze and study the metabolism of biological systems. However, isotope labeling experiments are often affected by naturally abundant isotopes especially in cases where mass spectrometric methods make use of derivatization. The correction of these additive interferences--in particular for complex isotopic systems--is numerically challenging and still an emerging field of research. When positional information is generated via collision-induced dissociation, even more complex calculations for isotopic interference correction are necessary. So far, no freely available tools can handle tandem mass spectrometry data. We present isotope correction toolbox, a program that corrects tandem mass isotopomer data from tandem mass spectrometry experiments. Isotope correction toolbox is written in the multi-platform programming language Perl and, therefore, can be used on all commonly available computer platforms. Source code and documentation can be freely obtained under the Artistic License or the GNU General Public License from: https://github.com/jungreuc/isotope_correction_toolbox/ {christian.jungreuthmayer@boku.ac.at,juergen.zanghellini@boku.ac.at} Supplementary data are available at Bioinformatics online. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

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.

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

Science.gov (United States)

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

2001-01-01

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

ESA BRAT (Broadview Radar Altimetry Toolbox) and GUT (GOCE User Toolbox) toolboxes

Science.gov (United States)

Benveniste, J.; Ambrozio, A.; Restano, M.

2016-12-01

The Broadview Radar Altimetry Toolbox (BRAT) is a collection of tools designed to facilitate the processing of radar altimetry data from previous and current altimetry missions, including the upcoming Sentinel-3A L1 and L2 products. A tutorial is included providing plenty of use cases. BRAT's future release (4.0.0) is planned for September 2016. Based on the community feedback, the frontend has been further improved and simplified whereas the capability to use BRAT in conjunction with MATLAB/IDL or C/C++/Python/Fortran, allowing users to obtain desired data bypassing the data-formatting hassle, remains unchanged. Several kinds of computations can be done within BRAT involving the combination of data fields, that can be saved for future uses, either by using embedded formulas including those from oceanographic altimetry, or by implementing ad-hoc Python modules created by users to meet their needs. BRAT can also be used to quickly visualise data, or to translate data into other formats, e.g. from NetCDF to raster images. The GOCE User Toolbox (GUT) is a compilation of tools for the use and the analysis of GOCE gravity field models. It facilitates using, viewing and post-processing GOCE L2 data and allows gravity field data, in conjunction and consistently with any other auxiliary data set, to be pre-processed by beginners in gravity field processing, for oceanographic and hydrologic as well as for solid earth applications at both regional and global scales. Hence, GUT facilitates the extensive use of data acquired during GRACE and GOCE missions. In the current 3.0 version, GUT has been outfitted with a graphical user interface allowing users to visually program data processing workflows. Further enhancements aiming at facilitating the use of gradients, the anisotropic diffusive filtering, and the computation of Bouguer and isostatic gravity anomalies have been introduced. Packaged with GUT is also GUT's VCM (Variance-Covariance Matrix) tool for analysing GOCE

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

Directory of Open Access Journals (Sweden)

Mahmoud Gouasmi

2012-12-01

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

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....

Structured training on the da Vinci Skills Simulator leads to improvement in technical performance of robotic novices.

Science.gov (United States)

Walliczek-Dworschak, U; Mandapathil, M; Förtsch, A; Teymoortash, A; Dworschak, P; Werner, J A; Güldner, C

2017-02-01

The increasing use of minimally invasive techniques such as robotic-assisted devices raises the question of how to acquire robotic surgery skills. The da Vinci Skills Simulator has been demonstrated to be an effective training tool in previous reports. To date, little data are available on how to acquire proficiency through simulator training. We investigated the outcome of a structured training programme for robotic surgical skills by robotic novices. This prospective study was conducted from January to December 2013 using the da Vinci Skills Simulator. Twenty participants, all robotic novices, were enrolled in a 4-week training curriculum. After a brief introduction to the simulator system, three consecutive repetitions of five selected exercises (Match Board 1, 2, 3 and Ring and Rail 1, 2) were performed in a defined order on days 1, 8, 15 and 22. On day 22, one repetition of a previously unpractised more advanced module (Needle Targeting) was also performed. After completion of each study day, the overall performance, time to completion, economy in motion, instrument collisions, excessive instrument force, instruments out of view, master workspace range and number of drops were analysed. Comparing the first and final repetition, overall score and time needed to complete all exercises, economy of motion and instrument collisions were significantly improved in nearly all exercises. Regarding the new exercise, a positive training effect could be demonstrated. While its overall entry score was significantly higher, the time to completion and economy of motion were significantly lower than the scores on the first repetition of the previous 5 exercises. It could be shown that training on the da Vinci Skills Simulator led to an improvement in technical performance of robotic novices. With regard to a new exercise, the training had a positive effect on the technical performance. © 2016 John Wiley & Sons Ltd.

Simulators, Remote Labs and Robotic Telescopes

Science.gov (United States)

Folhas, Alvaro

2015-04-01

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

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.

Multimodal Imaging Brain Connectivity Analysis (MIBCA toolbox

Directory of Open Access Journals (Sweden)

Andre Santos Ribeiro

2015-07-01

Full Text Available Aim. In recent years, connectivity studies using neuroimaging data have increased the understanding of the organization of large-scale structural and functional brain networks. However, data analysis is time consuming as rigorous procedures must be assured, from structuring data and pre-processing to modality specific data procedures. Until now, no single toolbox was able to perform such investigations on truly multimodal image data from beginning to end, including the combination of different connectivity analyses. Thus, we have developed the Multimodal Imaging Brain Connectivity Analysis (MIBCA toolbox with the goal of diminishing time waste in data processing and to allow an innovative and comprehensive approach to brain connectivity.Materials and Methods. The MIBCA toolbox is a fully automated all-in-one connectivity toolbox that offers pre-processing, connectivity and graph theoretical analyses of multimodal image data such as diffusion-weighted imaging, functional magnetic resonance imaging (fMRI and positron emission tomography (PET. It was developed in MATLAB environment and pipelines well-known neuroimaging softwares such as Freesurfer, SPM, FSL, and Diffusion Toolkit. It further implements routines for the construction of structural, functional and effective or combined connectivity matrices, as well as, routines for the extraction and calculation of imaging and graph-theory metrics, the latter using also functions from the Brain Connectivity Toolbox. Finally, the toolbox performs group statistical analysis and enables data visualization in the form of matrices, 3D brain graphs and connectograms. In this paper the MIBCA toolbox is presented by illustrating its capabilities using multimodal image data from a group of 35 healthy subjects (19–73 years old with volumetric T1-weighted, diffusion tensor imaging, and resting state fMRI data, and 10 subjets with 18F-Altanserin PET data also.Results. It was observed both a high inter

Validation of ergonomic instructions in robot-assisted surgery simulator training.

Science.gov (United States)

Van't Hullenaar, C D P; Mertens, A C; Ruurda, J P; Broeders, I A M J

2018-05-01

Training in robot-assisted surgery focusses mainly on technical skills and instrument use. Training in optimal ergonomics during robotic surgery is often lacking, while improved ergonomics can be one of the key advantages of robot-assisted surgery. Therefore, the aim of this study was to assess whether a brief explanation on ergonomics of the console can improve body posture and performance. A comparative study was performed with 26 surgical interns and residents using the da Vinci skills simulator (Intuitive Surgical, Sunnyvale, CA). The intervention group received a compact instruction on ergonomic settings and coaching on clutch usage, while the control group received standard instructions for usage of the system. Participants performed two sets of five exercises. Analysis was performed on ergonomic score (RULA) and performance scores provided by the simulator. Mental and physical load scores (NASA-TLX and LED score) were also registered. The intervention group performed better in the clutch-oriented exercises, displaying less unnecessary movement and smaller deviation from the neutral position of the hands. The intervention group also scored significantly better on the RULA ergonomic score in both the exercises. No differences in overall performance scores and subjective scores were detected. The benefits of a brief instruction on ergonomics for novices are clear in this study. A single session of coaching and instruction leads to better ergonomic scores. The control group showed often inadequate ergonomic scores. No significant differences were found regarding physical discomfort, mental task load and overall performance scores.

Structural Time Domain Identification Toolbox User's Guide

DEFF Research Database (Denmark)

Andersen, P.; Kirkegaard, Poul Henning; Brincker, Rune

This manual describes the Structural Time Domain Identification toolbox for use with MA TLAB. This version of the tool box has been developed using the PC-based MA TLAB version 4.2c, but is compatible with prior versions of MATLAB and UNIX-based versions. The routines of the toolbox are the so...

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

Directory of Open Access Journals (Sweden)

Hadi El Daou

2013-05-01

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

Simulating Fine-Scale Marine Pollution Plumes for Autonomous Robotic Environmental Monitoring

Directory of Open Access Journals (Sweden)

Muhammad Fahad

2018-05-01

Full Text Available Marine plumes exhibit characteristics such as intermittency, sinuous structure, shape and flow field coherency, and a time varying concentration profile. Due to the lack of experimental quantification of these characteristics for marine plumes, existing work often assumes marine plumes exhibit behavior similar to aerial plumes and are commonly modeled by filament based Lagrangian models. Our previous field experiments with Rhodamine dye plumes at Makai Research Pier at Oahu, Hawaii revealed that marine plumes show similar characteristics to aerial plumes qualitatively, but quantitatively they are disparate. Based on the field data collected, this paper presents a calibrated Eulerian plume model that exhibits the qualitative and quantitative characteristics exhibited by experimentally generated marine plumes. We propose a modified model with an intermittent source, and implement it in a Robot Operating System (ROS based simulator. Concentration time series of stationary sampling points and dynamic sampling points across cross-sections and plume fronts are collected and analyzed for statistical parameters of the simulated plume. These parameters are then compared with statistical parameters from experimentally generated plumes. The comparison validates that the simulated plumes exhibit fine-scale qualitative and quantitative characteristics similar to experimental plumes. The ROS plume simulator facilitates future evaluations of environmental monitoring strategies by marine robots, and is made available for community use.

Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots

Directory of Open Access Journals (Sweden)

Francisco Rubio

2015-01-01

Full Text Available In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.

Use of Parallel Micro-Platform for the Simulation the Space Exploration

Science.gov (United States)

Velasco Herrera, Victor Manuel; Velasco Herrera, Graciela; Rosano, Felipe Lara; Rodriguez Lozano, Salvador; Lucero Roldan Serrato, Karen

The purpose of this work is to create a parallel micro-platform, that simulates the virtual movements of a space exploration in 3D. One of the innovations presented in this design consists of the application of a lever mechanism for the transmission of the movement. The development of such a robot is a challenging task very different of the industrial manipulators due to a totally different target system of requirements. This work presents the study and simulation, aided by computer, of the movement of this parallel manipulator. The development of this model has been developed using the platform of computer aided design Unigraphics, in which it was done the geometric modeled of each one of the components and end assembly (CAD), the generation of files for the computer aided manufacture (CAM) of each one of the pieces and the kinematics simulation of the system evaluating different driving schemes. We used the toolbox (MATLAB) of aerospace and create an adaptive control module to simulate the system.

iamxt: Max-tree toolbox for image processing and analysis

Directory of Open Access Journals (Sweden)

Roberto Souza

2017-01-01

Full Text Available The iamxt is an array-based max-tree toolbox implemented in Python using the NumPy library for array processing. It has state of the art methods for building and processing the max-tree, and a large set of visualization tools that allow to view the tree and the contents of its nodes. The array-based programming style and max-tree representation used in the toolbox make it simple to use. The intended audience of this toolbox includes mathematical morphology students and researchers that want to develop research in the field and image processing researchers that need a toolbox simple to use and easy to integrate in their applications.

Prior video game utilization is associated with improved performance on a robotic skills simulator.

Science.gov (United States)

Harbin, Andrew C; Nadhan, Kumar S; Mooney, James H; Yu, Daohai; Kaplan, Joshua; McGinley-Hence, Nora; Kim, Andrew; Gu, Yiming; Eun, Daniel D

2017-09-01

Laparoscopic surgery and robotic surgery, two forms of minimally invasive surgery (MIS), have recently experienced a large increase in utilization. Prior studies have shown that video game experience (VGE) may be associated with improved laparoscopic surgery skills; however, similar data supporting a link between VGE and proficiency on a robotic skills simulator (RSS) are lacking. The objective of our study is to determine whether volume or timing of VGE had any impact on RSS performance. Pre-clinical medical students completed a comprehensive questionnaire detailing previous VGE across several time periods. Seventy-five subjects were ultimately evaluated in 11 training exercises on the daVinci Si Skills Simulator. RSS skill was measured by overall score, time to completion, economy of motion, average instrument collision, and improvement in Ring Walk 3 score. Using the nonparametric tests and linear regression, these metrics were analyzed for systematic differences between non-users, light, and heavy video game users based on their volume of use in each of the following four time periods: past 3 months, past year, past 3 years, and high school. Univariate analyses revealed significant differences between heavy and non-users in all five performance metrics. These trends disappeared as the period of VGE went further back. Our study showed a positive association between video game experience and robotic skills simulator performance that is stronger for more recent periods of video game use. The findings may have important implications for the evolution of robotic surgery training.

PFA toolbox: a MATLAB tool for Metabolic Flux Analysis.

Science.gov (United States)

Morales, Yeimy; Bosque, Gabriel; Vehí, Josep; Picó, Jesús; Llaneras, Francisco

2016-07-11

Metabolic Flux Analysis (MFA) is a methodology that has been successfully applied to estimate metabolic fluxes in living cells. However, traditional frameworks based on this approach have some limitations, particularly when measurements are scarce and imprecise. This is very common in industrial environments. The PFA Toolbox can be used to face those scenarios. Here we present the PFA (Possibilistic Flux Analysis) Toolbox for MATLAB, which simplifies the use of Interval and Possibilistic Metabolic Flux Analysis. The main features of the PFA Toolbox are the following: (a) It provides reliable MFA estimations in scenarios where only a few fluxes can be measured or those available are imprecise. (b) It provides tools to easily plot the results as interval estimates or flux distributions. (c) It is composed of simple functions that MATLAB users can apply in flexible ways. (d) It includes a Graphical User Interface (GUI), which provides a visual representation of the measurements and their uncertainty. (e) It can use stoichiometric models in COBRA format. In addition, the PFA Toolbox includes a User's Guide with a thorough description of its functions and several examples. The PFA Toolbox for MATLAB is a freely available Toolbox that is able to perform Interval and Possibilistic MFA estimations.

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

Science.gov (United States)

Barker, L. K.; Houck, J. A.; Carzoo, S. W.

1984-01-01

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

The simulation of a non-linear unstable system of motion, utilising the Solid-Works and Matlab/Simulink extended libraries/toolboxes

Directory of Open Access Journals (Sweden)

Zátopek Jiří

2016-01-01

Full Text Available This text discusses the use and integration of various support software tools for the purpose of designing the motion control law governing mechanical structures with strongly non-linear behaviour. The detailed mathematical model is derived using Lagrange Equations of the Second Type. The physical model was designed by using SolidWorks 3D CAD software and a SimMechanics library. It extends Simulink with modelling tools for the simulation of mechanical “multi-domain” physical systems. The visualization of Simulink outputs is performed using the 3D Animation toolbox. Control law - designed on the basis of the mathematical model, is tested for both models (i.e. mathematical and physical and the regulatory processes’ results are compared.

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

Science.gov (United States)

Yao, Yao; Storme, Veronique; Marchal, Kathleen; Van de Peer, Yves

2016-01-01

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

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

Science.gov (United States)

Yao, Yao; Storme, Veronique; Marchal, Kathleen

2016-01-01

We developed a bio-inspired robot controller combining an artificial genome with an agent-based control system. The genome encodes a gene regulatory network (GRN) that is switched on by environmental cues and, following the rules of transcriptional regulation, provides output signals to actuators. Whereas the genome represents the full encoding of the transcriptional network, the agent-based system mimics the active regulatory network and signal transduction system also present in naturally occurring biological systems. Using such a design that separates the static from the conditionally active part of the gene regulatory network contributes to a better general adaptive behaviour. Here, we have explored the potential of our platform with respect to the evolution of adaptive behaviour, such as preying when food becomes scarce, in a complex and changing environment and show through simulations of swarm robots in an A-life environment that evolution of collective behaviour likely can be attributed to bio-inspired evolutionary processes acting at different levels, from the gene and the genome to the individual robot and robot population. PMID:28028477

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

Directory of Open Access Journals (Sweden)

Yao Yao

2016-12-01

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

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...

A conceptual toolbox for designing CSCW applications

DEFF Research Database (Denmark)

Bødker, Susanne; Christiansen, Ellen

1995-01-01

This paper presents a conceptual toolbox, developed to support the design of CSCW applications in a large Esprit project, EuroCODE. Here, several groups of designers work to investigate computer support for cooperative work in large use organizations, at the same time as they work to develop...... an open development platform for CSCW applications. The conceptual toolbox has been developed to support communication in and among these design groups, between designers and users and in future use of the open development platform. Rejecting the idea that one may design from a framework describing CSCW......, the toolbox aims to support design by doing and help bridging between work with users, technical design, and insights gained from theoretical and empirical CSCW research....

DeltaProt: a software toolbox for comparative genomics

Directory of Open Access Journals (Sweden)

Willassen Nils P

2010-11-01

Full Text Available Abstract Background Statistical bioinformatics is the study of biological data sets obtained by new micro-technologies by means of proper statistical methods. For a better understanding of environmental adaptations of proteins, orthologous sequences from different habitats may be explored and compared. The main goal of the DeltaProt Toolbox is to provide users with important functionality that is needed for comparative screening and studies of extremophile proteins and protein classes. Visualization of the data sets is also the focus of this article, since visualizations can play a key role in making the various relationships transparent. This application paper is intended to inform the reader of the existence, functionality, and applicability of the toolbox. Results We present the DeltaProt Toolbox, a software toolbox that may be useful in importing, analyzing and visualizing data from multiple alignments of proteins. The toolbox has been written in MATLAB™ to provide an easy and user-friendly platform, including a graphical user interface, while ensuring good numerical performance. Problems in genome biology may be easily stated thanks to a compact input format. The toolbox also offers the possibility of utilizing structural information from the SABLE or other structure predictors. Different sequence plots can then be viewed and compared in order to find their similarities and differences. Detailed statistics are also calculated during the procedure. Conclusions The DeltaProt package is open source and freely available for academic, non-commercial use. The latest version of DeltaProt can be obtained from http://services.cbu.uib.no/software/deltaprot/. The website also contains documentation, and the toolbox comes with real data sets that are intended for training in applying the models to carry out bioinformatical and statistical analyses of protein sequences. Equipped with the new algorithms proposed here, DeltaProt serves as an auxiliary

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

Science.gov (United States)

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

2017-06-23

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

GOCE User Toolbox and Tutorial

Science.gov (United States)

Knudsen, P.; Benveniste, J.

2011-07-01

The GOCE User Toolbox GUT is a compilation of tools for the utilisation and analysis of GOCE Level 2 products. GUT support applications in Geodesy, Oceanography and Solid Earth Physics. The GUT Tutorial provides information and guidance in how to use the toolbox for a variety of applications. GUT consists of a series of advanced computer routines that carry out the required computations. It may be used on Windows PCs, UNIX/Linux Workstations, and Mac. The toolbox is supported by The GUT Algorithm Description and User Guide and The GUT Install Guide. A set of a-priori data and models are made available as well. GUT has been developed in a collaboration within the GUT Core Group. The GUT Core Group: S. Dinardo, D. Serpe, B.M. Lucas, R. Floberghagen, A. Horvath (ESA), O. Andersen, M. Herceg (DTU), M.-H. Rio, S. Mulet, G. Larnicol (CLS), J. Johannessen, L.Bertino (NERSC), H. Snaith, P. Challenor (NOC), K. Haines, D. Bretherton (NCEO), C. Hughes (POL), R.J. Bingham (NU), G. Balmino, S. Niemeijer, I. Price, L. Cornejo (S&T), M. Diament, I Panet (IPGP), C.C. Tscherning (KU), D. Stammer, F. Siegismund (UH), T. Gruber (TUM),

PETPVC: a toolbox for performing partial volume correction techniques in positron emission tomography

Science.gov (United States)

Thomas, Benjamin A.; Cuplov, Vesna; Bousse, Alexandre; Mendes, Adriana; Thielemans, Kris; Hutton, Brian F.; Erlandsson, Kjell

2016-11-01

Positron emission tomography (PET) images are degraded by a phenomenon known as the partial volume effect (PVE). Approaches have been developed to reduce PVEs, typically through the utilisation of structural information provided by other imaging modalities such as MRI or CT. These methods, known as partial volume correction (PVC) techniques, reduce PVEs by compensating for the effects of the scanner resolution, thereby improving the quantitative accuracy. The PETPVC toolbox described in this paper comprises a suite of methods, both classic and more recent approaches, for the purposes of applying PVC to PET data. Eight core PVC techniques are available. These core methods can be combined to create a total of 22 different PVC techniques. Simulated brain PET data are used to demonstrate the utility of toolbox in idealised conditions, the effects of applying PVC with mismatched point-spread function (PSF) estimates and the potential of novel hybrid PVC methods to improve the quantification of lesions. All anatomy-based PVC techniques achieve complete recovery of the PET signal in cortical grey matter (GM) when performed in idealised conditions. Applying deconvolution-based approaches results in incomplete recovery due to premature termination of the iterative process. PVC techniques are sensitive to PSF mismatch, causing a bias of up to 16.7% in GM recovery when over-estimating the PSF by 3 mm. The recovery of both GM and a simulated lesion was improved by combining two PVC techniques together. The PETPVC toolbox has been written in C++, supports Windows, Mac and Linux operating systems, is open-source and publicly available.

Does previous open surgical experience have any influence on robotic surgery simulation exercises?

Science.gov (United States)

Cumpanas, Alin Adrian; Bardan, Razvan; Ferician, Ovidiu Catalin; Latcu, Silviu Constantin; Duta, Ciprian; Lazar, Fulger Octavian

2017-12-01

Within the last years, there has been a trend in many hospitals to switch their surgical activity from open/laparoscopic procedures to robotic surgery. Some open surgeons have been shifting their activity to robotic surgery. It is still unclear whether there is a transfer of open surgical skills to robotic ones. To evaluate whether such transfer of skills occurs and to identify which specific skills are more significantly transferred from the operative table to the console. Twenty-five volunteers were included in the study, divided into 2 groups: group A (15 participants) - medical students (without any surgical experience in open, laparoscopic or robotic surgery); and group B (10 participants) - surgeons with exclusively open surgical experience, without any previous laparoscopic or robotic experience. Participants were asked to complete 3 robotic simulator console exercises structured from the easiest one (Peg Board) to the toughest one (Sponge Suture). Overall scores for each exercise as well as specific metrics were compared between the two groups. There were no significant differences between overall scores of the two groups for the easiest task. Overall scores were better for group B as the exercises got more complex. For the intermediate and high-difficulty level exercises, most of the specific metrics were better for group B, with the exception of the working master space item. Our results suggest that the open surgical skills transfer to robotic skills, at least for the very beginning of the training process.

Students Learn Programming Faster through Robotic Simulation

Science.gov (United States)

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

2013-01-01

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

Presentation of the International Building Physics Toolbox for Simulink

DEFF Research Database (Denmark)

Weitzmann, Peter; Sasic Kalagasidis, Angela; Nielsen, Toke Rammer

2003-01-01

The international building physics toolbox (IBPT) is a software library specially constructed for HAM system analysis in building physics. The toolbox is constructed as a modular structure of the standard building elements using the graphical programming language Simulink. Two research groups have...... participated in this project. In order to enable the development of the toolbox, a common modelling platform was defined: a set of unique communication signals, material database and documentation protocol. The IBPT is open source and publicly available on the Internet. Any researcher and student can use...

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.

A 'Toolbox' Equivalent Process for Safety Analysis Software

International Nuclear Information System (INIS)

O'Kula, K.R.; Eng, Tony

2004-01-01

Defense Nuclear Facilities Safety Board (DNFSB) Recommendation 2002-1 (Quality Assurance for Safety-Related Software) identified a number of quality assurance issues on the use of software in Department of Energy (DOE) facilities for analyzing hazards, and designing and operating controls that prevent or mitigate potential accidents. The development and maintenance of a collection, or 'toolbox', of multiple-site use, standard solution, Software Quality Assurance (SQA)-compliant safety software is one of the major improvements identified in the associated DOE Implementation Plan (IP). The DOE safety analysis toolbox will contain a set of appropriately quality-assured, configuration-controlled, safety analysis codes, recognized for DOE-broad, safety basis applications. Currently, six widely applied safety analysis computer codes have been designated for toolbox consideration. While the toolbox concept considerably reduces SQA burdens among DOE users of these codes, many users of unique, single-purpose, or single-site software may still have sufficient technical justification to continue use of their computer code of choice, but are thwarted by the multiple-site condition on toolbox candidate software. The process discussed here provides a roadmap for an equivalency argument, i.e., establishing satisfactory SQA credentials for single-site software that can be deemed ''toolbox-equivalent''. The process is based on the model established to meet IP Commitment 4.2.1.2: Establish SQA criteria for the safety analysis ''toolbox'' codes. Implementing criteria that establish the set of prescriptive SQA requirements are based on implementation plan/procedures from the Savannah River Site, also incorporating aspects of those from the Waste Isolation Pilot Plant (SNL component) and the Yucca Mountain Project. The major requirements are met with evidence of a software quality assurance plan, software requirements and design documentation, user's instructions, test report, a

Design and Control of Compliant Tensegrity Robots Through Simulation and Hardware Validation

Science.gov (United States)

Caluwaerts, Ken; Despraz, Jeremie; Iscen, Atil; Sabelhaus, Andrew P.; Bruce, Jonathan; Schrauwen, Benjamin; Sunspiral, Vytas

2014-01-01

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center has developed and validated two different software environments for the analysis, simulation, and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ("tensile-integrity") structures have unique physical properties which make them ideal for interaction with uncertain environments. Yet these characteristics, such as variable structural compliance, and global multi-path load distribution through the tension network, make design and control of bio-inspired tensegrity robots extremely challenging. This work presents the progress in using these two tools in tackling the design and control challenges. The results of this analysis includes multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures. The current hardware prototype of a six-bar tensegrity, code-named ReCTeR, is presented in the context of this validation.

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.

ESA's Multi-mission Sentinel-1 Toolbox

Science.gov (United States)

Veci, Luis; Lu, Jun; Foumelis, Michael; Engdahl, Marcus

2017-04-01

The Sentinel-1 Toolbox is a new open source software for scientific learning, research and exploitation of the large archives of Sentinel and heritage missions. The Toolbox is based on the proven BEAM/NEST architecture inheriting all current NEST functionality including multi-mission support for most civilian satellite SAR missions. The project is funded through ESA's Scientific Exploitation of Operational Missions (SEOM). The Sentinel-1 Toolbox will strive to serve the SEOM mandate by providing leading-edge software to the science and application users in support of ESA's operational SAR mission as well as by educating and growing a SAR user community. The Toolbox consists of a collection of processing tools, data product readers and writers and a display and analysis application. A common architecture for all Sentinel Toolboxes is being jointly developed by Brockmann Consult, Array Systems Computing and C-S called the Sentinel Application Platform (SNAP). The SNAP architecture is ideal for Earth Observation processing and analysis due the following technological innovations: Extensibility, Portability, Modular Rich Client Platform, Generic EO Data Abstraction, Tiled Memory Management, and a Graph Processing Framework. The project has developed new tools for working with Sentinel-1 data in particular for working with the new Interferometric TOPSAR mode. TOPSAR Complex Coregistration and a complete Interferometric processing chain has been implemented for Sentinel-1 TOPSAR data. To accomplish this, a coregistration following the Spectral Diversity[4] method has been developed as well as special azimuth handling in the coherence, interferogram and spectral filter operators. The Toolbox includes reading of L0, L1 and L2 products in SAFE format, calibration and de-noising, slice product assembling, TOPSAR deburst and sub-swath merging, terrain flattening radiometric normalization, and visualization for L2 OCN products. The Toolbox also provides several new tools for

Computer Simulation of Robotic Device Components in 3D Printer Manufacturing

Directory of Open Access Journals (Sweden)

M. A. Kiselev

2016-01-01

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

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

Science.gov (United States)

André, Jean-Baptiste; Nolfi, Stefano

2016-09-12

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

Managing Fieldwork Data with Toolbox and the Natural Language Toolkit

Directory of Open Access Journals (Sweden)

Stuart Robinson

2007-06-01

Full Text Available This paper shows how fieldwork data can be managed using the program Toolbox together with the Natural Language Toolkit (NLTK for the Python programming language. It provides background information about Toolbox and describes how it can be downloaded and installed. The basic functionality of the program for lexicons and texts is described, and its strengths and weaknesses are reviewed. Its underlying data format is briefly discussed, and Toolbox processing capabilities of NLTK are introduced, showing ways in which it can be used to extend the functionality of Toolbox. This is illustrated with a few simple scripts that demonstrate basic data management tasks relevant to language documentation, such as printing out the contents of a lexicon as HTML.

Wave data processing toolbox manual

Science.gov (United States)

Sullivan, Charlene M.; Warner, John C.; Martini, Marinna A.; Lightsom, Frances S.; Voulgaris, George; Work, Paul

2006-01-01

Researchers routinely deploy oceanographic equipment in estuaries, coastal nearshore environments, and shelf settings. These deployments usually include tripod-mounted instruments to measure a suite of physical parameters such as currents, waves, and pressure. Instruments such as the RD Instruments Acoustic Doppler Current Profiler (ADCP(tm)), the Sontek Argonaut, and the Nortek Aquadopp(tm) Profiler (AP) can measure these parameters. The data from these instruments must be processed using proprietary software unique to each instrument to convert measurements to real physical values. These processed files are then available for dissemination and scientific evaluation. For example, the proprietary processing program used to process data from the RD Instruments ADCP for wave information is called WavesMon. Depending on the length of the deployment, WavesMon will typically produce thousands of processed data files. These files are difficult to archive and further analysis of the data becomes cumbersome. More imperative is that these files alone do not include sufficient information pertinent to that deployment (metadata), which could hinder future scientific interpretation. This open-file report describes a toolbox developed to compile, archive, and disseminate the processed wave measurement data from an RD Instruments ADCP, a Sontek Argonaut, or a Nortek AP. This toolbox will be referred to as the Wave Data Processing Toolbox. The Wave Data Processing Toolbox congregates the processed files output from the proprietary software into two NetCDF files: one file contains the statistics of the burst data and the other file contains the raw burst data (additional details described below). One important advantage of this toolbox is that it converts the data into NetCDF format. Data in NetCDF format is easy to disseminate, is portable to any computer platform, and is viewable with public-domain freely-available software. Another important advantage is that a metadata

Robotic kidney autotransplantation in a porcine model: a procedure-specific training platform for the simulation of robotic intracorporeal vascular anastomosis.

Science.gov (United States)

Tiong, Ho Yee; Goh, Benjamin Yen Seow; Chiong, Edmund; Tan, Lincoln Guan Lim; Vathsala, Anatharaman

2018-03-31

Robotic-assisted kidney transplantation (RKT) with the Da Vinci (Intuitive, USA) platform has been recently developed to improve outcomes by decreasing surgical site complications and morbidity, especially in obese patients. This potential paradigm shift in the surgical technique of kidney transplantation is performed in only a few centers. For wider adoption of this high stake complex operation, we aimed to develop a procedure-specific simulation platform in a porcine model for the training of robotic intracorporeal vascular anastomosis and evaluating vascular anastomoses patency. This paper describes the requirements and steps developed for the above training purpose. Over a series of four animal ethics' approved experiments, the technique of robotic-assisted laparoscopic autotransplantation of the kidney was developed in Amsterdam live pigs (60-70 kg). The surgery was based around the vascular anastomosis technique described by Menon et al. This non-survival porcine training model is targeted at transplant surgeons with robotic surgery experience. Under general anesthesia, each pig was placed in lateral decubitus position with the placement of one robotic camera port, two robotic 8 mm ports and one assistant port. Robotic docking over the pig posteriorly was performed. The training platform involved the following procedural steps. First, ipsilateral iliac vessel dissection was performed. Second, robotic-assisted laparoscopic donor nephrectomy was performed with in situ perfusion of the kidney with cold Hartmann's solution prior to complete division of the hilar vessels, ureter and kidney mobilization. Thirdly, the kidney was either kept in situ for orthotopic autotransplantation or mobilized to the pelvis and orientated for the vascular anastomosis, which was performed end to end or end to side after vessel loop clamping of the iliac vessels, respectively, using 6/0 Gore-Tex sutures. Following autotransplantation and release of vessel loops, perfusion of the

Kinematical simulation of robotic complex operation for implementing full-scale additive technologies of high-end materials, composites, structures, and buildings

Science.gov (United States)

Antsiferov, S. I.; Eltsov, M. Iu; Khakhalev, P. A.

2018-03-01

This paper considers a newly designed electronic digital model of a robotic complex for implementing full-scale additive technologies, funded under a Federal Target Program. The electronic and digital model was used to solve the problem of simulating the movement of a robotic complex using the NX CAD/CAM/CAE system. The virtual mechanism was built and the main assemblies, joints, and drives were identified as part of solving the problem. In addition, the maximum allowed printable area size was identified for the robotic complex, and a simulation of printing a rectangular-shaped article was carried out.

BOLDSync: a MATLAB-based toolbox for synchronized stimulus presentation in functional MRI.

Science.gov (United States)

Joshi, Jitesh; Saharan, Sumiti; Mandal, Pravat K

2014-02-15

Precise and synchronized presentation of paradigm stimuli in functional magnetic resonance imaging (fMRI) is central to obtaining accurate information about brain regions involved in a specific task. In this manuscript, we present a new MATLAB-based toolbox, BOLDSync, for synchronized stimulus presentation in fMRI. BOLDSync provides a user friendly platform for design and presentation of visual, audio, as well as multimodal audio-visual (AV) stimuli in functional imaging experiments. We present simulation experiments that demonstrate the millisecond synchronization accuracy of BOLDSync, and also illustrate the functionalities of BOLDSync through application to an AV fMRI study. BOLDSync gains an advantage over other available proprietary and open-source toolboxes by offering a user friendly and accessible interface that affords both precision in stimulus presentation and versatility across various types of stimulus designs and system setups. BOLDSync is a reliable, efficient, and versatile solution for synchronized stimulus presentation in fMRI study. Copyright © 2013 Elsevier B.V. All rights reserved.

Swarming Robot Design, Construction and Software Implementation

Science.gov (United States)

Stolleis, Karl A.

2014-01-01

In this paper is presented an overview of the hardware design, construction overview, software design and software implementation for a small, low-cost robot to be used for swarming robot development. In addition to the work done on the robot, a full simulation of the robotic system was developed using Robot Operating System (ROS) and its associated simulation. The eventual use of the robots will be exploration of evolving behaviors via genetic algorithms and builds on the work done at the University of New Mexico Biological Computation Lab.

ERP Reliability Analysis (ERA) Toolbox: An open-source toolbox for analyzing the reliability of event-related brain potentials.

Science.gov (United States)

Clayson, Peter E; Miller, Gregory A

2017-01-01

Generalizability theory (G theory) provides a flexible, multifaceted approach to estimating score reliability. G theory's approach to estimating score reliability has important advantages over classical test theory that are relevant for research using event-related brain potentials (ERPs). For example, G theory does not require parallel forms (i.e., equal means, variances, and covariances), can handle unbalanced designs, and provides a single reliability estimate for designs with multiple sources of error. This monograph provides a detailed description of the conceptual framework of G theory using examples relevant to ERP researchers, presents the algorithms needed to estimate ERP score reliability, and provides a detailed walkthrough of newly-developed software, the ERP Reliability Analysis (ERA) Toolbox, that calculates score reliability using G theory. The ERA Toolbox is open-source, Matlab software that uses G theory to estimate the contribution of the number of trials retained for averaging, group, and/or event types on ERP score reliability. The toolbox facilitates the rigorous evaluation of psychometric properties of ERP scores recommended elsewhere in this special issue. Copyright © 2016 Elsevier B.V. All rights reserved.

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

DEFF Research Database (Denmark)

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

2016-01-01

for the task. The solutions are parameterized in terms of the robot motion and the gripper configuration, and after each simulation various objective scores are determined and combined. This enables the use of various optimization strategies. Based on visual inspection of the most robust solution found...

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

Directory of Open Access Journals (Sweden)

Sergio Alexander Salinas

2009-12-01

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

Wyrm: A Brain-Computer Interface Toolbox in Python.

Science.gov (United States)

Venthur, Bastian; Dähne, Sven; Höhne, Johannes; Heller, Hendrik; Blankertz, Benjamin

2015-10-01

In the last years Python has gained more and more traction in the scientific community. Projects like NumPy, SciPy, and Matplotlib have created a strong foundation for scientific computing in Python and machine learning packages like scikit-learn or packages for data analysis like Pandas are building on top of it. In this paper we present Wyrm ( https://github.com/bbci/wyrm ), an open source BCI toolbox in Python. Wyrm is applicable to a broad range of neuroscientific problems. It can be used as a toolbox for analysis and visualization of neurophysiological data and in real-time settings, like an online BCI application. In order to prevent software defects, Wyrm makes extensive use of unit testing. We will explain the key aspects of Wyrm's software architecture and design decisions for its data structure, and demonstrate and validate the use of our toolbox by presenting our approach to the classification tasks of two different data sets from the BCI Competition III. Furthermore, we will give a brief analysis of the data sets using our toolbox, and demonstrate how we implemented an online experiment using Wyrm. With Wyrm we add the final piece to our ongoing effort to provide a complete, free and open source BCI system in Python.

MagPy: A Python toolbox for controlling Magstim transcranial magnetic stimulators.

Science.gov (United States)

McNair, Nicolas A

2017-01-30

To date, transcranial magnetic stimulation (TMS) studies manipulating stimulation parameters have largely used blocked paradigms. However, altering these parameters on a trial-by-trial basis in Magstim stimulators is complicated by the need to send regular (1Hz) commands to the stimulator. Additionally, effecting such control interferes with the ability to send TMS pulses or simultaneously present stimuli with high-temporal precision. This manuscript presents the MagPy toolbox, a Python software package that provides full control over Magstim stimulators via the serial port. It is able to maintain this control with no impact on concurrent processing, such as stimulus delivery. In addition, a specially-designed "QuickFire" serial cable is specified that allows MagPy to trigger TMS pulses with very low-latency. In a series of experimental simulations, MagPy was able to maintain uninterrupted remote control over the connected Magstim stimulator across all testing sessions. In addition, having MagPy enabled had no effect on stimulus timing - all stimuli were presented for precisely the duration specified. Finally, using the QuickFire cable, MagPy was able to elicit TMS pulses with sub-millisecond latencies. The MagPy toolbox allows for experiments that require manipulating stimulation parameters from trial to trial. Furthermore, it can achieve this in contexts that require tight control over timing, such as those seeking to combine TMS with fMRI or EEG. Together, the MagPy toolbox and QuickFire serial cable provide an effective means for controlling Magstim stimulators during experiments while ensuring high-precision timing. Copyright © 2016 Elsevier B.V. All rights reserved.

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

Science.gov (United States)

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

2016-05-01

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

Software Toolbox for Low-Frequency Conductivity and Current Density Imaging Using MRI.

Science.gov (United States)

Sajib, Saurav Z K; Katoch, Nitish; Kim, Hyung Joong; Kwon, Oh In; Woo, Eung Je

2017-11-01

Low-frequency conductivity and current density imaging using MRI includes magnetic resonance electrical impedance tomography (MREIT), diffusion tensor MREIT (DT-MREIT), conductivity tensor imaging (CTI), and magnetic resonance current density imaging (MRCDI). MRCDI and MREIT provide current density and isotropic conductivity images, respectively, using current-injection phase MRI techniques. DT-MREIT produces anisotropic conductivity tensor images by incorporating diffusion weighted MRI into MREIT. These current-injection techniques are finding clinical applications in diagnostic imaging and also in transcranial direct current stimulation (tDCS), deep brain stimulation (DBS), and electroporation where treatment currents can function as imaging currents. To avoid adverse effects of nerve and muscle stimulations due to injected currents, conductivity tensor imaging (CTI) utilizes B1 mapping and multi-b diffusion weighted MRI to produce low-frequency anisotropic conductivity tensor images without injecting current. This paper describes numerical implementations of several key mathematical functions for conductivity and current density image reconstructions in MRCDI, MREIT, DT-MREIT, and CTI. To facilitate experimental studies of clinical applications, we developed a software toolbox for these low-frequency conductivity and current density imaging methods. This MR-based conductivity imaging (MRCI) toolbox includes 11 toolbox functions which can be used in the MATLAB environment. The MRCI toolbox is available at http://iirc.khu.ac.kr/software.html . Its functions were tested by using several experimental datasets, which are provided together with the toolbox. Users of the toolbox can focus on experimental designs and interpretations of reconstructed images instead of developing their own image reconstruction softwares. We expect more toolbox functions to be added from future research outcomes. Low-frequency conductivity and current density imaging using MRI includes

Smoke Ready Toolbox for Wildfires

Science.gov (United States)

This site provides an online Smoke Ready Toolbox for Wildfires, which lists resources and tools that provide information on health impacts from smoke exposure, current fire conditions and forecasts and strategies to reduce exposure to smoke.

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.

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

International Nuclear Information System (INIS)

Kriikku, E.M.; Reynolds, D.L.; Carroll, J.J.; Dawson, D.M.

1993-01-01

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

A Module for Graphical Display of Model Results with the CBP Toolbox

Energy Technology Data Exchange (ETDEWEB)

Smith, F. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

2015-04-21

This report describes work performed by the Savannah River National Laboratory (SRNL) in fiscal year 2014 to add enhanced graphical capabilities to display model results in the Cementitious Barriers Project (CBP) Toolbox. Because Version 2.0 of the CBP Toolbox has just been released, the graphing enhancements described in this report have not yet been integrated into a new version of the Toolbox. Instead they have been tested using a standalone GoldSim model and, while they are substantially complete, may undergo further refinement before full implementation. Nevertheless, this report is issued to document the FY14 development efforts which will provide a basis for further development of the CBP Toolbox.

Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters

International Nuclear Information System (INIS)

Benitez R, J.S.; Najera H, M.C.

2002-01-01

The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

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...

RenderToolbox3: MATLAB tools that facilitate physically based stimulus rendering for vision research.

Science.gov (United States)

Heasly, Benjamin S; Cottaris, Nicolas P; Lichtman, Daniel P; Xiao, Bei; Brainard, David H

2014-02-07

RenderToolbox3 provides MATLAB utilities and prescribes a workflow that should be useful to researchers who want to employ graphics in the study of vision and perhaps in other endeavors as well. In particular, RenderToolbox3 facilitates rendering scene families in which various scene attributes and renderer behaviors are manipulated parametrically, enables spectral specification of object reflectance and illuminant spectra, enables the use of physically based material specifications, helps validate renderer output, and converts renderer output to physical units of radiance. This paper describes the design and functionality of the toolbox and discusses several examples that demonstrate its use. We have designed RenderToolbox3 to be portable across computer hardware and operating systems and to be free and open source (except for MATLAB itself). RenderToolbox3 is available at https://github.com/DavidBrainard/RenderToolbox3.

Rapid generation of control parameters of Multi-Infeed system through online simulation

Directory of Open Access Journals (Sweden)

Rasool Aazim

2017-05-01

Full Text Available Simulated Self-Generated - Particle Swarm optimization (SSG-PSO toolbox that automatically generates PI control parameters very quickly in PSCAD is designed. This toolbox operates by utilizing transient simulation to evaluate objective function and converges the fitness values of objective function through PSO algorithm during run time simulation of Multi-infeed HVDC systems. Integral Square Error-Objective Function (ISE-OF is used to accomplish the task. To make the toolbox faster, ranges are set for PSO generated value that limit the time of data acquisition for the objective function by only considering transition time of a system. This toolbox has a capability to optimize multiple controllers at same time. The PI values are generated faster and the results are showing markedly improved performance of a system during startup and under fault condition. The experimental results are presented in this paper.

The RAVEN Toolbox and Its Use for Generating a Genome-scale Metabolic Model for Penicillium chrysogenum

Science.gov (United States)

Agren, Rasmus; Liu, Liming; Shoaie, Saeed; Vongsangnak, Wanwipa; Nookaew, Intawat; Nielsen, Jens

2013-01-01

We present the RAVEN (Reconstruction, Analysis and Visualization of Metabolic Networks) Toolbox: a software suite that allows for semi-automated reconstruction of genome-scale models. It makes use of published models and/or the KEGG database, coupled with extensive gap-filling and quality control features. The software suite also contains methods for visualizing simulation results and omics data, as well as a range of methods for performing simulations and analyzing the results. The software is a useful tool for system-wide data analysis in a metabolic context and for streamlined reconstruction of metabolic networks based on protein homology. The RAVEN Toolbox workflow was applied in order to reconstruct a genome-scale metabolic model for the important microbial cell factory Penicillium chrysogenum Wisconsin54-1255. The model was validated in a bibliomic study of in total 440 references, and it comprises 1471 unique biochemical reactions and 1006 ORFs. It was then used to study the roles of ATP and NADPH in the biosynthesis of penicillin, and to identify potential metabolic engineering targets for maximization of penicillin production. PMID:23555215

Integrated system dynamics toolbox for water resources planning.

Energy Technology Data Exchange (ETDEWEB)

Reno, Marissa Devan; Passell, Howard David; Malczynski, Leonard A.; Peplinski, William J.; Tidwell, Vincent Carroll; Coursey, Don (University of Chicago, Chicago, IL); Hanson, Jason (University of New Mexico, Albuquerque, NM); Grimsrud, Kristine (University of New Mexico, Albuquerque, NM); Thacher, Jennifer (University of New Mexico, Albuquerque, NM); Broadbent, Craig (University of New Mexico, Albuquerque, NM); Brookshire, David (University of New Mexico, Albuquerque, NM); Chemak, Janie (University of New Mexico, Albuquerque, NM); Cockerill, Kristan (Cockeril Consulting, Boone, NC); Aragon, Carlos (New Mexico Univeristy of Technology and Mining (NM-TECH), Socorro, NM); Hallett, Heather (New Mexico Univeristy of Technology and Mining (NM-TECH), Socorro, NM); Vivoni, Enrique (New Mexico Univeristy of Technology and Mining (NM-TECH), Socorro, NM); Roach, Jesse

2006-12-01

Public mediated resource planning is quickly becoming the norm rather than the exception. Unfortunately, supporting tools are lacking that interactively engage the public in the decision-making process and integrate over the myriad values that influence water policy. In the pages of this report we document the first steps toward developing a specialized decision framework to meet this need; specifically, a modular and generic resource-planning ''toolbox''. The technical challenge lies in the integration of the disparate systems of hydrology, ecology, climate, demographics, economics, policy and law, each of which influence the supply and demand for water. Specifically, these systems, their associated processes, and most importantly the constitutive relations that link them must be identified, abstracted, and quantified. For this reason, the toolbox forms a collection of process modules and constitutive relations that the analyst can ''swap'' in and out to model the physical and social systems unique to their problem. This toolbox with all of its modules is developed within the common computational platform of system dynamics linked to a Geographical Information System (GIS). Development of this resource-planning toolbox represents an important foundational element of the proposed interagency center for Computer Aided Dispute Resolution (CADRe). The Center's mission is to manage water conflict through the application of computer-aided collaborative decision-making methods. The Center will promote the use of decision-support technologies within collaborative stakeholder processes to help stakeholders find common ground and create mutually beneficial water management solutions. The Center will also serve to develop new methods and technologies to help federal, state and local water managers find innovative and balanced solutions to the nation's most vexing water problems. The toolbox is an important step toward

[Human-robot global Simulink modeling and analysis for an end-effector upper limb rehabilitation robot].

Science.gov (United States)

Liu, Yali; Ji, Linhong

2018-02-01

Robot rehabilitation has been a primary therapy method for the urgent rehabilitation demands of paralyzed patients after a stroke. The parameters in rehabilitation training such as the range of the training, which should be adjustable according to each participant's functional ability, are the key factors influencing the effectiveness of rehabilitation therapy. Therapists design rehabilitation projects based on the semiquantitative functional assessment scales and their experience. But these therapies based on therapists' experience cannot be implemented in robot rehabilitation therapy. This paper modeled the global human-robot by Simulink in order to analyze the relationship between the parameters in robot rehabilitation therapy and the patients' movement functional abilities. We compared the shoulder and elbow angles calculated by simulation with the angles recorded by motion capture system while the healthy subjects completed the simulated action. Results showed there was a remarkable correlation between the simulation data and the experiment data, which verified the validity of the human-robot global Simulink model. Besides, the relationship between the circle radius in the drawing tasks in robot rehabilitation training and the active movement degrees of shoulder as well as elbow was also matched by a linear, which also had a remarkable fitting coefficient. The matched linear can be a quantitative reference for the robot rehabilitation training parameters.

6 DOF Nonlinear AUV Simulation Toolbox

Science.gov (United States)

1997-01-01

advantage of monitor is you can change the shared memory variables at any time. So it can be used for “ hardware in loop ” simulation. An editable monitor...for tuning controller. “ Hardware in loop ” simulation will be tested in recently. In the coming year, we will improve this simulation software. We

Design and Simulation of Two Robotic Systems for Automatic Artichoke Harvesting

Directory of Open Access Journals (Sweden)

Domenico Longo

2013-12-01

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

Extend your toolbox with R

CERN Multimedia

CERN. Geneva

2015-01-01

R seems to be ideal tool for visualising your data as well as practically all other data-related tasks. Learn how to start with R as it is worth to be included not only in statistician's or data scientist's toolboxes.

[Equipment and technology in robotics].

Science.gov (United States)

Murphy, Declan; Challacombe, Ben; Nedas, Tim; Elhage, Oussama; Althoefer, Kaspar; Seneviratne, Lakmal; Dasgupta, Prokar

2007-05-01

We review the evolution and current status of robotic equipment and technology in urology. We also describe future developments in the key areas of virtual reality simulation, mechatronics and nanorobotics. The history of robotic technology is reviewed and put into the context of current systems. Experts in the associated fields of nanorobotics, mechatronics and virtual reality simulation simulation review the important future developments in these areas.

A Multimodal Emotion Detection System during Human-Robot Interaction

Science.gov (United States)

Alonso-Martín, Fernando; Malfaz, María; Sequeira, João; Gorostiza, Javier F.; Salichs, Miguel A.

2013-01-01

In this paper, a multimodal user-emotion detection system for social robots is presented. This system is intended to be used during human–robot interaction, and it is integrated as part of the overall interaction system of the robot: the Robotics Dialog System (RDS). Two modes are used to detect emotions: the voice and face expression analysis. In order to analyze the voice of the user, a new component has been developed: Gender and Emotion Voice Analysis (GEVA), which is written using the Chuck language. For emotion detection in facial expressions, the system, Gender and Emotion Facial Analysis (GEFA), has been also developed. This last system integrates two third-party solutions: Sophisticated High-speed Object Recognition Engine (SHORE) and Computer Expression Recognition Toolbox (CERT). Once these new components (GEVA and GEFA) give their results, a decision rule is applied in order to combine the information given by both of them. The result of this rule, the detected emotion, is integrated into the dialog system through communicative acts. Hence, each communicative act gives, among other things, the detected emotion of the user to the RDS so it can adapt its strategy in order to get a greater satisfaction degree during the human–robot dialog. Each of the new components, GEVA and GEFA, can also be used individually. Moreover, they are integrated with the robotic control platform ROS (Robot Operating System). Several experiments with real users were performed to determine the accuracy of each component and to set the final decision rule. The results obtained from applying this decision rule in these experiments show a high success rate in automatic user emotion recognition, improving the results given by the two information channels (audio and visual) separately. PMID:24240598

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.

SPATIAL DATA MINING TOOLBOX FOR MAPPING SUITABILITY OF LANDFILL SITES USING NEURAL NETWORKS

Directory of Open Access Journals (Sweden)

S. K. M. Abujayyab

2016-09-01

Full Text Available Mapping the suitability of landfill sites is a complex field and is involved with multidiscipline. The purpose of this research is to create an ArcGIS spatial data mining toolbox for mapping the suitability of landfill sites at a regional scale using neural networks. The toolbox is constructed from six sub-tools to prepare, train, and process data. The employment of the toolbox is straightforward. The multilayer perceptron (MLP neural networks structure with a backpropagation learning algorithm is used. The dataset is mined from the north states in Malaysia. A total of 14 criteria are utilized to build the training dataset. The toolbox provides a platform for decision makers to implement neural networks for mapping the suitability of landfill sites in the ArcGIS environment. The result shows the ability of the toolbox to produce suitability maps for landfill sites.

Impact of current video game playing on robotic simulation skills among medical students.

Science.gov (United States)

Öge, Tufan; Borahay, Mostafa A; Achjian, Tamar; Kılıç, Sami Gökhan

2015-01-01

To evaluate the impact of current and prior video game playing on initial robotic simulation skill acquisition. This cross-sectional descriptive study (Canadian Task Force Classification II-1) was conducted at a medical university training center. The study subjects were medical students who currently played video games (Group I) and those who had not played video games in the last 2 years (Group II). The robotic skills of both groups were assessed using simulation. Twenty-two students enrolled in this study; however, only 21 completed it. The median age of the participants was 23 (22-24) years and 24 (23-26) years in Groups I and II, respectively. Among the participants, 15 (71.4%) were male and 6 (28.5%) were female, and 90.4% of the students started playing video games in primary school. When the 2 groups were compared according to the completion time of each exercise, Group I finished more quickly than Group II in the Peg Board-1 exercise (p>0.05), whereas Group II had better results in 3 exercises including Pick and Place, Ring and Rail, and Thread the Rings-1. However, none of the differences were found to be statistically significant (p>.05), and according to the overall scores based on the time to complete exercises, economy of motion, instrument collision, use of excessive instrument force, instruments out of view, and master workspace range, the scores were not statistically different between Groups I and II (p>.05). According to the basic robotic simulation exercise results, there was no difference between medical students who used to play video games and those who still played video games. Studies evaluating baseline visuospatial skills with larger sample sizes are needed.

GPELab, a Matlab toolbox to solve Gross-Pitaevskii equations II: Dynamics and stochastic simulations

Science.gov (United States)

Antoine, Xavier; Duboscq, Romain

2015-08-01

GPELab is a free Matlab toolbox for modeling and numerically solving large classes of systems of Gross-Pitaevskii equations that arise in the physics of Bose-Einstein condensates. The aim of this second paper, which follows (Antoine and Duboscq, 2014), is to first present the various pseudospectral schemes available in GPELab for computing the deterministic and stochastic nonlinear dynamics of Gross-Pitaevskii equations (Antoine, et al., 2013). Next, the corresponding GPELab functions are explained in detail. Finally, some numerical examples are provided to show how the code works for the complex dynamics of BEC problems.

Humans and Robots. Educational Brief.

Science.gov (United States)

National Aeronautics and Space Administration, Washington, DC.

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

State Estimation for Tensegrity Robots

Science.gov (United States)

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

2016-01-01

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

Wheat Rust Toolbox Related to New Initiatives on Yellow Rust

DEFF Research Database (Denmark)

Hansen, Jens Grønbech; Lassen, Poul

://www.fao.org/agriculture/crops/rust/stem/rust-report/en/). The Wheat rust toolbox is one of several International research platforms hosted by Aarhus University, and it uses the same ICT framework and databases as EuroWheat (www.eurowheat.org) and EuroBlight (www.EuroBlight.net). The Wheat Rust Toolbox will also serve the Global Rust Reference Centre (GRRC) as well...... – 2009), and as soon as possible this will be expanded to cover all global yellow rust data available via the GRRC. The presentation will focus on experiences from the previous work on global databases and web based information systems, as well as propose ideas how the toolbox can be helpful regarding...

SCoT: a Python toolbox for EEG source connectivity.

Science.gov (United States)

Billinger, Martin; Brunner, Clemens; Müller-Putz, Gernot R

2014-01-01

Analysis of brain connectivity has become an important research tool in neuroscience. Connectivity can be estimated between cortical sources reconstructed from the electroencephalogram (EEG). Such analysis often relies on trial averaging to obtain reliable results. However, some applications such as brain-computer interfaces (BCIs) require single-trial estimation methods. In this paper, we present SCoT-a source connectivity toolbox for Python. This toolbox implements routines for blind source decomposition and connectivity estimation with the MVARICA approach. Additionally, a novel extension called CSPVARICA is available for labeled data. SCoT estimates connectivity from various spectral measures relying on vector autoregressive (VAR) models. Optionally, these VAR models can be regularized to facilitate ill posed applications such as single-trial fitting. We demonstrate basic usage of SCoT on motor imagery (MI) data. Furthermore, we show simulation results of utilizing SCoT for feature extraction in a BCI application. These results indicate that CSPVARICA and correct regularization can significantly improve MI classification. While SCoT was mainly designed for application in BCIs, it contains useful tools for other areas of neuroscience. SCoT is a software package that (1) brings combined source decomposition and connectivtiy estimation to the open Python platform, and (2) offers tools for single-trial connectivity estimation. The source code is released under the MIT license and is available online at github.com/SCoT-dev/SCoT.

CFS MATLAB toolbox: An experiment builder for continuous flash suppression (CFS) task.

Science.gov (United States)

Nuutinen, Mikko; Mustonen, Terhi; Häkkinen, Jukka

2017-09-15

CFS toolbox is an open-source collection of MATLAB functions that utilizes PsychToolbox-3 (PTB-3). It is designed to allow a researcher to create and run continuous flash suppression experiments using a variety of experimental parameters (i.e., stimulus types and locations, noise characteristics, and experiment window settings). In a CFS experiment, one of the eyes at a time is presented with a dynamically changing noise pattern, while the other eye is concurrently presented with a static target stimulus, such as a Gabor patch. Due to the strong interocular suppression created by the dominant noise pattern mask, the target stimulus is rendered invisible for an extended duration. Very little knowledge of MATLAB is required for using the toolbox; experiments are generated by modifying csv files with the required parameters, and result data are output to text files for further analysis. The open-source code is available on the project page under a Creative Commons License ( http://www.mikkonuutinen.arkku.net/CFS_toolbox/ and https://bitbucket.org/mikkonuutinen/cfs_toolbox ).

Solar-based navigation for robotic explorers

Science.gov (United States)

Shillcutt, Kimberly Jo

2000-12-01

This thesis introduces the application of solar position and shadowing information to robotic exploration. Power is a critical resource for robots with remote, long-term missions, so this research focuses on the power generation capabilities of robotic explorers during navigational tasks, in addition to power consumption. Solar power is primarily considered, with the possibility of wind power also contemplated. Information about the environment, including the solar ephemeris, terrain features, time of day, and surface location, is incorporated into a planning structure, allowing robots to accurately predict shadowing and thus potential costs and gains during navigational tasks. By evaluating its potential to generate and expend power, a robot can extend its lifetime and accomplishments. The primary tasks studied are coverage patterns, with a variety of plans developed for this research. The use of sun, terrain and temporal information also enables new capabilities of identifying and following sun-synchronous and sun-seeking paths. Digital elevation maps are combined with an ephemeris algorithm to calculate the altitude and azimuth of the sun from surface locations, and to identify and map shadows. Solar navigation path simulators use this information to perform searches through two-dimensional space, while considering temporal changes. Step by step simulations of coverage patterns also incorporate time in addition to location. Evaluations of solar and wind power generation, power consumption, area coverage, area overlap, and time are generated for sets of coverage patterns, with on-board environmental information linked to the simulations. This research is implemented on the Nomad robot for the Robotic Antarctic Meteorite Search. Simulators have been developed for coverage pattern tests, as well as for sun-synchronous and sun-seeking path searches. Results of field work and simulations are reported and analyzed, with demonstrated improvements in efficiency

Development of a Twin-spool Turbofan Engine Simulation Using the Toolbox for Modeling and Analysis of Thermodynamic Systems (T-MATS)

Science.gov (United States)

Zinnecker, Alicia M.; Chapman, Jeffryes W.; Lavelle, Thomas M.; Litt, Johathan S.

2014-01-01

The Toolbox for Modeling and Analysis of Thermodynamic Systems (T-MATS) is a tool that has been developed to allow a user to build custom models of systems governed by thermodynamic principles using a template to model each basic process. Validation of this tool in an engine model application was performed through reconstruction of the Commercial Modular Aero-Propulsion System Simulation (C-MAPSS) (v2) using the building blocks from the T-MATS (v1) library. In order to match the two engine models, it was necessary to address differences in several assumptions made in the two modeling approaches. After these modifications were made, validation of the engine model continued by integrating both a steady-state and dynamic iterative solver with the engine plant and comparing results from steady-state and transient simulation of the T-MATS and C-MAPSS models. The results show that the T-MATS engine model was accurate within 3 of the C-MAPSS model, with inaccuracy attributed to the increased dimension of the iterative solver solution space required by the engine model constructed using the T-MATS library. This demonstrates that, given an understanding of the modeling assumptions made in T-MATS and a baseline model, the T-MATS tool provides a viable option for constructing a computational model of a twin-spool turbofan engine that may be used in simulation studies.

Insights into the European Years’ Communication Toolboxes

Directory of Open Access Journals (Sweden)

Camelia-Mihaela Cmeciu

2012-08-01

Full Text Available Since 1983 the European syntagm “unity in diversity” has been implemented in the European Years’ communication campaigns. Dependent on subsidiarity and decentralization, European Years focus on a specific issue which constitutes the subject of a year-long awareness campaign. Beyond the involvement of Europe’s citizens through their local, regional and national authorities in the implementation of the European Years’ policies, there is a unity at the level of the visual communication of the EU by two important image-building elements: EY logos and communication toolboxes. The European Years’ communication toolboxes can be considered signs of inclusion since every organization is expected to customize the templates in the official campaign design of the European Year. The analysis will focus on the image-building elements of three European Years (2010, 2011, 2012. Having social semiotics as the qualitative research method and the analytical framework based on the distinction between design resources and representational resources, I will analyze the double layers of the high intensity point of inclusion: (1 the European Years’ branding process; (2 the visual deontic modality within the visual guidelines of the EY communication toolbox.

HYDRORECESSION: A toolbox for streamflow recession analysis

Science.gov (United States)

Arciniega, S.

2015-12-01

Streamflow recession curves are hydrological signatures allowing to study the relationship between groundwater storage and baseflow and/or low flows at the catchment scale. Recent studies have showed that streamflow recession analysis can be quite sensitive to the combination of different models, extraction techniques and parameter estimation methods. In order to better characterize streamflow recession curves, new methodologies combining multiple approaches have been recommended. The HYDRORECESSION toolbox, presented here, is a Matlab graphical user interface developed to analyse streamflow recession time series with the support of different tools allowing to parameterize linear and nonlinear storage-outflow relationships through four of the most useful recession models (Maillet, Boussinesq, Coutagne and Wittenberg). The toolbox includes four parameter-fitting techniques (linear regression, lower envelope, data binning and mean squared error) and three different methods to extract hydrograph recessions segments (Vogel, Brutsaert and Aksoy). In addition, the toolbox has a module that separates the baseflow component from the observed hydrograph using the inverse reservoir algorithm. Potential applications provided by HYDRORECESSION include model parameter analysis, hydrological regionalization and classification, baseflow index estimates, catchment-scale recharge and low-flows modelling, among others. HYDRORECESSION is freely available for non-commercial and academic purposes.

Comparison of two simulation systems to support robotic-assisted surgical training: a pilot study (Swine model).

Science.gov (United States)

Whitehurst, Sabrina V; Lockrow, Ernest G; Lendvay, Thomas S; Propst, Anthony M; Dunlow, Susan G; Rosemeyer, Christopher J; Gobern, Joseph M; White, Lee W; Skinner, Anna; Buller, Jerome L

2015-01-01

To compare the efficacy of simulation-based training between the Mimic dV- Trainer and traditional dry lab da Vinci robot training. A prospective randomized study analyzing the performance of 20 robotics-naive participants. Participants were enrolled in an online da Vinci Intuitive Surgical didactic training module, followed by training in use of the da Vinci standard surgical robot. Spatial ability tests were performed as well. Participants were randomly assigned to 1 of 2 training conditions: performance of 3 Fundamentals of Laparoscopic Surgery dry lab tasks using the da Vinci or performance of 4 dV-Trainer tasks. Participants in both groups performed all tasks to empirically establish proficiency criterion. Participants then performed the transfer task, a cystotomy closure using the daVinci robot on a live animal (swine) model. The performance of robotic tasks was blindly assessed by a panel of experienced surgeons using objective tracking data and using the validated Global Evaluative Assessment of Robotic Surgery (GEARS), a structured assessment tool. No statistically significant difference in surgeon performance was found between the 2 training conditions, dV-Trainer and da Vinci robot. Analysis of a 95% confidence interval for the difference in means (-0.803 to 0.543) indicated that the 2 methods are unlikely to differ to an extent that would be clinically meaningful. Based on the results of this study, a curriculum on the dV- Trainer was shown to be comparable to traditional da Vinci robot training. Therefore, we have identified that training on a virtual reality system may be an alternative to live animal training for future robotic surgeons. Published by Elsevier Inc.

Artificial heart for humanoid robot

Science.gov (United States)

Potnuru, Akshay; Wu, Lianjun; Tadesse, Yonas

2014-03-01

A soft robotic device inspired by the pumping action of a biological heart is presented in this study. Developing artificial heart to a humanoid robot enables us to make a better biomedical device for ultimate use in humans. As technology continues to become more advanced, the methods in which we implement high performance and biomimetic artificial organs is getting nearer each day. In this paper, we present the design and development of a soft artificial heart that can be used in a humanoid robot and simulate the functions of a human heart using shape memory alloy technology. The robotic heart is designed to pump a blood-like fluid to parts of the robot such as the face to simulate someone blushing or when someone is angry by the use of elastomeric substrates and certain features for the transport of fluids.

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.

MATLAB Toolboxes for Reference Electrode Standardization Technique (REST) of Scalp EEG.

Science.gov (United States)

Dong, Li; Li, Fali; Liu, Qiang; Wen, Xin; Lai, Yongxiu; Xu, Peng; Yao, Dezhong

2017-01-01

Reference electrode standardization technique (REST) has been increasingly acknowledged and applied as a re-reference technique to transform an actual multi-channels recordings to approximately zero reference ones in electroencephalography/event-related potentials (EEG/ERPs) community around the world in recent years. However, a more easy-to-use toolbox for re-referencing scalp EEG data to zero reference is still lacking. Here, we have therefore developed two open-source MATLAB toolboxes for REST of scalp EEG. One version of REST is closely integrated into EEGLAB, which is a popular MATLAB toolbox for processing the EEG data; and another is a batch version to make it more convenient and efficient for experienced users. Both of them are designed to provide an easy-to-use for novice researchers and flexibility for experienced researchers. All versions of the REST toolboxes can be freely downloaded at http://www.neuro.uestc.edu.cn/rest/Down.html, and the detailed information including publications, comments and documents on REST can also be found from this website. An example of usage is given with comparative results of REST and average reference. We hope these user-friendly REST toolboxes could make the relatively novel technique of REST easier to study, especially for applications in various EEG studies.

Analyzing Cyber-Physical Threats on Robotic Platforms.

Science.gov (United States)

Ahmad Yousef, Khalil M; AlMajali, Anas; Ghalyon, Salah Abu; Dweik, Waleed; Mohd, Bassam J

2018-05-21

Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBot TM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

Analyzing Cyber-Physical Threats on Robotic Platforms

Directory of Open Access Journals (Sweden)

Khalil M. Ahmad Yousef

2018-05-01

Full Text Available Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

Automated simulation and study of spatial-structural design processes

NARCIS (Netherlands)

Davila Delgado, J.M.; Hofmeyer, H.; Stouffs, R.; Sariyildiz, S.

2013-01-01

A so-called "Design Process Investigation toolbox" (DPI toolbox), has been developed. It is a set of computational tools that simulate spatial-structural design processes. Its objectives are to study spatial-structural design processes and to support the involved actors. Two case-studies are

Segmentation Toolbox for Tomographic Image Data

DEFF Research Database (Denmark)

Einarsdottir, Hildur

, techniques to automatically analyze such data becomes ever more important. Most segmentation methods for large datasets, such as CT images, deal with simple thresholding techniques, where intensity values cut offs are predetermined and hard coded. For data where the intensity difference is not sufficient......Motivation: Image acquisition has vastly improved over the past years, introducing techniques such as X-ray computed tomography (CT). CT images provide the means to probe a sample non-invasively to investigate its inner structure. Given the wide usage of this technique and massive data amounts......, and partial volume voxels occur frequently, thresholding methods do not suffice and more advanced methods are required. Contribution: To meet these requirements a toolbox has been developed, combining well known methods within the image analysis field. The toolbox includes cluster-based methods...

USAR Robot Communication Using ZigBee Technology

Science.gov (United States)

Tsui, Charles; Carnegie, Dale; Pan, Qing Wei

This paper reports the successful development of an automatic routing wireless network for USAR (urban search and rescue) robots in an artificial rubble environment. The wireless network was formed using ZigBee modules and each module was attached to a micro-controller in order to model a wireless USAR robot. Proof of concept experiments were carried out by deploying the networked robots into artificial rubble. The rubble was simulated by connecting holes and trenches that were dug in 50 cm deep soil. The simulated robots were placed in the bottom of the holes. The holes and trenches were then covered up by various building materials and soil to simulate a real rubble environment. Experiments demonstrated that a monitoring computer placed 10 meters outside the rubble can establish proper communication with all robots inside the artificial rubble environment.

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

Science.gov (United States)

Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei

2017-08-01

Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal

SIMULATION OF ADAPTIVE BEHAVIOR IN THE CONTEXT OF SOLVING AN AUTONOMOUS ROBOTIC VEHICLE MOTION TASK ON TWO-DIMENSIONAL PLANE WITH OBSTACLES

Directory of Open Access Journals (Sweden)

R. A. Prakapovich

2014-01-01

Full Text Available An adaptive neurocontroller for autonomous robotic vehicle control, which is designed to generate control signals (according to preprogrammed motion algorithm and to develop individual reactions to some external impacts during functioning process, that allows the robot to adapt to external environment changes, is suggested. To debug and test the proposed neurocontroller a specially designed program, able to simulate the sensory and executive systems operation of the robotic vehicle, is used.

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

Science.gov (United States)

Major, Louis; Kyriacou, Theocharis; Brereton, Pearl

2014-01-01

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

The Self-Powered Detector Simulation `MATiSSe' Toolbox applied to SPNDs for severe accident monitoring in PWRs

Science.gov (United States)

Barbot, Loïc; Villard, Jean-François; Fourrez, Stéphane; Pichon, Laurent; Makil, Hamid

2018-01-01

In the framework of the French National Research Agency program on nuclear safety and radioprotection, the `DIstributed Sensing for COrium Monitoring and Safety' project aims at developing innovative instrumentation for corium monitoring in case of severe accident in a Pressurized Water nuclear Reactor. Among others, a new under-vessel instrumentation based on Self-Powered Neutron Detectors is developed using a numerical simulation toolbox, named `MATiSSe'. The CEA Instrumentation Sensors and Dosimetry Lab developed MATiSSe since 2010 for Self-Powered Neutron Detectors material selection and geometry design, as well as for their respective partial neutron and gamma sensitivity calculations. MATiSSe is based on a comprehensive model of neutron and gamma interactions which take place in Selfpowered neutron detector components using the MCNP6 Monte Carlo code. As member of the project consortium, the THERMOCOAX SAS Company is currently manufacturing some instrumented pole prototypes to be tested in 2017. The full severe accident monitoring equipment, including the standalone low current acquisition system, will be tested during a joined CEA-THERMOCOAX experimental campaign in some realistic irradiation conditions, in the Slovenian TRIGA Mark II research reactor.

Controller Design Of Unicycle Mobile Robot

Directory of Open Access Journals (Sweden)

Mohd Zamzuri Abd Rashid

2012-10-01

Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

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

Science.gov (United States)

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

2009-11-01

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

Drinking Water Cyanotoxin Risk Communication Toolbox

Science.gov (United States)

The drinking water cyanotoxin risk communication toolbox is a ready-to-use, “one-stop-shop” to support public water systems, states, and local governments in developing, as they deem appropriate, their own risk communication materials.

FRACOR-software toolbox for deterministic mapping of fracture corridors in oil fields on AutoCAD platform

Science.gov (United States)

Ozkaya, Sait I.

2018-03-01

Fracture corridors are interconnected large fractures in a narrow sub vertical tabular array, which usually traverse entire reservoir vertically and extended for several hundreds of meters laterally. Fracture corridors with their huge conductivities constitute an important element of many fractured reservoirs. Unlike small diffuse fractures, actual fracture corridors must be mapped deterministically for simulation or field development purposes. Fracture corridors can be identified and quantified definitely with borehole image logs and well testing. However, there are rarely sufficient image logs or well tests, and it is necessary to utilize various fracture corridor indicators with varying degrees of reliability. Integration of data from many different sources, in turn, requires a platform with powerful editing and layering capability. Available commercial reservoir characterization software packages, with layering and editing capabilities, can be cost intensive. CAD packages are far more affordable and may easily acquire the versatility and power of commercial software packages with addition of a small software toolbox. The objective of this communication is to present FRACOR, a software toolbox which enables deterministic 2D fracture corridor mapping and modeling on AutoCAD platform. The FRACOR toolbox is written in AutoLISPand contains several independent routines to import and integrate available fracture corridor data from an oil field, and export results as text files. The resulting fracture corridor maps consists mainly of fracture corridors with different confidence levels from combination of static and dynamic data and exclusion zones where no fracture corridor can exist. The exported text file of fracture corridors from FRACOR can be imported into an upscaling programs to generate fracture grid for dual porosity simulation or used for field development and well planning.

Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

Science.gov (United States)

Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

III. NIH TOOLBOX COGNITION BATTERY (CB): MEASURING EPISODIC MEMORY

OpenAIRE

Bauer, Patricia J.; Dikmen, Sureyya S.; Heaton, Robert K.; Mungas, Dan; Slotkin, Jerry; Beaumont, Jennifer L.

2013-01-01

One of the most significant domains of cognition is episodic memory, which allows for rapid acquisition and long-term storage of new information. For purposes of the NIH Toolbox, we devised a new test of episodic memory. The nonverbal NIH Toolbox Picture Sequence Memory Test (TPSMT) requires participants to reproduce the order of an arbitrarily ordered sequence of pictures presented on a computer. To adjust for ability, sequence length varies from 6 to 15 pictures. Multiple trials are adminis...

Semi-automated Robust Quantification of Lesions (SRQL Toolbox

Directory of Open Access Journals (Sweden)

Kaori Ito

2017-02-01

Full Text Available Quantifying lesions in a robust manner is fundamental for studying the effects of neuroanatomical changes in the post-stroke brain on recovery. However, the wide variability in lesion characteristics across individuals makes manual lesion segmentation a challenging and often subjective process. This makes it difficult to combine stroke lesion data across multiple research sites, due to subjective differences in how lesions may be defined. We developed the Semi-automated Robust Quantification of Lesions (SRQL; https://github.com/npnl/SRQL; DOI: 10.5281/zenodo.267213 Toolbox that performs several analysis steps: 1 a white matter intensity correction that removes healthy white matter voxels from the lesion mask, thereby making lesions slightly more robust to subjective errors; 2 an automated report of descriptive statistics on lesions for simplified comparison between or across groups, and 3 an option to perform analyses in both native and standard space to facilitate analyses in either space, or comparisons between spaces. Here, we describe the methods implemented in the toolbox and demonstrate the outputs of the SRQL toolbox.

From robot to human grasping simulation

CERN Document Server

León, Beatriz; Sancho-Bru, Joaquin

2013-01-01

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

Face and content validity of Xperience™ Team Trainer: bed-side assistant training simulator for robotic surgery.

Science.gov (United States)

Sessa, Luca; Perrenot, Cyril; Xu, Song; Hubert, Jacques; Bresler, Laurent; Brunaud, Laurent; Perez, Manuela

2018-03-01

In robotic surgery, the coordination between the console-side surgeon and bed-side assistant is crucial, more than in standard surgery or laparoscopy where the surgical team works in close contact. Xperience™ Team Trainer (XTT) is a new optional component for the dv-Trainer ® platform and simulates the patient-side working environment. We present preliminary results for face, content, and the workload imposed regarding the use of the XTT virtual reality platform for the psychomotor and communication skills training of the bed-side assistant in robot-assisted surgery. Participants were categorized into "Beginners" and "Experts". They tested a series of exercises (Pick & Place Laparoscopic Demo, Pick & Place 2 and Team Match Board 1) and completed face validity questionnaires. "Experts" assessed content validity on another questionnaire. All the participants completed a NASA Task Load Index questionnaire to assess the workload imposed by XTT. Twenty-one consenting participants were included (12 "Beginners" and 9 "Experts"). XTT was shown to possess face and content validity, as evidenced by the rankings given on the simulator's ease of use and realism parameters and on the simulator's usefulness for training. Eight out of nine "Experts" judged the visualization of metrics after the exercises useful. However, face validity has shown some weaknesses regarding interactions and instruments. Reasonable workload parameters were registered. XTT demonstrated excellent face and content validity with acceptable workload parameters. XTT could become a useful tool for robotic surgery team training.

ISS Robotic Student Programming

Science.gov (United States)

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

2016-01-01

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

A toolbox for European judges

NARCIS (Netherlands)

Hesselink, M.W.

2011-01-01

The forthcoming instrument on European contract law, be it in the shape of an optional code for cross-border contracts or as an official toolbox for the European legislator, is likely to have a spill-over effect on private law adjudication in Europe. Judges will have no great difficulty in finding

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

Directory of Open Access Journals (Sweden)

Ke-Yi Wang

2015-01-01

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

Proficiency training on a virtual reality robotic surgical skills curriculum.

Science.gov (United States)

Bric, Justin; Connolly, Michael; Kastenmeier, Andrew; Goldblatt, Matthew; Gould, Jon C

2014-12-01

The clinical application of robotic surgery is increasing. The skills necessary to perform robotic surgery are unique from those required in open and laparoscopic surgery. A validated laparoscopic surgical skills curriculum (Fundamentals of Laparoscopic Surgery or FLS™) has transformed the way surgeons acquire laparoscopic skills. There is a need for a similar skills training and assessment tool for robotic surgery. Our research group previously developed and validated a robotic training curriculum in a virtual reality (VR) simulator. We hypothesized that novice robotic surgeons could achieve proficiency levels defined by more experienced robotic surgeons on the VR robotic curriculum, and that this would result in improved performance on the actual daVinci Surgical System™. 25 medical students with no prior robotic surgery experience were recruited. Prior to VR training, subjects performed 2 FLS tasks 3 times each (Peg Transfer, Intracorporeal Knot Tying) using the daVinci Surgical System™ docked to a video trainer box. Task performance for the FLS tasks was scored objectively. Subjects then practiced on the VR simulator (daVinci Skills Simulator) until proficiency levels on all 5 tasks were achieved before completing a post-training assessment of the 2 FLS tasks on the daVinci Surgical System™ in the video trainer box. All subjects to complete the study (1 dropped out) reached proficiency levels on all VR tasks in an average of 71 (± 21.7) attempts, accumulating 164.3 (± 55.7) minutes of console training time. There was a significant improvement in performance on the robotic FLS tasks following completion of the VR training curriculum. Novice robotic surgeons are able to attain proficiency levels on a VR simulator. This leads to improved performance in the daVinci surgical platform on simulated tasks. Training to proficiency on a VR robotic surgery simulator is an efficient and viable method for acquiring robotic surgical skills.

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...

Implementation of Motion Simulation Software and Visual-Auditory Electronics for Use in a Low Gravity Robotic Testbed

Science.gov (United States)

Martin, William Campbell

2011-01-01

The Jet Propulsion Laboratory (JPL) is developing the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) to assist in manned space missions. One of the proposed targets for this robotic vehicle is a near-Earth asteroid (NEA), which typically exhibit a surface gravity of only a few micro-g. In order to properly test ATHLETE in such an environment, the development team has constructed an inverted Stewart platform testbed that acts as a robotic motion simulator. This project focused on creating physical simulation software that is able to predict how ATHLETE will function on and around a NEA. The corresponding platform configurations are calculated and then passed to the testbed to control ATHLETE's motion. In addition, imitation attitude, imitation attitude control thrusters were designed and fabricated for use on ATHLETE. These utilize a combination of high power LEDs and audio amplifiers to provide visual and auditory cues that correspond to the physics simulation.

Toolbox for the Modeling and Analysis of Thermodynamic Systems (T-MATS) Users' Workshop Presentations

Science.gov (United States)

Litt, Jonathan S. (Compiler)

2018-01-01

NASA Glenn Research Center hosted a Users' Workshop on the Toolbox for the Modeling and Analysis of Thermodynamic Systems (T-MATS) on August 21, 2017. The objective of this workshop was to update the user community on the latest features of T-MATS, and to provide a forum to present work performed using T-MATS. Presentations highlighted creative applications and the development of new features and libraries, and emphasized the flexibility and simulation power of T-MATS.

GOCE user toolbox and tutorial

DEFF Research Database (Denmark)

Knudsen, Per; Benveniste, Jerome

2011-01-01

consists of a series of advanced computer routines that carry out the required computations. It may be used on Windows PCs, UNIX/Linux Workstations, and Mac. The toolbox is supported by The GUT Algorithm Description and User Guide and The GUT Install Guide. A set of a-priori data and models are made...

Development of a Twin-Spool Turbofan Engine Simulation Using the Toolbox for the Modeling and Analysis of Thermodynamic Systems (T-MATS)

Science.gov (United States)

Zinnecker, Alicia M.; Chapman, Jeffryes W.; Lavelle, Thomas M.; Litt, Jonathan S.

2014-01-01

The Toolbox for the Modeling and Analysis of Thermodynamic Systems (T-MATS) is a tool that has been developed to allow a user to build custom models of systems governed by thermodynamic principles using a template to model each basic process. Validation of this tool in an engine model application was performed through reconstruction of the Commercial Modular Aero-Propulsion System Simulation (C-MAPSS) (v2) using the building blocks from the T-MATS (v1) library. In order to match the two engine models, it was necessary to address differences in several assumptions made in the two modeling approaches. After these modifications were made, validation of the engine model continued by integrating both a steady-state and dynamic iterative solver with the engine plant and comparing results from steady-state and transient simulation of the T-MATS and C-MAPSS models. The results show that the T-MATS engine model was accurate within 3% of the C-MAPSS model, with inaccuracy attributed to the increased dimension of the iterative solver solution space required by the engine model constructed using the T-MATS library. This demonstrates that, given an understanding of the modeling assumptions made in T-MATS and a baseline model, the T-MATS tool provides a viable option for constructing a computational model of a twin-spool turbofan engine that may be used in simulation studies.

SCoT: A Python Toolbox for EEG Source Connectivity

Directory of Open Access Journals (Sweden)

Martin eBillinger

2014-03-01

Full Text Available Analysis of brain connectivity has become an important research tool in neuroscience. Connectivity can be estimated between cortical sources reconstructed from the electroencephalogram (EEG. Such analysis often relies on trial averaging to obtain reliable results. However, some applications such as brain-computer interfaces (BCIs require single-trial estimation methods.In this paper, we present SCoT – a source connectivity toolbox for Python. This toolbox implements routines for blind source decomposition and connectivity estimation with theMVARICA approach. Additionally, a novel extension called CSPVARICA is available for labeled data. SCoT estimates connectivity from various spectral measures relying on vector autoregressive (VAR models. Optionally, these VAR models can be regularized to facilitate ill posed applications such as single-trial fitting.We demonstrate basic usage of SCoT on motor imagery (MI data. Furthermore, we show simulation results of utilizing SCoT for feature extraction in a BCI application. These results indicate that CSPVARICA and correct regularization can significantly improve MI classification. While SCoT was mainly designed for application in BCIs, it contains useful tools for other areas of neuroscience. SCoT is a software package that (1 brings combined source decomposition and connectivtiy estimation to the open Python platform, and (2 offers tools for single-trial connectivity estimation. The source code is released under the MIT license and is available online at github.com/SCoT-dev/SCoT.

Software toolkit for modeling, simulation and control of soft robots

OpenAIRE

Coevoet , Eulalie; Morales-Bieze , Thor; Largilliere , Frederick; Zhang , Zhongkai; Thieffry , Maxime; Sanz-Lopez , Mario; Carrez , Bruno; Marchal , Damien; Goury , Olivier; Dequidt , Jeremie; Duriez , Christian

2017-01-01

International audience; The technological differences between traditional robotics and soft robotics have an impact on all of the modeling tools generally in use, including direct kinematics and inverse models, Jacobians, and dynamics. Due to the lack of precise modeling and control methods for soft robots, the promising concepts of using such design for complex applications (medicine, assistance, domestic robotics...) cannot be practically implemented. This paper presents a first unified sof...

Analyzing Cyber-Physical Threats on Robotic Platforms †

Science.gov (United States)

2018-01-01

Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications. PMID:29883403

Evolutionary online behaviour learning and adaptation in real robots.

Science.gov (United States)

Silva, Fernando; Correia, Luís; Christensen, Anders Lyhne

2017-07-01

Online evolution of behavioural control on real robots is an open-ended approach to autonomous learning and adaptation: robots have the potential to automatically learn new tasks and to adapt to changes in environmental conditions, or to failures in sensors and/or actuators. However, studies have so far almost exclusively been carried out in simulation because evolution in real hardware has required several days or weeks to produce capable robots. In this article, we successfully evolve neural network-based controllers in real robotic hardware to solve two single-robot tasks and one collective robotics task. Controllers are evolved either from random solutions or from solutions pre-evolved in simulation. In all cases, capable solutions are found in a timely manner (1 h or less). Results show that more accurate simulations may lead to higher-performing controllers, and that completing the optimization process in real robots is meaningful, even if solutions found in simulation differ from solutions in reality. We furthermore demonstrate for the first time the adaptive capabilities of online evolution in real robotic hardware, including robots able to overcome faults injected in the motors of multiple units simultaneously, and to modify their behaviour in response to changes in the task requirements. We conclude by assessing the contribution of each algorithmic component on the performance of the underlying evolutionary algorithm.

Sentinel-3 SAR Altimetry Toolbox

Science.gov (United States)

Benveniste, Jerome; Lucas, Bruno; DInardo, Salvatore

2015-04-01

The prime objective of the SEOM (Scientific Exploitation of Operational Missions) element is to federate, support and expand the large international research community that the ERS, ENVISAT and the Envelope programmes have build up over the last 20 years for the future European operational Earth Observation missions, the Sentinels. Sentinel-3 builds directly on a proven heritage of ERS-2 and Envisat, and CryoSat-2, with a dual-frequency (Ku and C band) advanced Synthetic Aperture Radar Altimeter (SRAL) that provides measurements at a resolution of ~300m in SAR mode along track. Sentinel-3 will provide exact measurements of sea-surface height along with accurate topography measurements over sea ice, ice sheets, rivers and lakes. The first of the two Sentinels is expected to be launched in early 2015. The current universal altimetry toolbox is BRAT (Basic Radar Altimetry Toolbox) which can read all previous and current altimetry mission's data, but it does not have the capabilities to read the upcoming Sentinel-3 L1 and L2 products. ESA will endeavour to develop and supply this capability to support the users of the future Sentinel-3 SAR Altimetry Mission. BRAT is a collection of tools and tutorial documents designed to facilitate the processing of radar altimetry data. This project started in 2005 from the joint efforts of ESA (European Space Agency) and CNES (Centre National d'Etudes Spatiales), and it is freely available at http://earth.esa.int/brat. The tools enable users to interact with the most common altimetry data formats, the BratGUI is the front-end for the powerful command line tools that are part of the BRAT suite. BRAT can also be used in conjunction with Matlab/IDL (via reading routines) or in C/C++/Fortran via a programming API, allowing the user to obtain desired data, bypassing the data-formatting hassle. BRAT can be used simply to visualise data quickly, or to translate the data into other formats such as netCDF, ASCII text files, KML (Google Earth

Promoting Diversity in Undergraduate Research in Robotics-Based Seismic

Science.gov (United States)

Gifford, C. M.; Arthur, C. L.; Carmichael, B. L.; Webber, G. K.; Agah, A.

2006-12-01

The motivation for this research was to investigate forming evenly-spaced grid patterns with a team of mobile robots for future use in seismic imaging in polar environments. A team of robots was incrementally designed and simulated by incorporating sensors and altering each robot's controller. Challenges, design issues, and efficiency were also addressed. This research project incorporated the efforts of two undergraduate REU students from Elizabeth City State University (ECSU) in North Carolina, and the research staff at the Center for Remote Sensing of Ice Sheets (CReSIS) at the University of Kansas. ECSU is a historically black university. Mentoring these two minority students in scientific research, seismic, robotics, and simulation will hopefully encourage them to pursue graduate degrees in science-related or engineering fields. The goals for this 10-week internship during summer 2006 were to educate the students in the fields of seismology, robotics, and virtual prototyping and simulation. Incrementally designing a robot platform for future enhancement and evaluation was central to this research, and involved simulation of several robots working together to change seismic grid shape and spacing. This process gave these undergraduate students experience and knowledge in an actual research project for a real-world application. The two undergraduate students gained valuable research experience and advanced their knowledge of seismic imaging, robotics, sensors, and simulation. They learned that seismic sensors can be used in an array to gather 2D and 3D images of the subsurface. They also learned that robotics can support dangerous or difficult human activities, such as those in a harsh polar environment, by increasing automation, robustness, and precision. Simulating robot designs also gave them experience in programming behaviors for mobile robots. Thus far, one academic paper has resulted from their research. This paper received third place at the 2006

An educational model for ensemble streamflow simulation and uncertainty analysis

Directory of Open Access Journals (Sweden)

A. AghaKouchak

2013-02-01

Full Text Available This paper presents the hands-on modeling toolbox, HBV-Ensemble, designed as a complement to theoretical hydrology lectures, to teach hydrological processes and their uncertainties. The HBV-Ensemble can be used for in-class lab practices and homework assignments, and assessment of students' understanding of hydrological processes. Using this modeling toolbox, students can gain more insights into how hydrological processes (e.g., precipitation, snowmelt and snow accumulation, soil moisture, evapotranspiration and runoff generation are interconnected. The educational toolbox includes a MATLAB Graphical User Interface (GUI and an ensemble simulation scheme that can be used for teaching uncertainty analysis, parameter estimation, ensemble simulation and model sensitivity. HBV-Ensemble was administered in a class for both in-class instruction and a final project, and students submitted their feedback about the toolbox. The results indicate that this educational software had a positive impact on students understanding and knowledge of uncertainty in hydrological modeling.

Neural Parallel Engine: A toolbox for massively parallel neural signal processing.

Science.gov (United States)

Tam, Wing-Kin; Yang, Zhi

2018-05-01

Large-scale neural recordings provide detailed information on neuronal activities and can help elicit the underlying neural mechanisms of the brain. However, the computational burden is also formidable when we try to process the huge data stream generated by such recordings. In this study, we report the development of Neural Parallel Engine (NPE), a toolbox for massively parallel neural signal processing on graphical processing units (GPUs). It offers a selection of the most commonly used routines in neural signal processing such as spike detection and spike sorting, including advanced algorithms such as exponential-component-power-component (EC-PC) spike detection and binary pursuit spike sorting. We also propose a new method for detecting peaks in parallel through a parallel compact operation. Our toolbox is able to offer a 5× to 110× speedup compared with its CPU counterparts depending on the algorithms. A user-friendly MATLAB interface is provided to allow easy integration of the toolbox into existing workflows. Previous efforts on GPU neural signal processing only focus on a few rudimentary algorithms, are not well-optimized and often do not provide a user-friendly programming interface to fit into existing workflows. There is a strong need for a comprehensive toolbox for massively parallel neural signal processing. A new toolbox for massively parallel neural signal processing has been created. It can offer significant speedup in processing signals from large-scale recordings up to thousands of channels. Copyright © 2018 Elsevier B.V. All rights reserved.

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.

The ASTRA Toolbox: A platform for advanced algorithm development in electron tomography

Energy Technology Data Exchange (ETDEWEB)

Aarle, Wim van, E-mail: wim.vanaarle@uantwerpen.be [iMinds-Vision Lab, University of Antwerp, Universiteitsplein 1, B-2610 Wilrijk (Belgium); Palenstijn, Willem Jan, E-mail: willemjan.palenstijn@uantwerpen.be [iMinds-Vision Lab, University of Antwerp, Universiteitsplein 1, B-2610 Wilrijk (Belgium); Centrum Wiskunde & Informatica, Science Park 123, NL-1098 XG Amsterdam (Netherlands); De Beenhouwer, Jan, E-mail: jan.debeenhouwer@uantwerpen.be [iMinds-Vision Lab, University of Antwerp, Universiteitsplein 1, B-2610 Wilrijk (Belgium); Altantzis, Thomas, E-mail: thomas.altantzis@uantwerpen.be [Electron Microscopy for Materials Science, University of Antwerp, Groenenborgerlaan 171, B-2020 Wilrijk (Belgium); Bals, Sara, E-mail: sara.bals@uantwerpen.be [Electron Microscopy for Materials Science, University of Antwerp, Groenenborgerlaan 171, B-2020 Wilrijk (Belgium); Batenburg, K. Joost, E-mail: joost.batenburg@cwi.nl [iMinds-Vision Lab, University of Antwerp, Universiteitsplein 1, B-2610 Wilrijk (Belgium); Centrum Wiskunde & Informatica, Science Park 123, NL-1098 XG Amsterdam (Netherlands); Mathematical Institute, Leiden University, P.O. Box 9512, NL-2300 RA Leiden (Netherlands); Sijbers, Jan, E-mail: jan.sijbers@uantwerpen.be [iMinds-Vision Lab, University of Antwerp, Universiteitsplein 1, B-2610 Wilrijk (Belgium)

2015-10-15

We present the ASTRA Toolbox as an open platform for 3D image reconstruction in tomography. Most of the software tools that are currently used in electron tomography offer limited flexibility with respect to the geometrical parameters of the acquisition model and the algorithms used for reconstruction. The ASTRA Toolbox provides an extensive set of fast and flexible building blocks that can be used to develop advanced reconstruction algorithms, effectively removing these limitations. We demonstrate this flexibility, the resulting reconstruction quality, and the computational efficiency of this toolbox by a series of experiments, based on experimental dual-axis tilt series. - Highlights: • The ASTRA Toolbox is an open platform for 3D image reconstruction in tomography. • Advanced reconstruction algorithms can be prototyped using the fast and flexible building blocks. • This flexibility is demonstrated on a common use case: dual-axis tilt series reconstruction with prior knowledge. • The computational efficiency is validated on an experimentally measured tilt series.

A Data Analysis Toolbox for Modeling the Global Food-Energy-Water Nexus

Science.gov (United States)

AghaKouchak, A.; Sadegh, M.; Mallakpour, I.

2017-12-01

Water, Food and energy systems are highly interconnected. More than seventy percent of global water resource is used for food production. Water withdrawal, purification, and transfer systems are energy intensive. Furthermore, energy generation strongly depends on water availability. Therefore, considering the interactions in the nexus of water, food and energy is crucial for sustainable management of available resources. In this presentation, we introduce a user-friendly data analysis toolbox that mines the available global data on food, energy and water, and analyzes their interactions. This toolbox provides estimates of water footprint for a wide range of food types in different countries and also approximates the required energy and water resources. The toolbox also provides estimates of the corresponding emissions and biofuel production of different crops. In summary, this toolbox allows evaluating dependencies of the food, energy, and water systems at the country scale. We present global analysis of the interactions between water, food and energy from different perspectives including efficiency and diversity of resources use.

The ASTRA Toolbox: A platform for advanced algorithm development in electron tomography

International Nuclear Information System (INIS)

Aarle, Wim van; Palenstijn, Willem Jan; De Beenhouwer, Jan; Altantzis, Thomas; Bals, Sara; Batenburg, K. Joost; Sijbers, Jan

2015-01-01

We present the ASTRA Toolbox as an open platform for 3D image reconstruction in tomography. Most of the software tools that are currently used in electron tomography offer limited flexibility with respect to the geometrical parameters of the acquisition model and the algorithms used for reconstruction. The ASTRA Toolbox provides an extensive set of fast and flexible building blocks that can be used to develop advanced reconstruction algorithms, effectively removing these limitations. We demonstrate this flexibility, the resulting reconstruction quality, and the computational efficiency of this toolbox by a series of experiments, based on experimental dual-axis tilt series. - Highlights: • The ASTRA Toolbox is an open platform for 3D image reconstruction in tomography. • Advanced reconstruction algorithms can be prototyped using the fast and flexible building blocks. • This flexibility is demonstrated on a common use case: dual-axis tilt series reconstruction with prior knowledge. • The computational efficiency is validated on an experimentally measured tilt series

The laboratory test utilization management toolbox.

Science.gov (United States)

Baird, Geoffrey

2014-01-01

Efficiently managing laboratory test utilization requires both ensuring adequate utilization of needed tests in some patients and discouraging superfluous tests in other patients. After the difficult clinical decision is made to define the patients that do and do not need a test, a wealth of interventions are available to the clinician and laboratorian to help guide appropriate utilization. These interventions are collectively referred to here as the utilization management toolbox. Experience has shown that some tools in the toolbox are weak and other are strong, and that tools are most effective when many are used simultaneously. While the outcomes of utilization management studies are not always as concrete as may be desired, what data is available in the literature indicate that strong utilization management interventions are safe and effective measures to improve patient health and reduce waste in an era of increasing financial pressure.

fMRI Artefact Rejection and Sleep Scoring Toolbox

Directory of Open Access Journals (Sweden)

Yves Leclercq

2011-01-01

Full Text Available We started writing the “fMRI artefact rejection and sleep scoring toolbox”, or “FAST”, to process our sleep EEG-fMRI data, that is, the simultaneous recording of electroencephalographic and functional magnetic resonance imaging data acquired while a subject is asleep. FAST tackles three crucial issues typical of this kind of data: (1 data manipulation (viewing, comparing, chunking, etc. of long continuous M/EEG recordings, (2 rejection of the fMRI-induced artefact in the EEG signal, and (3 manual sleep-scoring of the M/EEG recording. Currently, the toolbox can efficiently deal with these issues via a GUI, SPM8 batching system or hand-written script. The tools developed are, of course, also useful for other EEG applications, for example, involving simultaneous EEG-fMRI acquisition, continuous EEG eye-balling, and manipulation. Even though the toolbox was originally devised for EEG data, it will also gracefully handle MEG data without any problem. “FAST” is developed in Matlab as an add-on toolbox for SPM8 and, therefore, internally uses its SPM8-meeg data format. “FAST” is available for free, under the GNU-GPL.

CADLIVE toolbox for MATLAB: automatic dynamic modeling of biochemical networks with comprehensive system analysis.

Science.gov (United States)

Inoue, Kentaro; Maeda, Kazuhiro; Miyabe, Takaaki; Matsuoka, Yu; Kurata, Hiroyuki

2014-09-01

Mathematical modeling has become a standard technique to understand the dynamics of complex biochemical systems. To promote the modeling, we had developed the CADLIVE dynamic simulator that automatically converted a biochemical map into its associated mathematical model, simulated its dynamic behaviors and analyzed its robustness. To enhance the feasibility by CADLIVE and extend its functions, we propose the CADLIVE toolbox available for MATLAB, which implements not only the existing functions of the CADLIVE dynamic simulator, but also the latest tools including global parameter search methods with robustness analysis. The seamless, bottom-up processes consisting of biochemical network construction, automatic construction of its dynamic model, simulation, optimization, and S-system analysis greatly facilitate dynamic modeling, contributing to the research of systems biology and synthetic biology. This application can be freely downloaded from http://www.cadlive.jp/CADLIVE_MATLAB/ together with an instruction.

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

NARCIS (Netherlands)

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

2012-01-01

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

An Open-source Toolbox for Analysing and Processing PhysioNet Databases in MATLAB and Octave.

Science.gov (United States)

Silva, Ikaro; Moody, George B

The WaveForm DataBase (WFDB) Toolbox for MATLAB/Octave enables integrated access to PhysioNet's software and databases. Using the WFDB Toolbox for MATLAB/Octave, users have access to over 50 physiological databases in PhysioNet. The toolbox provides access over 4 TB of biomedical signals including ECG, EEG, EMG, and PLETH. Additionally, most signals are accompanied by metadata such as medical annotations of clinical events: arrhythmias, sleep stages, seizures, hypotensive episodes, etc. Users of this toolbox should easily be able to reproduce, validate, and compare results published based on PhysioNet's software and databases.

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.

SBEToolbox: A Matlab Toolbox for Biological Network Analysis.

Science.gov (United States)

Konganti, Kranti; Wang, Gang; Yang, Ence; Cai, James J

2013-01-01

We present SBEToolbox (Systems Biology and Evolution Toolbox), an open-source Matlab toolbox for biological network analysis. It takes a network file as input, calculates a variety of centralities and topological metrics, clusters nodes into modules, and displays the network using different graph layout algorithms. Straightforward implementation and the inclusion of high-level functions allow the functionality to be easily extended or tailored through developing custom plugins. SBEGUI, a menu-driven graphical user interface (GUI) of SBEToolbox, enables easy access to various network and graph algorithms for programmers and non-programmers alike. All source code and sample data are freely available at https://github.com/biocoder/SBEToolbox/releases.

The impact of module morphologies on modular robots

DEFF Research Database (Denmark)

Liu, Ceyue; Liu, Jiangong; Moreno Garcia, Rodrigo

2017-01-01

RGE, and defined the number of connection faces and their relative positions as morphological parameters. Afterwards, we evolved the morphology and control of robots composed of EMeRGE modules in a robotic simulation platform. Simulation results indicate that robots containing modules with only two available......Many different types of modular robots have been designed in the last two decades. However, limited research has been done on analyzing which module morphology is able to create better robots for a given task. To address this issue, this paper investigates how the number and position of available...... connection faces in a module influence the evolvability of the modular robot. In contrast to previous research on modular robots, an analysis of the morphology of the module is done in order to improve and simplify its mechanical design. To this end, we designed a homogeneous module called EMe...

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.

From dV-Trainer to Real Robotic Console: The Limitations of Robotic Skill Training.

Science.gov (United States)

Yang, Kun; Zhen, Hang; Hubert, Nicolas; Perez, Manuela; Wang, Xing Huan; Hubert, Jacques

To investigate operators' performance quality, mental stress, and ergonomic habits through a training curriculum on robotic simulators. Forty volunteers without robotic surgery experience were recruited to practice 2 exercises on a dV-Trainer (dVT) for 14 hours. The simulator software (M-score a ) provided an automatic evaluation of the overall score for the surgeons' performance. Each participant provided a subjective difficulty score (validity to be proven) for each exercise. Their ergonomic habits were evaluated based on the workspace range and armrest load-validated criteria for evaluating the proficiency of using the armrest. They then repeated the same tasks on a da Vinci Surgical Skill Simulator for a final-level test. Their final scores were compared with their initial scores and the scores of 5 experts on the da Vinci Surgical Skill Simulator. A total of 14 hours of training on the dVT significantly improved the surgeons' performance scores to the expert level with a significantly reduced workload, but their ergonomic score was still far from the expert level. Sufficient training on the dVT improves novices' performance, reduces psychological stress, and inculcates better ergonomic habits. Among the evaluated criteria, novices had the most difficulty in achieving expert levels of ergonomic skills. The training benefits of robotic surgery simulators should be determined with quantified variables. The detection of the limitations during robotic training curricula could guide the targeted training and improve the training effect. Copyright © 2017. Published by Elsevier Inc.

VIRTUAL COMMISSIONING OF A ROBOTIC CELL USING TECNOMATIX PROCESS SIMULATE

Directory of Open Access Journals (Sweden)

Nicolae-Adrian DUMITRASCU

2017-06-01

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

Evaluation Toolbox: Ex-Ante Impact Assessment and Value Network Analysis for SI

NARCIS (Netherlands)

Dhondt, S.; Ven, H. van de; Cressey, P.; Kaderabkova, A.; Luna, Á.; Moghadam Saman, S.; Castro Spila, J.; Ziauberyte, R.; Torre, W. van der; Terstriep, J.

2016-01-01

This report contains a toolbox for use with the Ex-Ante Impact Assessment for social innovations as was developed in the report D7.1. This toolbox proposes a series of convenient and useful tools to apply in an ex-ante assessment of social innovation within SIMPACT's policy areas unemployment,

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

A toolbox for safety instrumented system evaluation based on improved continuous-time Markov chain

Science.gov (United States)

Wardana, Awang N. I.; Kurniady, Rahman; Pambudi, Galih; Purnama, Jaka; Suryopratomo, Kutut

2017-08-01

Safety instrumented system (SIS) is designed to restore a plant into a safe condition when pre-hazardous event is occur. It has a vital role especially in process industries. A SIS shall be meet with safety requirement specifications. To confirm it, SIS shall be evaluated. Typically, the evaluation is calculated by hand. This paper presents a toolbox for SIS evaluation. It is developed based on improved continuous-time Markov chain. The toolbox supports to detailed approach of evaluation. This paper also illustrates an industrial application of the toolbox to evaluate arch burner safety system of primary reformer. The results of the case study demonstrates that the toolbox can be used to evaluate industrial SIS in detail and to plan the maintenance strategy.

Medical Robotic and Tele surgical Simulation Education Research

Science.gov (United States)

2017-05-01

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

moviEEG: An animation toolbox for visualization of intracranial electroencephalography synchronization dynamics.

Science.gov (United States)

Wong, Simeon M; Ibrahim, George M; Ochi, Ayako; Otsubo, Hiroshi; Rutka, James T; Snead, O Carter; Doesburg, Sam M

2016-06-01

We introduce and describe the functions of moviEEG (Multiple Overlay Visualizations for Intracranial ElectroEncephaloGraphy), a novel MATLAB-based toolbox for spatiotemporal mapping of network synchronization dynamics in intracranial electroencephalography (iEEG) data. The toolbox integrates visualizations of inter-electrode phase-locking relationships in peri-ictal epileptogenic networks with signal spectral properties and graph-theoretical network measures overlaid upon operating room images of the electrode grid. Functional connectivity between every electrode pair is evaluated over a sliding window indexed by phase synchrony. Two case studies are presented to provide preliminary evidence for the application of the toolbox to guide network-based mapping of epileptogenic cortex and to distinguish these regions from eloquent brain networks. In both cases, epileptogenic cortex was visually distinct. We introduce moviEEG, a novel toolbox for animation of oscillatory network dynamics in iEEG data, and provide two case studies showing preliminary evidence for utility of the toolbox in delineating the epileptogenic zone. Despite evidence that atypical network synchronization has shown to be altered in epileptogenic brain regions, network based techniques have yet to be incorporated into clinical pre-surgical mapping. moviEEG provides a set of functions to enable easy visualization with network based techniques. Copyright © 2016 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

CONTINEX: A Toolbox for Continuation in Experiments

DEFF Research Database (Denmark)

Schilder, Frank; Bureau, Emil; Santos, Ilmar

2014-01-01

CONTINEX is a MATLAB toolbox for bifurcation analysis based on the development platform COCO (computational continuation core). CONTINEX is specifically designed for coupling to experimental test specimen via DSPACE, but provides also interfaces to SIMULINK-, ODE-, and so-called equation-free mod......CONTINEX is a MATLAB toolbox for bifurcation analysis based on the development platform COCO (computational continuation core). CONTINEX is specifically designed for coupling to experimental test specimen via DSPACE, but provides also interfaces to SIMULINK-, ODE-, and so-called equation......-free models. The current version of the interface for experimental set-ups implements an algorithm for tuning control parameters, a robust noise-tolerant covering algorithm, and functions for monitoring (in)stability. In this talk we will report on experiments with an impact oscillator with magnetic actuators...

An Open-source Toolbox for Analysing and Processing PhysioNet Databases in MATLAB and Octave

Directory of Open Access Journals (Sweden)

Ikaro Silva

2014-09-01

Full Text Available The WaveForm DataBase (WFDB Toolbox for MATLAB/Octave enables  integrated access to PhysioNet's software and databases. Using the WFDB Toolbox for MATLAB/Octave, users have access to over 50 physiological databases in PhysioNet. The toolbox allows direct loading into MATLAB/Octave's workspace of over 4 TB of biomedical signals including ECG, EEG, EMG, and PLETH. Additionally, most signals are accompanied by meta data such as medical annotations of clinical events: arrhythmias, sleep stages, seizures, hypotensive episodes, etc. Users of this toolbox should easily be able to reproduce, validate, and compare results published based on PhysioNet's software and databases.

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.

Fast robot kinematics modeling by using a parallel simulator (PSIM)

International Nuclear Information System (INIS)

El-Gazzar, H.M.; Ayad, N.M.A.

2002-01-01

High-speed computers are strongly needed not only for solving scientific and engineering problems, but also for numerous industrial applications. Such applications include computer-aided design, oil exploration, weather predication, space applications and safety of nuclear reactors. The rapid development in VLSI technology makes it possible to implement time consuming algorithms in real-time situations. Parallel processing approaches can now be used to reduce the processing-time for models of very high mathematical structure such as the kinematics molding of robot manipulator. This system is used to construct and evaluate the performance and cost effectiveness of several proposed methods to solve the Jacobian algorithm. Parallelism is introduced to the algorithms by using different task-allocations and dividing the whole job into sub tasks. Detailed analysis is performed and results are obtained for the case of six DOF (degree of freedom) robot arms (Stanford Arm). Execution times comparisons between Von Neumann (uni processor) and parallel processor architectures by using parallel simulator package (PSIM) are presented. The gained results are much in favour for the parallel techniques by at least fifty-percent improvements. Of course, further studies are needed to achieve the convenient and optimum number of processors has to be done

Fast robot kinematics modeling by using a parallel simulator (PSIM)

Energy Technology Data Exchange (ETDEWEB)

El-Gazzar, H M; Ayad, N M.A. [Atomic Energy Authority, Reactor Dept., Computer and Control Lab., P.O. Box no 13759 (Egypt)

2002-09-15

High-speed computers are strongly needed not only for solving scientific and engineering problems, but also for numerous industrial applications. Such applications include computer-aided design, oil exploration, weather predication, space applications and safety of nuclear reactors. The rapid development in VLSI technology makes it possible to implement time consuming algorithms in real-time situations. Parallel processing approaches can now be used to reduce the processing-time for models of very high mathematical structure such as the kinematics molding of robot manipulator. This system is used to construct and evaluate the performance and cost effectiveness of several proposed methods to solve the Jacobian algorithm. Parallelism is introduced to the algorithms by using different task-allocations and dividing the whole job into sub tasks. Detailed analysis is performed and results are obtained for the case of six DOF (degree of freedom) robot arms (Stanford Arm). Execution times comparisons between Von Neumann (uni processor) and parallel processor architectures by using parallel simulator package (PSIM) are presented. The gained results are much in favour for the parallel techniques by at least fifty-percent improvements. Of course, further studies are needed to achieve the convenient and optimum number of processors has to be done.

A Comparative Study of Control Methods for a Robotic Manipulator with Six DOF in Simulation

Directory of Open Access Journals (Sweden)

Smyrnaiou Georgia P.

2017-01-01

Full Text Available In this paper a comparative study of the classical control methods for the testing of a mathematical model, which controls six actuators of a six degrees of freedom robotic arm with a single controller, is illustrated, aiming to the constructive simplification of the system. In more detail, a mathematical model of the system is designed which simulates all mechanical parts, including 5-way directional pneumatic valve, the pneumatic actuators/pistons and the mathematical model of the controller. The purpose of the above is the tuning of a Single Input, Multiple Output (SIMO controller which will direct the motion of the six pneumatic pistons. The thorough analysis of the implementation of the pneumatic system in Matlab/Simulink environment is followed by experimentation and results using Proportional (P, Proportional-Integral (PI, Proportional-Derivative (PD and Proportional-Integral-Derivative (PID controllers. The simulation results show the advantages of the above classical control methods on the robotic human arm which imitating human motion and made by a well-known company in the field of pneumatic automation.

Ubuntu Linux toolbox

CERN Document Server

Negus, Christopher

2012-01-01

This bestseller from Linux guru Chris Negus is packed with an array of new and revised material As a longstanding bestseller, Ubuntu Linux Toolbox has taught you how to get the most out Ubuntu, the world?s most popular Linux distribution. With this eagerly anticipated new edition, Christopher Negus returns with a host of new and expanded coverage on tools for managing file systems, ways to connect to networks, techniques for securing Ubuntu systems, and a look at the latest Long Term Support (LTS) release of Ubuntu, all aimed at getting you up and running with Ubuntu Linux quickly.

PSYCHOACOUSTICS: a comprehensive MATLAB toolbox for auditory testing.

Science.gov (United States)

Soranzo, Alessandro; Grassi, Massimo

2014-01-01

PSYCHOACOUSTICS is a new MATLAB toolbox which implements three classic adaptive procedures for auditory threshold estimation. The first includes those of the Staircase family (method of limits, simple up-down and transformed up-down); the second is the Parameter Estimation by Sequential Testing (PEST); and the third is the Maximum Likelihood Procedure (MLP). The toolbox comes with more than twenty built-in experiments each provided with the recommended (default) parameters. However, if desired, these parameters can be modified through an intuitive and user friendly graphical interface and stored for future use (no programming skills are required). Finally, PSYCHOACOUSTICS is very flexible as it comes with several signal generators and can be easily extended for any experiment.

Construction of a Urologic Robotic Surgery Training Curriculum: How Many Simulator Sessions Are Required for Residents to Achieve Proficiency?

Science.gov (United States)

Wiener, Scott; Haddock, Peter; Shichman, Steven; Dorin, Ryan

2015-11-01

To define the time needed by urology residents to attain proficiency in computer-aided robotic surgery to aid in the refinement of a robotic surgery simulation curriculum. We undertook a retrospective review of robotic skills training data acquired during January 2012 to December 2014 from junior (postgraduate year [PGY] 2-3) and senior (PGY4-5) urology residents using the da Vinci Skills Simulator. We determined the number of training sessions attended and the level of proficiency achieved by junior and senior residents in attempting 11 basic or 6 advanced tasks, respectively. Junior residents successfully completed 9.9 ± 1.8 tasks, with 62.5% completing all 11 basic tasks. The maximal cumulative success rate of junior residents completing basic tasks was 89.8%, which was achieved within 7.0 ± 1.5 hours of training. Of senior residents, 75% successfully completed all six advanced tasks. Senior residents attended 6.3 ± 3.5 hours of training during which 5.1 ± 1.6 tasks were completed. The maximal cumulative success rate of senior residents completing advanced tasks was 85.4%. When designing and implementing an effective robotic surgical training curriculum, an allocation of 10 hours of training may be optimal to allow junior and senior residents to achieve an acceptable level of surgical proficiency in basic and advanced robotic surgical skills, respectively. These data help guide the design and scheduling of a residents training curriculum within the time constraints of a resident's workload.

The RTMM Toolbox for DMM Applications

DEFF Research Database (Denmark)

Sharp, Robin; Todirica, Edward Alexandru

2002-01-01

This paper describes an approach to implementing distributed multimedia applications based on the use of a software toolbox. The tools in the box allow the designer to specify which components are to be used, how they are logically connected and what properties the streams of data to be passed...

Contribution to control of robotics structures and dynamic behaviour

International Nuclear Information System (INIS)

Gilliot, Jean-Marie

1990-01-01

The scope of this thesis is the simulation of the dynamics of complex rigid multi-body systems involved in robotics, in order to control them. In the first stage, methods for obtaining equations and models required for simulation and control purposes are proposed and discussed: - determination of constraint equations using the jacobian matrices, - elaboration of direct and inverse dynamics of manipulators. The second part of this thesis deals with the different concepts and components involved in the setting of simulation systems for Robotics Application Programs: models, emulators and the software development environment. The control algorithms are then introduced as a particular class of robotics application programs. A simulator has been developed, allowing the calculation and the visualisation of robot motions, driven by generalized torques. Some examples of control programs generating such control torques are then presented to illustrate the use of the simulator. (author) [fr

Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts’s-Law-Inspired Approach

Directory of Open Access Journals (Sweden)

C. S. George Lee

2013-07-01

Full Text Available 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.

A Transcription Activator-Like Effector (TALE) Toolbox for Genome Engineering

Science.gov (United States)

Sanjana, Neville E.; Cong, Le; Zhou, Yang; Cunniff, Margaret M.; Feng, Guoping; Zhang, Feng

2013-01-01

Transcription activator-like effectors (TALEs) are a class of naturally occurring DNA binding proteins found in the plant pathogen Xanthomonas sp. The DNA binding domain of each TALE consists of tandem 34-amino acid repeat modules that can be rearranged according to a simple cipher to target new DNA sequences. Customized TALEs can be used for a wide variety of genome engineering applications, including transcriptional modulation and genome editing. Here we describe a toolbox for rapid construction of custom TALE transcription factors (TALE-TFs) and nucleases (TALENs) using a hierarchical ligation procedure. This toolbox facilitates affordable and rapid construction of custom TALE-TFs and TALENs within one week and can be easily scaled up to construct TALEs for multiple targets in parallel. We also provide details for testing the activity in mammalian cells of custom TALE-TFs and TALENs using, respectively, qRT-PCR and Surveyor nuclease. The TALE toolbox described here will enable a broad range of biological applications. PMID:22222791

Test Methods for Robot Agility in Manufacturing.

Science.gov (United States)

Downs, Anthony; Harrison, William; Schlenoff, Craig

2016-01-01

The paper aims to define and describe test methods and metrics to assess industrial robot system agility in both simulation and in reality. The paper describes test methods and associated quantitative and qualitative metrics for assessing robot system efficiency and effectiveness which can then be used for the assessment of system agility. The paper describes how the test methods were implemented in a simulation environment and real world environment. It also shows how the metrics are measured and assessed as they would be in a future competition. The test methods described in this paper will push forward the state of the art in software agility for manufacturing robots, allowing small and medium manufacturers to better utilize robotic systems. The paper fulfills the identified need for standard test methods to measure and allow for improvement in software agility for manufacturing robots.

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.

Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment

Science.gov (United States)

Garretson, Justin R [Albuquerque, NM; Parker, Eric P [Albuquerque, NM; Gladwell, T Scott [Albuquerque, NM; Rigdon, J Brian [Edgewood, NM; Oppel, III, Fred J.

2012-05-29

Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated to the vehicle sensing system which generates a modified control command for the robotic vehicle including the effects of virtual and constructive entities, causing the robot in the real environment to behave as if virtual and constructive entities existed in the real environment.

Multi-physics modelling of a compliant humanoid robot

Energy Technology Data Exchange (ETDEWEB)

Zobova, Alexandra A., E-mail: azobova@mech.math.msu.su [Lomonosov Moscow State University, Faculty of Mechanics and Mathematics (Russian Federation); Habra, Timothée, E-mail: timothee.habra@uclouvain.be [Université catholique de Louvain (UCL), Center for Research in Mechatronics, Institute of Mechanics, Materials, and Civil Engineering (Belgium); Van der Noot, Nicolas, E-mail: nicolas.vandernoot@uclouvain.be, E-mail: nicolas.vandernoot@epfl.ch [EPFL STI IBI BIOROB, Biorobotics Laboratory, Institute of Bioengineering, École polytechnique fédérale de Lausanne (EPFL) (Switzerland); Dallali, Houman, E-mail: houman.dallali@iit.it; Tsagarakis, Nikolaos G., E-mail: nikos.tsagarakis@iit.it [Istituto Italiano di Tecnologia, Department of Advanced Robotics (Italy); Fisette, Paul, E-mail: paul.fisette@uclouvain.be; Ronsse, Renaud, E-mail: renaud.ronsse@uclouvain.be [Université catholique de Louvain (UCL), Center for Research in Mechatronics, Institute of Mechanics, Materials, and Civil Engineering (Belgium)

2017-01-15

We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator’s key features. First, we provide a study on how the numerical integration speed and accuracy depend on the coordinate representation of the multibody system. This choice is particularly critical for mechanisms with long serial chains (e.g. legs and arms). Our second contribution is a full electromechanical model of the inner dynamics of the compliant actuators embedded in the COMAN robot, since joints’ compliance is needed for the robot safety and energy efficiency. Third, we discuss the different approaches for modelling contacts and selecting an appropriate contact library. The recommended solution is to couple our simulator with an open-source contact library offering both accurate and fast contact modelling. The simulator performances are assessed by two different tasks involving contacts: a bimanual manipulation task and a squatting tasks. The former shows reliability of the simulator. For the latter, we report a comparison between the robot behaviour as predicted by our simulation environment, and the real one.

Multi-physics modelling of a compliant humanoid robot

International Nuclear Information System (INIS)

Zobova, Alexandra A.; Habra, Timothée; Van der Noot, Nicolas; Dallali, Houman; Tsagarakis, Nikolaos G.; Fisette, Paul; Ronsse, Renaud

2017-01-01

We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator’s key features. First, we provide a study on how the numerical integration speed and accuracy depend on the coordinate representation of the multibody system. This choice is particularly critical for mechanisms with long serial chains (e.g. legs and arms). Our second contribution is a full electromechanical model of the inner dynamics of the compliant actuators embedded in the COMAN robot, since joints’ compliance is needed for the robot safety and energy efficiency. Third, we discuss the different approaches for modelling contacts and selecting an appropriate contact library. The recommended solution is to couple our simulator with an open-source contact library offering both accurate and fast contact modelling. The simulator performances are assessed by two different tasks involving contacts: a bimanual manipulation task and a squatting tasks. The former shows reliability of the simulator. For the latter, we report a comparison between the robot behaviour as predicted by our simulation environment, and the real one.

Trajectory Planning and Walking Pattern Generation of Humanoid Robot Motion

Directory of Open Access Journals (Sweden)

Saeed Abdolshah

2014-12-01

Full Text Available Walking trajectory generation for a humanoid robot is a challenging control  issue. In this paper, a walking cycle has been recognized considering human motion, and nine simple steps were distinguished in a full step of walking which form motion trajectory, and generates a simplified ZMP motion formulation. This system was used in humanoid robot simulation motion and is achievable easily in walking steps of robot. A minimum DOFs humanoid robot has been considered and geometrical relationships between the robot links were presented by the Denavit-Hartenberg method. The inverse kinematics equations have been solved regarding to extracted ZMP trajectory formula, and constraints in different steps. As a result; angular velocity, acceleration and power of motors were obtained using the relationships and Jacobin. At each step, extracted data were applied on simulated robot in Matlab, and Visual Nastran software. Zero moment point trajectory was evaluated in simulation environment.

MODELING AND SIMULATION OF CYCLOID CURVES WITH APPLICATION IN ROBOTICS

Directory of Open Access Journals (Sweden)

Lucia PASCALE

2010-10-01

Full Text Available Mechanical power transmission by reducing the rotating speed under a constant transmission ratio represents the function of a large group of products known as speed reducers. Cycloid gearing roller (invented by L. Braren, through its qualities, has an important role in modern mechanical transmissions. The difference between numbers of teeth of the cycloid gear roller can be equal to 1 (| Z1 - Z2 |  1, without risk of interference, as a result, can be obtained big gear ratios in accordance with in lower overall dimensions.Thus, this paper presents the modeling and simulation of cycloid curves (epicycloids, respectively hypocycloid, which generates the cycloid gears used a lot in robotics.

Improving the Adaptability of Simulated Evolutionary Swarm Robots in Dynamically Changing Environments

Science.gov (United States)

Yao, Yao; Marchal, Kathleen; Van de Peer, Yves

2014-01-01

One of the important challenges in the field of evolutionary robotics is the development of systems that can adapt to a changing environment. However, the ability to adapt to unknown and fluctuating environments is not straightforward. Here, we explore the adaptive potential of simulated swarm robots that contain a genomic encoding of a bio-inspired gene regulatory network (GRN). An artificial genome is combined with a flexible agent-based system, representing the activated part of the regulatory network that transduces environmental cues into phenotypic behaviour. Using an artificial life simulation framework that mimics a dynamically changing environment, we show that separating the static from the conditionally active part of the network contributes to a better adaptive behaviour. Furthermore, in contrast with most hitherto developed ANN-based systems that need to re-optimize their complete controller network from scratch each time they are subjected to novel conditions, our system uses its genome to store GRNs whose performance was optimized under a particular environmental condition for a sufficiently long time. When subjected to a new environment, the previous condition-specific GRN might become inactivated, but remains present. This ability to store ‘good behaviour’ and to disconnect it from the novel rewiring that is essential under a new condition allows faster re-adaptation if any of the previously observed environmental conditions is reencountered. As we show here, applying these evolutionary-based principles leads to accelerated and improved adaptive evolution in a non-stable environment. PMID:24599485

Improving the adaptability of simulated evolutionary swarm robots in dynamically changing environments.

Directory of Open Access Journals (Sweden)

Yao Yao

Full Text Available One of the important challenges in the field of evolutionary robotics is the development of systems that can adapt to a changing environment. However, the ability to adapt to unknown and fluctuating environments is not straightforward. Here, we explore the adaptive potential of simulated swarm robots that contain a genomic encoding of a bio-inspired gene regulatory network (GRN. An artificial genome is combined with a flexible agent-based system, representing the activated part of the regulatory network that transduces environmental cues into phenotypic behaviour. Using an artificial life simulation framework that mimics a dynamically changing environment, we show that separating the static from the conditionally active part of the network contributes to a better adaptive behaviour. Furthermore, in contrast with most hitherto developed ANN-based systems that need to re-optimize their complete controller network from scratch each time they are subjected to novel conditions, our system uses its genome to store GRNs whose performance was optimized under a particular environmental condition for a sufficiently long time. When subjected to a new environment, the previous condition-specific GRN might become inactivated, but remains present. This ability to store 'good behaviour' and to disconnect it from the novel rewiring that is essential under a new condition allows faster re-adaptation if any of the previously observed environmental conditions is reencountered. As we show here, applying these evolutionary-based principles leads to accelerated and improved adaptive evolution in a non-stable environment.

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.

Medical Robotic and Telesurgical Simulation and Education Research

Science.gov (United States)

2013-09-01

beyond visual spectrum (i.e. near infrared ), non-visual imaging (i.e. ultrasound), and integration of pre-operative imaging. For example, the 3D high...stringent communication among team members. Once the surgeon sits at the console which controls the robotic manipulators (or imaging device, x- ray source...The number of procedures being performed by robotic surgery has been constantly rising in urology, gynecology, colorectal, pediatric and numerous

A Total Factor Productivity Toolbox for MATLAB

NARCIS (Netherlands)

B.M. Balk (Bert); J. Barbero (Javier); J.L. Zofío (José)

2018-01-01

textabstractTotal Factor Productivity Toolbox is a new package for MATLAB that includes functions to calculate the main Total Factor Productivity (TFP) indices and their decompositions, based on Shephard’s distance functions and using Data Envelopment Analysis (DEA) programming techniques. The

Development of a Minimally Actuated Jumping-Rolling Robot

Directory of Open Access Journals (Sweden)

Thanhtam Ho

2015-04-01

Full Text Available This paper presents development of a hybrid mobile robot in order to take advantage of both rolling and jumping locomotion on the ground. According to the unique design of the mechanism, the robot is able to execute both jumping and rolling skilfully by using only one DC motor. Changing the centre of gravity enables rolling of the robot and storage of energy is utilized for jumping. Mechanism design and control logic are validated by computer simulation. Simulation results show that the robot can jump nearly 1.3 times its diameter and roll at the speed of 3.3 times its diameter per second.

Navigasi Berbasis Behavior dan Fuzzy Logic pada Simulasi Robot Bergerak Otonom

Directory of Open Access Journals (Sweden)

Rendyansyah

2016-03-01

Full Text Available Mobile robot is the robotic mechanism that is able to moved automatically. The movement of the robot automatically require a navigation system. Navigation is a method for determining the robot motion. In this study, using a method developed robot navigation behavior with fuzzy logic. The behavior of the robot is divided into several modules, such as walking, avoid obstacles, to follow walls, corridors and conditions of u-shape. In this research designed mobile robot simulation in a visual programming. Robot is equipped with seven distance sensor and divided into several groups to test the behavior that is designed, so that the behavior of the robot generate speed and steering control. Based on experiments that have been conducted shows that mobile robot simulation can run smooth on many conditions. This proves that the implementation of the formation of behavior and fuzzy logic techniques on the robot working well

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

Science.gov (United States)

Hollinger, Geoffrey A.; Briscoe, Jeri M.

2004-01-01

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

General surgery training and robotics: Are residents improving their skills?

Science.gov (United States)

Finnerty, Brendan M; Afaneh, Cheguevara; Aronova, Anna; Fahey, Thomas J; Zarnegar, Rasa

2016-02-01

While robotic-assisted operations have become more prevalent, many general surgery residencies do not have a formal robotic training curriculum. We sought to ascertain how well current general surgery training permits acquisition of robotic skills by comparing robotic simulation performance across various training levels. Thirty-six participants were categorized by level of surgical training: eight medical students (MS), ten junior residents (JR), ten mid-level residents (MLR), and eight senior residents (SR). Participants performed three simulation tasks on the da Vinci (®) Skills Simulator (MatchBoard, EnergyDissection, SutureSponge). Each task's scores (0-100) and cumulative scores (0-300) were compared between groups. There were no differences in sex, hand dominance, video gaming history, or prior robotic experience between groups; however, SR was the oldest (p Robotic skillsets acquired during general surgery residency show minimal improvement during the course of training, although laparoscopic experience is correlated with advanced robotic task performance. Changes in residency curricula or pursuit of fellowship training may be warranted for surgeons seeking proficiency.

Virtual toolbox

Science.gov (United States)

Jacobus, Charles J.; Jacobus, Heidi N.; Mitchell, Brian T.; Riggs, A. J.; Taylor, Mark J.

1993-04-01

At least three of the five senses must be fully addressed in a successful virtual reality (VR) system. Sight, sound, and touch are the most critical elements for the creation of the illusion of presence. Since humans depend so much on sight to collect information about their environment, this area has been the focus of much of the prior art in virtual reality, however, it is also crucial that we provide facilities for force, torque, and touch reflection, and sound replay and 3-D localization. In this paper we present a sampling of hardware and software in the virtual environment maker's `toolbox' which can support rapidly building up of customized VR systems. We provide demonstrative examples of how some of the tools work and we speculate about VR applications and future technology needs.

Unibot, a Universal Agent Architecture for Robots

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Saša Mladenović

2017-01-01

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

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.

Accelerator Toolbox for MATLAB

International Nuclear Information System (INIS)

Terebilo, Andrei

2001-01-01

This paper introduces Accelerator Toolbox (AT)--a collection of tools to model particle accelerators and beam transport lines in the MATLAB environment. At SSRL, it has become the modeling code of choice for the ongoing design and future operation of the SPEAR 3 synchrotron light source. AT was designed to take advantage of power and simplicity of MATLAB--commercially developed environment for technical computing and visualization. Many examples in this paper illustrate the advantages of the AT approach and contrast it with existing accelerator code frameworks

Medical Robotic and Telesurgical Simulation and Education Research

Science.gov (United States)

2014-09-01

clutching than the actual robot. The 3D image is generated by a single computer monitor with polarized glasses , which generates a visual scene with...were women with an average age of 43. On average, participants had 15 years in practice and 3 years of robotic experience. Seventy-six percent were...constructed with a “ ceiling ” that prevents users from achieving a high overall score without attaining high scores across multiple metrics. Currently, there

Intelligent robot action planning

Energy Technology Data Exchange (ETDEWEB)

Vamos, T; Siegler, A

1982-01-01

Action planning methods used in intelligent robot control are discussed. Planning is accomplished through environment understanding, environment representation, task understanding and planning, motion analysis and man-machine communication. These fields are analysed in detail. The frames of an intelligent motion planning system are presented. Graphic simulation of the robot's environment and motion is used to support the planning. 14 references.

Accelerator Modeling with MATLAB Accelerator Toolbox

International Nuclear Information System (INIS)

2002-01-01

This paper introduces Accelerator Toolbox (AT)--a collection of tools to model storage rings and beam transport lines in the MATLAB environment. The objective is to illustrate the flexibility and efficiency of the AT-MATLAB framework. The paper discusses three examples of problems that are analyzed frequently in connection with ring-based synchrotron light sources

Distributed Aerodynamic Sensing and Processing Toolbox

Science.gov (United States)

Brenner, Martin; Jutte, Christine; Mangalam, Arun

2011-01-01

A Distributed Aerodynamic Sensing and Processing (DASP) toolbox was designed and fabricated for flight test applications with an Aerostructures Test Wing (ATW) mounted under the fuselage of an F-15B on the Flight Test Fixture (FTF). DASP monitors and processes the aerodynamics with the structural dynamics using nonintrusive, surface-mounted, hot-film sensing. This aerodynamic measurement tool benefits programs devoted to static/dynamic load alleviation, body freedom flutter suppression, buffet control, improvement of aerodynamic efficiency through cruise control, supersonic wave drag reduction through shock control, etc. This DASP toolbox measures local and global unsteady aerodynamic load distribution with distributed sensing. It determines correlation between aerodynamic observables (aero forces) and structural dynamics, and allows control authority increase through aeroelastic shaping and active flow control. It offers improvements in flutter suppression and, in particular, body freedom flutter suppression, as well as aerodynamic performance of wings for increased range/endurance of manned/ unmanned flight vehicles. Other improvements include inlet performance with closed-loop active flow control, and development and validation of advanced analytical and computational tools for unsteady aerodynamics.

Parallel Robot for Lower Limb Rehabilitation Exercises

Directory of Open Access Journals (Sweden)

Alireza Rastegarpanah

2016-01-01

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

CONTROL PREDICTIVO DE UN ROBOT TIPO SCARA PREDICTIVE CONTROL OF A SCARA ROBOT

Directory of Open Access Journals (Sweden)

Oscar Andrés Vivas Albán

2006-08-01

Full Text Available Este artículo presenta una aplicación eficiente de un control por modelo de referencia sobre un robot de tipo SCARA. El control estudiado es un control predictivo funcional, el que hace uso de un modelo dinámico simplificado del robot. Los ensayos simulados se realizan sobre un robot de cuatro grados de libertad, tipo SCARA. Con el fin de comparar diferentes estrategias de control, se diseña un controlador clásico tipo PID y dos controladores basados en el modelo de referencia. En este último caso el sistema se linealiza y se desacoplada por realimentación, lo que transforma el sistema a controlar en un simple par de integradores. Al sistema lineal y desacoplado resultante se le aplica el control por par calculado y el control predictivo funcional. Los tres controladores estudiados se simulan sobre el robot SCARA con valores numéricos reales. Las pruebas permiten valorar las respuestas de estos controladores en seguimiento de trayectoria, rechazo de perturbaciones y presencia de errores en el modelado con consignas complejas similares a las utilizadas en procesos de fabricación.This paper describes an efficient approach for model based control, applied on a SCARA robot. The studied control is the predictive functional control which uses a simplified dynamical model of the robot. The simulated tests are made on a SCARA type robot, with four DOF. To compare several control strategies, a classical PID control and two model based controllers are designed. In the last case, the model is first linearized and decoupled by feedback, transforming the system into a double set of integrators. Computed torque control and predictive functional control are applied to the linear and decoupled system. The three studied controllers are simulated on the SCARA robot with real numerical values. Tracking performance, disturbance rejection and model robot mismatch are enlightened, using complex machining tasks trajectories and error presence in the modelling

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.

Introduction to humanoid robotics

CERN Document Server

Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

2014-01-01

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader´s understanding.

Electronics and Software Engineer for Robotics Project Intern

Science.gov (United States)

Teijeiro, Antonio

2017-01-01

I was assigned to mentor high school students for the 2017 First Robotics Competition. Using a team based approach, I worked with the students to program the robot and applied my electrical background to build the robot from start to finish. I worked with students who had an interest in electrical engineering to teach them about voltage, current, pulse width modulation, solenoids, electromagnets, relays, DC motors, DC motor controllers, crimping and soldering electrical components, Java programming, and robotic simulation. For the simulation, we worked together to generate graphics files, write simulator description format code, operate Linux, and operate SOLIDWORKS. Upon completion of the FRC season, I transitioned over to providing full time support for the LCS hardware team. During this phase of my internship I helped my co-intern write test steps for two networking hardware DVTs , as well as run cables and update cable running lists.

Autonomous mobile robot teams

Science.gov (United States)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

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

Science.gov (United States)

Chen, J Y C; Terrence, P I

2009-08-01

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

FIT3D toolbox: multiple view geometry and 3D reconstruction for Matlab

NARCIS (Netherlands)

Esteban, I.; Dijk, J.; Groen, F.

2010-01-01

FIT3D is a Toolbox built for Matlab that aims at unifying and distributing a set of tools that will allow the researcher to obtain a complete 3D model from a set of calibrated images. In this paper we motivate and present the structure of the toolbox in a tutorial and example based approach. Given

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.

Online model evaluation of large-eddy simulations covering Germany with a horizontal resolution of 156 m

Science.gov (United States)

Hansen, Akio; Ament, Felix; Lammert, Andrea

2017-04-01

Large-eddy simulations have been performed since several decades, but due to computational limits most studies were restricted to small domains or idealised initial-/boundary conditions. Within the High definition clouds and precipitation for advancing climate prediction (HD(CP)2) project realistic weather forecasting like LES simulations were performed with the newly developed ICON LES model for several days. The domain covers central Europe with a horizontal resolution down to 156 m. The setup consists of more than 3 billion grid cells, by what one 3D dump requires roughly 500 GB. A newly developed online evaluation toolbox was created to check instantaneously for realistic model simulations. The toolbox automatically combines model results with observations and generates several quicklooks for various variables. So far temperature-/humidity profiles, cloud cover, integrated water vapour, precipitation and many more are included. All kind of observations like aircraft observations, soundings or precipitation radar networks are used. For each dataset, a specific module is created, which allows for an easy handling and enhancement of the toolbox. Most of the observations are automatically downloaded from the Standardized Atmospheric Measurement Database (SAMD). The evaluation tool should support scientists at monitoring computational costly model simulations as well as to give a first overview about model's performance. The structure of the toolbox as well as the SAMD database are presented. Furthermore, the toolbox was applied on an ICON LES sensitivity study, where example results are shown.

Morphology Independent Learning in Modular Robots

DEFF Research Database (Denmark)

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

2009-01-01

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

Morphology Independent Learning in Modular Robots

DEFF Research Database (Denmark)

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

2009-01-01

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

Sistem kontrol gerak kinematika robot gripper manipulator

Directory of Open Access Journals (Sweden)

Wayan Widhiada

2018-01-01

are usually interact with the system, and in industrial activity is usually referred to as a gripper hand. The author uses the method of simulation techniques to determine the robot kinematics motion systems. Simulation technique is a method used to design and analyze the movement of the robot where the results of robot movement response to the result obtained in actual circumstances. Simulations can also save time and costs used in designing the robot gripper manipulator five fingers with prismatic elements. By using the PID control is expected kinematic motion response of each joint robot manipulator achieve best perfomance as small overshoot, and calm conditions (steady state within a short time accompanied by a small driving keselahan. Advance through the process of tuning PID parameters obtained complete control amplifier at PID control is Kp = 0.7194, Ki = 8,306 and Kd = 0.0061 so that the best performance kinematic motion for robot gripper manipulator is achieved as desired by the user with a short rise time of 12:52 seconds, time 0:52 seconds short peak, small overshoot maximum 1.8%, kesetebailan response was achieved in 0.76 seconds and a very small driving mistakes 12:32%. Keywords: Robot gripper manipulator, PID control, kinematics motion

Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

Directory of Open Access Journals (Sweden)

Jose Antonio Lopez-Orozco

2013-02-01

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

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

Science.gov (United States)

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

2013-02-21

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

Development and validation of a composite scoring system for robot-assisted surgical training--the Robotic Skills Assessment Score.

Science.gov (United States)

Chowriappa, Ashirwad J; Shi, Yi; Raza, Syed Johar; Ahmed, Kamran; Stegemann, Andrew; Wilding, Gregory; Kaouk, Jihad; Peabody, James O; Menon, Mani; Hassett, James M; Kesavadas, Thenkurussi; Guru, Khurshid A

2013-12-01

A standardized scoring system does not exist in virtual reality-based assessment metrics to describe safe and crucial surgical skills in robot-assisted surgery. This study aims to develop an assessment score along with its construct validation. All subjects performed key tasks on previously validated Fundamental Skills of Robotic Surgery curriculum, which were recorded, and metrics were stored. After an expert consensus for the purpose of content validation (Delphi), critical safety determining procedural steps were identified from the Fundamental Skills of Robotic Surgery curriculum and a hierarchical task decomposition of multiple parameters using a variety of metrics was used to develop Robotic Skills Assessment Score (RSA-Score). Robotic Skills Assessment mainly focuses on safety in operative field, critical error, economy, bimanual dexterity, and time. Following, the RSA-Score was further evaluated for construct validation and feasibility. Spearman correlation tests performed between tasks using the RSA-Scores indicate no cross correlation. Wilcoxon rank sum tests were performed between the two groups. The proposed RSA-Score was evaluated on non-robotic surgeons (n = 15) and on expert-robotic surgeons (n = 12). The expert group demonstrated significantly better performance on all four tasks in comparison to the novice group. Validation of the RSA-Score in this study was carried out on the Robotic Surgical Simulator. The RSA-Score is a valid scoring system that could be incorporated in any virtual reality-based surgical simulator to achieve standardized assessment of fundamental surgical tents during robot-assisted surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

Multi-Robot Item Delivery and Foraging: Two Sides of a Coin

Directory of Open Access Journals (Sweden)

Somchaya Liemhetcharat

2015-09-01

Full Text Available Multi-robot foraging has been widely studied in the literature, and the general assumption is that the robots are simple, i.e., with limited processing and carrying capacity. We previously studied continuous foraging with slightly more capable robots, and in this article, we are interested in using similar robots for item delivery. Interestingly, item delivery and foraging are two sides of the same coin: foraging an item from a location is similar to satisfying a demand. We formally define the multi-robot item delivery problem and show that the continuous foraging problem is a special case of it. We contribute distributed multi-robot algorithms that solve the item delivery and foraging problems and describe how our shared world model is synchronized across the multi-robot team. We performed extensive experiments on simulated robots using a Java simulator, and we present our results to demonstrate that we outperform benchmark algorithms from multi-robot foraging.

Evolution of Collective Behaviors for a Real Swarm of Aquatic Surface Robots.

Science.gov (United States)

Duarte, Miguel; Costa, Vasco; Gomes, Jorge; Rodrigues, Tiago; Silva, Fernando; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers.

Technological advances in robotic-assisted laparoscopic surgery.

Science.gov (United States)

Tan, Gerald Y; Goel, Raj K; Kaouk, Jihad H; Tewari, Ashutosh K

2009-05-01

In this article, the authors describe the evolution of urologic robotic systems and the current state-of-the-art features and existing limitations of the da Vinci S HD System (Intuitive Surgical, Inc.). They then review promising innovations in scaling down the footprint of robotic platforms, the early experience with mobile miniaturized in vivo robots, advances in endoscopic navigation systems using augmented reality technologies and tracking devices, the emergence of technologies for robotic natural orifice transluminal endoscopic surgery and single-port surgery, advances in flexible robotics and haptics, the development of new virtual reality simulator training platforms compatible with the existing da Vinci system, and recent experiences with remote robotic surgery and telestration.

Experientally guided robots. [for planet exploration

Science.gov (United States)

Merriam, E. W.; Becker, J. D.

1974-01-01

This paper argues that an experientally guided robot is necessary to successfully explore far-away planets. Such a robot is characterized as having sense organs which receive sensory information from its environment and motor systems which allow it to interact with that environment. The sensori-motor information which it receives is organized into an experiential knowledge structure and this knowledge in turn is used to guide the robot's future actions. A summary is presented of a problem solving system which is being used as a test bed for developing such a robot. The robot currently engages in the behaviors of visual tracking, focusing down, and looking around in a simulated Martian landscape. Finally, some unsolved problems are outlined whose solutions are necessary before an experientally guided robot can be produced. These problems center around organizing the motivational and memory structure of the robot and understanding its high-level control mechanisms.

Rad Toolbox User's Guide

Energy Technology Data Exchange (ETDEWEB)

Eckerman, Keith F. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Sjoreen, Andrea L. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

2013-05-01

The Radiological Toolbox software developed by Oak Ridge National Laboratory (ORNL) for U. S. Nuclear Regulatory Commission (NRC) is designed to provide electronic access to the vast and varied data that underlies the field of radiation protection. These data represent physical, chemical, anatomical, physiological, and mathematical parameters detailed in various handbooks which a health physicist might consult while in his office. The initial motivation for the software was to serve the needs of the health physicist away from his office and without access to his handbooks; e.g., NRC inspectors. The earlier releases of the software were widely used and accepted around the world by not only practicing health physicist but also those within educational programs. This release updates the software to accommodate changes in Windows operating systems and, in some aspects, radiation protection. This release has been tested on Windows 7 and 8 and on 32- and 64-bit machines. The nuclear decay data has been updated and thermal neutron capture cross sections and cancer risk coefficients have been included. This document and the software’s user’s guide provide further details and documentation of the information captured within the Radiological Toolbox.

A Spatial Queuing-Based Algorithm for Multi-Robot Task Allocation

Directory of Open Access Journals (Sweden)

William Lenagh

2015-08-01

Full Text Available Multi-robot task allocation (MRTA is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring that a certain metric, such as the time required to complete all tasks, or the distance traveled, or the energy expended by the robots is reduced. We consider a scenario where tasks can appear dynamically and a task needs to be performed by multiple robots to be completed. We propose a new algorithm called SQ-MRTA (Spatial Queueing-MRTA that uses a spatial queue-based model to allocate tasks between robots in a distributed manner. We have implemented the SQ-MRTA algorithm on accurately simulated models of Corobot robots within the Webots simulator for different numbers of robots and tasks and compared its performance with other state-of-the-art MRTA algorithms. Our results show that the SQ-MRTA algorithm is able to scale up with the number of tasks and robots in the environment, and it either outperforms or performs comparably with respect to other distributed MRTA algorithms.

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

Energy Technology Data Exchange (ETDEWEB)

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

1997-11-01

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

Modeling and Simulation of Elementary Robot Behaviors using Associative Memories

Directory of Open Access Journals (Sweden)

Claude F. Touzet

2006-06-01

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

The panacea toolbox of a PhD biomedical student.

Science.gov (United States)

Skaik, Younis

2014-01-01

Doing a PhD (doctor of philosophy) for the sake of contribution to knowledge should give the student an immense enthusiasm through the PhD period. It is the time in one's life that one spends to "hit the nail on the head" in a specific area and topic of interest. A PhD consists mostly of hard work and tenacity; however, luck and genius might also play a little role. You can pass all PhD phases without having both luck and genius. The PhD student should have pre-PhD and PhD toolboxes, which are "sine quibus non" for getting successfully a PhD degree. In this manuscript, the toolboxes of the PhD student are discussed.

Kinematic and Dynamic Analysis of a Cable-Climbing Robot

Directory of Open Access Journals (Sweden)

Xu Fengyu

2015-07-01

Full Text Available To inspect broken cables or a cracked protective layer on cable-stayed bridges, a cable-climbing robot has been proposed and designed. In this paper, the complex 3D obstacles that may be encountered on cables are theoretically described, in order to investigate the obstacle-climbing capability of the cable-climbing robot. A climbing model is then proposed and used to design the robot. In the climbing model, two driven wheels are independently supported with a spring. Kinematics and dynamics models are further derived for the obstacle-climbing capabilities of the driving and driven wheels of the robot. In addition, the robot's obstacle-climbing tracks and its obstacle-climbing performance are simulated. Payload and obstacle-climbing experiments were conducted on the climbing robot in the laboratory. Based on the results of the simulation and the experiments, we obtained the variation of the driving torque in obstacle climbing. The contribution of this paper is intended to provide a basis for the precise motion control of the robot.

NeoAnalysis: a Python-based toolbox for quick electrophysiological data processing and analysis.

Science.gov (United States)

Zhang, Bo; Dai, Ji; Zhang, Tao

2017-11-13

In a typical electrophysiological experiment, especially one that includes studying animal behavior, the data collected normally contain spikes, local field potentials, behavioral responses and other associated data. In order to obtain informative results, the data must be analyzed simultaneously with the experimental settings. However, most open-source toolboxes currently available for data analysis were developed to handle only a portion of the data and did not take into account the sorting of experimental conditions. Additionally, these toolboxes require that the input data be in a specific format, which can be inconvenient to users. Therefore, the development of a highly integrated toolbox that can process multiple types of data regardless of input data format and perform basic analysis for general electrophysiological experiments is incredibly useful. Here, we report the development of a Python based open-source toolbox, referred to as NeoAnalysis, to be used for quick electrophysiological data processing and analysis. The toolbox can import data from different data acquisition systems regardless of their formats and automatically combine different types of data into a single file with a standardized format. In cases where additional spike sorting is needed, NeoAnalysis provides a module to perform efficient offline sorting with a user-friendly interface. Then, NeoAnalysis can perform regular analog signal processing, spike train, and local field potentials analysis, behavioral response (e.g. saccade) detection and extraction, with several options available for data plotting and statistics. Particularly, it can automatically generate sorted results without requiring users to manually sort data beforehand. In addition, NeoAnalysis can organize all of the relevant data into an informative table on a trial-by-trial basis for data visualization. Finally, NeoAnalysis supports analysis at the population level. With the multitude of general-purpose functions provided

Real-time simulation for intra-operative navigation in robotic surgery. Using a mass spring system for a basic study of organ deformation.

Science.gov (United States)

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

2007-01-01

Medical technology has advanced with the introduction of robot technology, making previous medical treatments that were very difficult far more possible. However, operation of a surgical robot demands substantial training and continual practice on the part of the surgeon because it requires difficult techniques that are different from those of traditional surgical procedures. We focused on a simulation technology based on the physical characteristics of organs. In this research, we proposed the development of surgical simulation, based on a physical model, for intra-operative navigation by a surgeon. In this paper, we describe the design of our system, in particular our organ deformation calculator. The proposed simulation system consists of an organ deformation calculator and virtual slave manipulators. We obtained adequate experimental results of a target node at a nearby point of interaction, because this point ensures better accuracy for our simulation model. The next research step would be to focus on a surgical environment in which internal organ models would be integrated into a slave simulation system.

Anatomy-Based Organization of Modular Robots

DEFF Research Database (Denmark)

Christensen, David Johan; Campbell, Jason

2008-01-01

This paper presents a novel biologically inspired hierarchical approach to organizing and controlling modular robots. The purpose of our approach is to decompose the complexity of assembling and commanding a functional robot made of numerous simple modules (thousands to millions) by introducing...... a hierarchy of structure and control. The robots we describe incorporate anatomically inspired parts such as muscles, bones and joints, and these parts in turn are assembled from modules. Each of those parts encapsulates one or more functions, e.g. a muscle can contract. Control of the robot can then be cast...... as a problem of controlling its anatomical parts rather than each discrete module. We show simulation results from experiments using gradient-based primitives to control parts of increasingly complex robots, including snake, crawler, cilia-surface, arm-joint-muscle and grasping robots. We conclude...

Evolutionary Robotics: What, Why, and Where to

Directory of Open Access Journals (Sweden)

Stephane eDoncieux

2015-03-01

Full Text Available Evolutionary robotics applies the selection, variation, and heredity principles of natural evolution to the design of robots with embodied intelligence. It can be considered as a subfield of robotics that aims to create more robust and adaptive robots. A pivotal feature of the evolutionary approach is that it considers the whole robot at once, and enables the exploitation of robot features in a holistic manner. Evolutionary robotics can also be seen as an innovative approach to the study of evolution based on a new kind of experimentalism. The use of robots as a substrate can help address questions that are difficult, if not impossible, to investigate through computer simulations or biological studies. In this paper we consider the main achievements of evolutionary robotics, focusing particularly on its contributions to both engineering and biology. We briefly elaborate on methodological issues, review some of the most interesting findings, and discuss important open issues and promising avenues for future work.

TopoToolbox: using sensor topography to calculate psychologically meaningful measures from event-related EEG/MEG.

Science.gov (United States)

Tian, Xing; Poeppel, David; Huber, David E

2011-01-01

The open-source toolbox "TopoToolbox" is a suite of functions that use sensor topography to calculate psychologically meaningful measures (similarity, magnitude, and timing) from multisensor event-related EEG and MEG data. Using a GUI and data visualization, TopoToolbox can be used to calculate and test the topographic similarity between different conditions (Tian and Huber, 2008). This topographic similarity indicates whether different conditions involve a different distribution of underlying neural sources. Furthermore, this similarity calculation can be applied at different time points to discover when a response pattern emerges (Tian and Poeppel, 2010). Because the topographic patterns are obtained separately for each individual, these patterns are used to produce reliable measures of response magnitude that can be compared across individuals using conventional statistics (Davelaar et al. Submitted and Huber et al., 2008). TopoToolbox can be freely downloaded. It runs under MATLAB (The MathWorks, Inc.) and supports user-defined data structure as well as standard EEG/MEG data import using EEGLAB (Delorme and Makeig, 2004).

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

Science.gov (United States)

Lee, Gyusung I; Lee, Mija R

2018-01-01

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

Non-stationary Condition Monitoring of large diesel engines with the AEWATT toolbox

DEFF Research Database (Denmark)

Pontoppidan, Niels Henrik; Larsen, Jan; Sigurdsson, Sigurdur

2005-01-01

We are developing a specialized toolbox for non-stationary condition monitoring of large 2-stroke diesel engines based on acoustic emission measurements. The main contribution of this toolbox has so far been the utilization of adaptive linear models such as Principal and Independent Component Ana......, the inversion of those angular timing changes called “event alignment”, has allowed for condition monitoring across operation load settings, successfully enabling a single model to be used with realistic data under varying operational conditions-...

Control of free-flying space robot manipulator systems

Science.gov (United States)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Development of a Modular Robotic Platform

Directory of Open Access Journals (Sweden)

Claudiu Ioan Cirebea

2014-12-01

Full Text Available In this paper a modular robotic platform is presented, for students and researchers laboratory work based on the Matlab-Simulink and dSpace real time control platform. The goal of this combination is to stimulate and to experiment with real time hardware and software in courses where mobile robotics is adopted as a motivating platform to introduce mechatronics competencies. Its many possibilities for modifications and extensions make experiments very easy. We used, for example, an omnidirectional mobile robot configuration with three Swedish wheels, whose kinematic model was simulated using Simulink. For real-time control, of the robot, the developed model has been implemented using DSpace platform DS1103.

EasyCloneYALI: CRISPR/Cas9-based synthetic toolbox for engineering of the yeast Yarrowia lipolytica

DEFF Research Database (Denmark)

Holkenbrink, Carina; Dam, Marie Inger; Kildegaard, Kanchana Rueksomtawin

2018-01-01

. Here, we present the EasyCloneYALI genetic toolbox, which allows streamlined strain construction with high genome editing efficiencies in Y. lipolytica via the CRISPR/Cas9 technology. The toolbox allows marker-free integration of gene expression vectors into characterized genome sites as well as marker......-free deletion of genes with the help of CRISPR/Cas9. Genome editing efficiencies above 80% were achieved with transformation protocols using non-replicating DNA repair fragments (such as DNA oligos). Furthermore, the toolbox includes a set of integrative gene expression vectors with prototrophic markers...

Screening and assessment of chronic pain among children with cerebral palsy: a process evaluation of a pain toolbox.

Science.gov (United States)

Orava, Taryn; Provvidenza, Christine; Townley, Ashleigh; Kingsnorth, Shauna

2018-06-08

Though high numbers of children with cerebral palsy experience chronic pain, it remains under-recognized. This paper describes an evaluation of implementation supports and adoption of the Chronic Pain Assessment Toolbox for Children with Disabilities (the Toolbox) to enhance pain screening and assessment practices within a pediatric rehabilitation and complex continuing care hospital. A multicomponent knowledge translation strategy facilitated Toolbox adoption, inclusive of a clinical practice guideline, cerebral palsy practice points and assessment tools. Across the hospital, seven ambulatory care clinics with cerebral palsy caseloads participated in a staggered roll-out (Group 1: exclusive CP caseloads, March-December; Group 2: mixed diagnostic caseloads, August-December). Evaluation measures included client electronic medical record audit, document review and healthcare provider survey and interviews. A significant change in documentation of pain screening and assessment practice from pre-Toolbox (<2%) to post-Toolbox adoption (53%) was found. Uptake in Group 2 clinics lagged behind Group 1. Opportunities to use the Toolbox consistently (based on diagnostic caseload) and frequently (based on client appointments) were noted among contextual factors identified. Overall, the Toolbox was positively received and clinically useful. Findings affirm that the Toolbox, in conjunction with the application of integrated knowledge translation principles and an established knowledge translation framework, has potential to be a useful resource to enrich and standardize chronic pain screening and assessment practices among children with cerebral palsy. Implications for Rehabilitation It is important to engage healthcare providers in the conceptualization, development, implementation and evaluation of a knowledge-to-action best practice product. The Chronic Pain Toolbox for Children with Disabilities provides rehabilitation staff with guidance on pain screening and assessment

MBEToolbox: a Matlab toolbox for sequence data analysis in molecular biology and evolution

Directory of Open Access Journals (Sweden)

Xia Xuhua

2005-03-01

Full Text Available Abstract Background MATLAB is a high-performance language for technical computing, integrating computation, visualization, and programming in an easy-to-use environment. It has been widely used in many areas, such as mathematics and computation, algorithm development, data acquisition, modeling, simulation, and scientific and engineering graphics. However, few functions are freely available in MATLAB to perform the sequence data analyses specifically required for molecular biology and evolution. Results We have developed a MATLAB toolbox, called MBEToolbox, aimed at filling this gap by offering efficient implementations of the most needed functions in molecular biology and evolution. It can be used to manipulate aligned sequences, calculate evolutionary distances, estimate synonymous and nonsynonymous substitution rates, and infer phylogenetic trees. Moreover, it provides an extensible, functional framework for users with more specialized requirements to explore and analyze aligned nucleotide or protein sequences from an evolutionary perspective. The full functions in the toolbox are accessible through the command-line for seasoned MATLAB users. A graphical user interface, that may be especially useful for non-specialist end users, is also provided. Conclusion MBEToolbox is a useful tool that can aid in the exploration, interpretation and visualization of data in molecular biology and evolution. The software is publicly available at http://web.hku.hk/~jamescai/mbetoolbox/ and http://bioinformatics.org/project/?group_id=454.

Robotics in space-age manufacturing

Science.gov (United States)

Jones, Chip

1991-01-01

Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

Testing adaptive toolbox models: a Bayesian hierarchical approach

NARCIS (Netherlands)

Scheibehenne, B.; Rieskamp, J.; Wagenmakers, E.-J.

2013-01-01

Many theories of human cognition postulate that people are equipped with a repertoire of strategies to solve the tasks they face. This theoretical framework of a cognitive toolbox provides a plausible account of intra- and interindividual differences in human behavior. Unfortunately, it is often

4D Printed Actuators with Soft-Robotic Functions.

Science.gov (United States)

López-Valdeolivas, María; Liu, Danqing; Broer, Dick Jan; Sánchez-Somolinos, Carlos

2018-03-01

Soft matter elements undergoing programed, reversible shape change can contribute to fundamental advance in areas such as optics, medicine, microfluidics, and robotics. Crosslinked liquid crystalline polymers have demonstrated huge potential to implement soft responsive elements; however, the complexity and size of the actuators are limited by the current dominant thin-film geometry processing toolbox. Using 3D printing, stimuli-responsive liquid crystalline elastomeric structures are created here. The printing process prescribes a reversible shape-morphing behavior, offering a new paradigm for active polymer system preparation. The additive character of this technology also leads to unprecedented geometries, complex functions, and sizes beyond those of typical thin-films. The fundamental concepts and devices presented therefore overcome the current limitations of actuation energy available from thin-films, thereby narrowing the gap between materials and practical applications. © 2017 The Authors. Published by WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Retention of laparoscopic and robotic skills among medical students: a randomized controlled trial.

Science.gov (United States)

Orlando, Megan S; Thomaier, Lauren; Abernethy, Melinda G; Chen, Chi Chiung Grace

2017-08-01

Although simulation training beneficially contributes to traditional surgical training, there are less objective data on simulation skills retention. To investigate the retention of laparoscopic and robotic skills after simulation training. We present the second stage of a randomized single-blinded controlled trial in which 40 simulation-naïve medical students were randomly assigned to practice peg transfer tasks on either laparoscopic (N = 20, Fundamentals of Laparoscopic Surgery, Venture Technologies Inc., Waltham, MA) or robotic (N = 20, dV-Trainer, Mimic, Seattle, WA) platforms. In the first stage, two expert surgeons evaluated participants on both tasks before (Stage 1: Baseline) and immediately after training (Stage 1: Post-training) using a modified validated global rating scale of laparoscopic and robotic operative performance. In Stage 2, participants were evaluated on both tasks 11-20 weeks after training. Of the 40 students who participated in Stage 1, 23 (11 laparoscopic and 12 robotic) underwent repeat evaluation. During Stage 2, there were no significant differences between groups in objective or subjective measures for the laparoscopic task. Laparoscopic-trained participants' performances on the laparoscopic task were improved during Stage 2 compared to baseline measured by time to task completion, but not by the modified global rating scale. During the robotic task, the robotic-trained group demonstrated superior economy of motion (p = .017), Tissue Handling (p = .020), and fewer errors (p = .018) compared to the laparoscopic-trained group. Robotic skills acquisition from baseline with no significant deterioration as measured by modified global rating scale scores was observed among robotic-trained participants during Stage 2. Robotic skills acquired through simulation appear to be better maintained than laparoscopic simulation skills. This study is registered on ClinicalTrials.gov (NCT02370407).

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

Science.gov (United States)

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

2016-04-01

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

Differential evolution to enhance localization of mobile robots

DEFF Research Database (Denmark)

Lisowski, Michal; Fan, Zhun; Ravn, Ole

2011-01-01

. In addition, a novel mechanism for effective robot kidnap detection was proposed. Experiments were performed using computer simulations based on the odometer data and laser range finder measurements collected in advance by a robot in real-life. Experimental results showed that integrating DE enables MCL...... to provide more accurate robot pose estimations in shorter time while using fewer particles.......This paper focuses on the mobile robot localization problems: pose tracking, global localization and robot kidnap. Differential Evolution (DE) applied to extend Monte Carlo Localization (MCL) was investigated to better solve localization problem by increasing localization reliability and speed...

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.

A Course in Simulation and Demonstration of Humanoid Robot Motion

Science.gov (United States)

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

2011-01-01

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

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.

Cumulative Risk Assessment Toolbox: Methods and Approaches for the Practitioner

Directory of Open Access Journals (Sweden)

Margaret M. MacDonell

2013-01-01

Full Text Available The historical approach to assessing health risks of environmental chemicals has been to evaluate them one at a time. In fact, we are exposed every day to a wide variety of chemicals and are increasingly aware of potential health implications. Although considerable progress has been made in the science underlying risk assessments for real-world exposures, implementation has lagged because many practitioners are unaware of methods and tools available to support these analyses. To address this issue, the US Environmental Protection Agency developed a toolbox of cumulative risk resources for contaminated sites, as part of a resource document that was published in 2007. This paper highlights information for nearly 80 resources from the toolbox and provides selected updates, with practical notes for cumulative risk applications. Resources are organized according to the main elements of the assessment process: (1 planning, scoping, and problem formulation; (2 environmental fate and transport; (3 exposure analysis extending to human factors; (4 toxicity analysis; and (5 risk and uncertainty characterization, including presentation of results. In addition to providing online access, plans for the toolbox include addressing nonchemical stressors and applications beyond contaminated sites and further strengthening resource accessibility to support evolving analyses for cumulative risk and sustainable communities.

Monitoring a robot swarm using a data-driven fault detection approach

KAUST Repository

Khaldi, Belkacem

2017-06-30

Using swarm robotics system, with one or more faulty robots, to accomplish specific tasks may lead to degradation in performances complying with the target requirements. In such circumstances, robot swarms require continuous monitoring to detect abnormal events and to sustain normal operations. In this paper, an innovative exogenous fault detection method for monitoring robots swarm is presented. The method merges the flexibility of principal component analysis (PCA) models and the greater sensitivity of the exponentially-weighted moving average (EWMA) and cumulative sum (CUSUM) control charts to insidious changes. The method is tested and evaluated on a swarm of simulated foot-bot robots performing a circle formation task, via the viscoelastic control model. We illustrate through simulated data collected from the ARGoS simulator that a significant improvement in fault detection can be obtained by using the proposed method where compared to the conventional PCA-based methods (i.e., T2 and Q).

Design and implementation of self-balancing coaxial two wheel robot based on HSIC

Science.gov (United States)

Hu, Tianlian; Zhang, Hua; Dai, Xin; Xia, Xianfeng; Liu, Ran; Qiu, Bo

2007-12-01

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

Multi-robots to micro-surgery: Selected robotic applications at Sandia National Laboratories

Energy Technology Data Exchange (ETDEWEB)

Bennett, P.C. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

1996-11-01

The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories is a multi-program organization, pursuing research, development and applications in a wide range of field. Activities range from large-scale applications such as nuclear facility dismantlement for the US Department of Energy (DOE), to aircraft inspection and refurbishment, to automated script and program generation for robotic manufacturing and assembly, to miniature robotic devices and sensors for remote sensing and micro-surgery. This paper describes six activities in the large and small scale that are underway and either nearing technology transfer stage or seeking industrial partners to continue application development. The topics of the applications include multiple arm coordination for intuitively maneuvering large, ungainly work pieces; simulation, analysis and graphical training capability for CP-5 research reactor dismantlement; miniature robots with volumes of 16 cubic centimeters and less developed for inspection and sensor deployment; and biomedical sensors to enhance automated prosthetic device production and fill laparoscopic surgery information gap.

Parallel Sequential Monte Carlo for Efficient Density Combination: The Deco Matlab Toolbox

DEFF Research Database (Denmark)

Casarin, Roberto; Grassi, Stefano; Ravazzolo, Francesco

This paper presents the Matlab package DeCo (Density Combination) which is based on the paper by Billio et al. (2013) where a constructive Bayesian approach is presented for combining predictive densities originating from different models or other sources of information. The combination weights...... for standard CPU computing and for Graphical Process Unit (GPU) parallel computing. For the GPU implementation we use the Matlab parallel computing toolbox and show how to use General Purposes GPU computing almost effortless. This GPU implementation comes with a speed up of the execution time up to seventy...... times compared to a standard CPU Matlab implementation on a multicore CPU. We show the use of the package and the computational gain of the GPU version, through some simulation experiments and empirical applications....

Handling uncertainty and networked structure in robot control

CERN Document Server

Tamás, Levente

2015-01-01

This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer...

Semi-automated Robust Quantification of Lesions (SRQL Toolbox

Directory of Open Access Journals (Sweden)

Kaori L Ito

2017-05-01

Full Text Available Quantifying lesions in a reliable manner is fundamental for studying the effects of neuroanatomical changes related to recovery in the post-stroke brain. However, the wide variability in lesion characteristics across individuals makes manual lesion segmentation a challenging and often subjective process. This often makes it difficult to combine stroke lesion data across multiple research sites, due to subjective differences in how lesions may be defined. Thus, we developed the Semi-automated Robust Quantification of Lesions (SRQL; https://github.com/npnl/SRQL; DOI: 10.5281/zenodo.557114 Toolbox that performs several analysis steps: 1 a white matter intensity correction that removes healthy white matter voxels from the lesion mask, thereby making lesions slightly more robust to subjective errors; 2 an automated report of descriptive statistics on lesions for simplified comparison between or across groups, and 3 an option to perform analyses in both native and standard space to facilitate analyses in either space. Here, we describe the methods implemented in the toolbox.

Feedback Control Design for a Walking Athlete Robot

Directory of Open Access Journals (Sweden)

Xuan Vu Trien Nguyen

2017-06-01

Full Text Available In the paper, authors generalized the dynamic model of an athlete robot with elastic legs through Lagrange method. Then, a feed-back controller was designed to control the robot through a step-walking. The research just focused on stance phase – the period that robot just touched one leg on the ground. The simulation results showed that system worked well with the designed controller.

Foraging behavior analysis of swarm robotics system

Directory of Open Access Journals (Sweden)

Sakthivelmurugan E.

2018-01-01

Full Text Available Swarm robotics is a number of small robots that are synchronically works together to accomplish a given task. Swarm robotics faces many problems in performing a given task. The problems are pattern formation, aggregation, Chain formation, self-assembly, coordinated movement, hole avoidance, foraging and self-deployment. Foraging is most essential part in swarm robotics. Foraging is the task to discover the item and get back into the shell. The researchers conducted foraging experiments with random-movement of robots and they have end up with unique solutions. Most of the researchers have conducted experiments using the circular arena. The shell is placed at the centre of the arena and environment boundary is well known. In this study, an attempt is made to different strategic movements like straight line approach, parallel line approach, divider approach, expanding square approach, and parallel sweep approach. All these approaches are to be simulated by using player/stage open-source simulation software based on C and C++ programming language in Linux operating system. Finally statistical comparison will be done with task completion time of all these strategies using ANOVA to identify the significant searching strategy.

Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

Directory of Open Access Journals (Sweden)

Yong Tao

2014-06-01

Full Text Available We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.

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

Science.gov (United States)

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

2018-01-01

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

Morphology Independent Learning in Modular Robots

DEFF Research Database (Denmark)

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

2009-01-01

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

Model and Behavior-Based Robotic Goalkeeper

DEFF Research Database (Denmark)

Lausen, H.; Nielsen, J.; Nielsen, M.

2003-01-01

This paper describes the design, implementation and test of a goalkeeper robot for the Middle-Size League of RoboCub. The goalkeeper task is implemented by a set of primitive tasks and behaviours coordinated by a 2-level hierarchical state machine. The primitive tasks concerning complex motion...... control are implemented by a non-linear control algorithm, adapted to the different task goals (e.g., follow the ball or the robot posture from local features extracted from images acquired by a catadioptric omni-directional vision system. Most robot parameters were designed based on simulations carried...

A Game Theoretic Approach to Swarm Robotics

Directory of Open Access Journals (Sweden)

S. N. Givigi

2006-01-01

Full Text Available In this article, we discuss some techniques for achieving swarm intelligent robots through the use of traits of personality. Traits of personality are characteristics of each robot that, altogether, define the robot's behaviours. We discuss the use of evolutionary psychology to select a set of traits of personality that will evolve due to a learning process based on reinforcement learning. The use of Game Theory is introduced, and some simulations showing its potential are reported.

Evaluation of modular robot system for maintenance tasks in hot cell

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

Process evaluation of a Toolbox-training program for construction foremen in Denmark

DEFF Research Database (Denmark)

Jeschke, Katharina Christiane; Kines, Pete; Rasmussen, Liselotte

2017-01-01

foremen’s knowledge and communication skills in daily planning of work tasks and their related OSH risks on construction sites. The program builds on the popular 'toolbox meeting' concept, however there is very little research evaluating these types of meetings. This article describes the development...... and revised until the final version after the fifth group. The evaluation utilized an action research strategy with a mixed–methods approach of triangulating questionnaire, interview, and observation data. Process evaluation results showed that the eight Toolbox-training topics were relevant and useful...

DICOM router: an open source toolbox for communication and correction of DICOM objects.

Science.gov (United States)

Hackländer, Thomas; Kleber, Klaus; Martin, Jens; Mertens, Heinrich

2005-03-01

Today, the exchange of medical images and clinical information is well defined by the digital imaging and communications in medicine (DICOM) and Health Level Seven (ie, HL7) standards. The interoperability among information systems is specified by the integration profiles of IHE (Integrating the Healthcare Enterprise). However, older imaging modalities frequently do not correctly support these interfaces and integration profiles, and some use cases are not yet specified by IHE. Therefore, corrections of DICOM objects are necessary to establish conformity. The aim of this project was to develop a toolbox that can automatically perform these recurrent corrections of the DICOM objects. The toolbox is composed of three main components: 1) a receiver to receive DICOM objects, 2) a processing pipeline to correct each object, and 3) one or more senders to forward each corrected object to predefined addressees. The toolbox is implemented under Java as an open source project. The processing pipeline is realized by means of plug ins. One of the plug ins can be programmed by the user via an external eXtensible Stylesheet Language (ie, XSL) file. Using this plug in, DICOM objects can also be converted into eXtensible Markup Language (ie, XML) documents or other data formats. DICOM storage services, DICOM CD-ROMs, and the local file system are defined as input and output channel. The toolbox is used clinically for different application areas. These are the automatic correction of DICOM objects from non-IHE-conforming modalities, the import of DICOM CD-ROMs into the picture archiving and communication system and the pseudo naming of DICOM images. The toolbox has been accepted by users in a clinical setting. Because of the open programming interfaces, the functionality can easily be adapted to future applications.

MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

Directory of Open Access Journals (Sweden)

Kiattisin Kanjanawanishkul

2015-01-01

Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

III. NIH Toolbox Cognition Battery (CB): measuring episodic memory.

Science.gov (United States)

Bauer, Patricia J; Dikmen, Sureyya S; Heaton, Robert K; Mungas, Dan; Slotkin, Jerry; Beaumont, Jennifer L

2013-08-01

One of the most significant domains of cognition is episodic memory, which allows for rapid acquisition and long-term storage of new information. For purposes of the NIH Toolbox, we devised a new test of episodic memory. The nonverbal NIH Toolbox Picture Sequence Memory Test (TPSMT) requires participants to reproduce the order of an arbitrarily ordered sequence of pictures presented on a computer. To adjust for ability, sequence length varies from 6 to 15 pictures. Multiple trials are administered to increase reliability. Pediatric data from the validation study revealed the TPSMT to be sensitive to age-related changes. The task also has high test-retest reliability and promising construct validity. Steps to further increase the sensitivity of the instrument to individual and age-related variability are described. © 2013 The Society for Research in Child Development, Inc.

Case studies in configuration control for redundant robots

Science.gov (United States)

Seraji, H.; Lee, T.; Colbaugh, R.; Glass, K.

1989-01-01

A simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.

Influence of videogames and musical instruments on performances at a simulator for robotic surgery.

Science.gov (United States)