Actividad antibacteriana de la cáscara de cacao, Theobroma cacao L

Directory of Open Access Journals (Sweden)

Oscar Cuéllar G.

2012-12-01

Full Text Available Objetivo. Evaluar la actividad antibacteriana de diferentes fracciones de la cáscara de cacao (Theobroma cacao L.. Materiales y métodos. Se evaluó la actividad antibacteriana mediante el método de difusión en agar de diferentes fracciones de la cáscara de cacao, empleando cepas autóctonas y de referencia ATCC. Posteriormente, se hizo un análisis de estas fracciones por cromatografía líquida de alta eficiencia y cromatografía de gases acoplada a espectrometría de masas. Resultados. La fracción clorofórmica presentó actividad antibacteriana frente a Bacillus cereus ATCC 11778 y Streptococcus agalactiae (autóctona, con porcentajes de inhibición de 34.90% (100 μg/μl y 52.40% (100 μg/μl respectivamente. También se evidenció una concentración mínima inhibitoria de 512 μg/ml frente a Bacillus cereus ATCC 11778 y de 128 μg/ml frente a Streptococcus agalactiae. Conclusiones. Este trabajo es el primer reporte a saber en Colombia sobre actividad antibacteriana in vitro de la cáscara de cacao, el cual resulta ser un avance importante para esta agroindustria. Esta investigación abre paso a otros estudios relacionados para establecer el espectro de inhibición frente a otros microorganismos.

Percepção monocular da profundidade ou relevo na ilusão da máscara côncava na esquizofrenia

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Arthur Alves

2014-03-01

Full Text Available Este trabalho foi desenvolvido com o propósito de investigar a percepção monocular da profundidade ou relevo da máscara côncava por 29 indivíduos saudáveis, sete indivíduos com esquizofrenia sob uso de antipsicótico por um período inferior ou igual a quatro semanas e 29 sob uso de antipsicótico por um período superior a quatro semanas. Os três grupos classificaram o reverso de uma máscara policromada em duas situações de iluminação, por cima e por baixo. Os resultados indicaram que a maioria dos indivíduos com esquizofrenia inverteu a profundidade da máscara côncava na condição de observação monocular e perceberam-na como convexa, sendo, portanto, suscetíveis à ilusão da máscara côncava. Os indivíduos com esquizofrenia sob uso de medicação antipsicótica pelo período superior a quatro semanas estimaram a convexidade da máscara côncava iluminada por cima em menor comprimento comparados aos indivíduos saudáveis.

Mazagão Velho: imagem-mundo de uma festa, um baile e suas máscaras

OpenAIRE

DIAS, Ronne Franklim Carvalho

2009-01-01

Esta pesquisa tem como objeto de estudo as máscaras da Festa de São Tiago de Mazagão Velho, no estado do Amapá. Realizada desde 1777 pelos moradores da cidade amapaense às margens do rio Mutuacá, a festa celebra a transferência da ex-colônia portuguesa da região de Dukkala, ao norte da África. Repleta de visualidades diversificadas, rituais e símbolos do catolicismo, a comunidade vive com intensidade suas manifestações culturais e religiosas. As máscaras ganham destaque durante um baile exclu...

EVALUACIÓN QUIMICA DE LA FIBRA EN SEMILLA, PULPA Y CÁSCARA DE TRES VARIEDADES DE AGUACATE

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ADELA MARÍA CEBALLOS P

Full Text Available El sector agropecuario colombiano requiere integrarse al sector agroindustrial para aumentarle valor a sus productos y residuos. Utilizar residuos agrícolas y agroindustriales como materias primas para obtener metabolitos secundarios es tema de interés en investigación y busca dar respuestas al uso de esos residuos, mediante desarrollo de tecnologías aplicables al entorno colombiano. Se valoraron cáscara, semilla y pulpa de aguacate variedades Booth8, Trinidad y Papelillo en estados de madurez fisiológica (MF y consumo (MC. Se hizo caracterización bromatológica, contenido de fibra como carbohidratos solubles (CHOS, lignina LG, celulosa y hemicelulosa (CEL y HEMICEL y fibra bruta (FB según (Tappi Methods 1993, 1998, AOAC, 2001. Los resultados fueron analizados mediante ANOVA (P < 0,05 utilizando SAS V9.1. Los CHOS en los dos estados de madurez y para las tres variedades variaron entre 12-38% cáscara, 20-35% pulpa y 17-35% semilla; CEL y HEMICEL 8-50% cáscara, 7-26% pulpa, 1-5% semilla, los cuales pueden ser útiles como complementos de procesos biotecnológicos. La pulpa de las tres variedades tiene alto valor nutricional por sus contenidos de proteína, fibra y minerales. La composición de la cáscara y semilla podrían ser importantes para suplementos de dieta animal o como recuperador de suelos para la producción agrícola

Caracterización estructural por adsorción y difracción de rayos X de monolitos de carbón activado a partir de cáscara de coco y cuesco de palma africana

OpenAIRE

Vargas Delgadillo, Diana; Giraldo-Gutiérrez, Liliana; Moreno-Piraján, Juan

2009-01-01

Se prepararon monolitos de carbón activado tipo disco utilizando como precursores por separado cáscara de coco y cuesco de palma africana mediante la activación química con ácido fosfórico, utilizando diferentes concentraciones, sin el uso de ningún aglomerante. Se presentan el rendimiento del proceso, así como los parámetros estructurales determinados por adsorción de N2 a 77 K y CO2 a 273 K, y se comparan con algunos parámetros cristalográficos determinados por difracción de rayos X. Se obt...

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

International Nuclear Information System (INIS)

Appelquist, G.; Bohm, C.

1990-01-01

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

Aspersiones de calcio en la concentración nutrimental de hoja, cáscara y fruto de aguacate 'hass'

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J. Herrera-Basurto

2007-01-01

Full Text Available Con la finalidad de estudiar el efecto del Ca(NO32, se realizaron aspersiones foliares precosecha en árboles de aguacate cv. Hass con concentraciones de 0, 0.3 y 0.5 %, cada quince días a partir de la segunda quincena de septiembre del 2003 hasta principios de enero del 2004, con un total de 11 aplicaciones. Se evaluó la concentración nutrimental en hoja, cáscara y pulpa. Los resultados indicaron que no hubo incremento de la concentración para N, P, K, Ca y Mg en hoja, cáscara y pulpa durante el primer año de evaluación; concluyéndose que en el segundo año se presentó un incremento de Ca en cáscara y pulpa, más no en hoja, dejando evidencia de un efecto residual.

Ventilação de urgencia : estudo comparativo do mecanismo manual de ventilação artificial do tipo sistema balão-valvula-mascara

OpenAIRE

Luiz Claudio Candido

1992-01-01

Resumo: Foi realizado um estudo comparativo em manequim registrador do mecanismo manual de ventilacão artificial do tipo sistema balão-válvula-máscara, utilizando seis sistemas disponiveis no Brasil e no exterior. A comparacão ocorreu atraves do volume ventilatório médio final (ml) obtido em cada procedimento, com o volume ventilatório minimo ideal de ar preconizado, no valor de 800 ml, para adu Itos, segundo American Heart Association, em manobras praticadas por um ou dois rean i m.adores (...

Método Posible para la Comprobación de la Cáscara de Cacao en el Café Molido.

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Jaramillo Madariaga G.

1940-06-01

Full Text Available Un café sobre todo si se halla finamente molido, puede contener hasta un 30% de cáscara de cacao, sin que su aspecto físico haga aparente la adulteración. La prueba cualitativa de dicha adulteración sólo puede obtenerse mediante el microscopio, lo cual requiere bastante experiencia. La adición al café de 20% de cáscara de cacao, causa en los componentes anotados, variaciones tan pequeñas que, por lo general, se hallan dentro de los límites aceptados para cafés de distintas procedencias. El punto de partida de nuestra investigación ha sido la separación de la cáscara por gravedad. Entre las diversas soluciones ensayadas con tal fin, hallamos la de hiposulfito de sodio más conveniente, por la gran solubilidad de esta sal y por ser el hiposulfito un producto barato, fácil de obtener en cualquier parte.

Robot NAO cantante

OpenAIRE

Caballero Pamos, Adrián

2016-01-01

En los últimos años la robótica ha experimentado un crecimiento exponencial incorporando todo tipo de funcionalidades. Introducir el mundo musical en los robots es una de ellas. En este Trabajo Fin de Grado se presenta el desarrollo de un sistema que permite al robot NAO leer una partitura, analizarla y reproducirla a modo de canto. La finalidad del trabajo es que el robot actúe como un intérprete frente a una partitura musical tal y como lo haría un humano. Debe ser capaz de interpretar cual...

Dynamic parameter identification of robot arms with servo-controlled electrical motors

Science.gov (United States)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Impacto do acoplamento de máscara facial sobre a oxigenação Impacto del acoplamiento de la máscara facial sobre la oxigenación Oxygenation: the impact of face mask coupling

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Waldemar Montoya de Gregori

2005-10-01

Full Text Available JUSTIFICATIVA E OBJETIVOS: As diferentes técnicas de oxigenação existentes têm o objetivo de produzir desnitrogenização prévia ao período de apnéia durante a indução. A principal razão em que a concentração inspirada de oxigênio (CIO2 não atinge 100% é a falta de acoplamento adequado da máscara facial, permitindo a entrada de ar ambiente. Embora os anestesiologistas conheçam este princípio, nem todos o aplicam corretamente, facilitando a entrada de ar no fluxo de gases frescos (FGF e, conseqüentemente, diluindo a CIO2. Este estudo procurou avaliar comparativamente, através da variação da CEO2, (concentração expirada de O2, a eficácia da técnica de oxigenação com máscara facial, nas condições habitualmente empregadas pelos anestesiologistas, simulando situações de vazamentos progressivos. MÉTODO: Foram estudadas as CEO2 de 15 voluntários, estado físico ASA I, submetidos à técnica de oxigenação com oito respirações profundas (capacidade vital em 60s com fluxo de gás fresco de 10 L.min-¹. A máscara facial foi bem acoplada com CIO2 de 100% (Ac100, ou variando de 50% a 90% (Ac50; Ac60; Ac70; Ac80; Ac90; máscara acoplada pela gravidade e CIO(2100% (Grav e máscara a 1 cm da face e CIO2 a 100% (Afast. A CEO2 foi registrada em intervalos de 10s até 60s. Nos testes estatísticos p JUSTIFICATIVA Y OBJETIVOS: Las diferentes técnicas de oxigenación existentes tienen por objetivo producir desnitrogenización previa al período de apnea durante la inducción. La principal razón en que la concentración inspirada de oxígeno (CIO2 no alcanza 100% y la falta de acoplamiento adecuado de la máscara facial, permitiendo la entrada de aire ambiente. Aunque los anestesiólogos conozcan este principio, ni todos lo aplican correctamente, facilitando la entrada de aire en el flujo de gases frescos (FGF y, consecuentemente, diluyendo la CIO2. Este estudio buscó evaluar comparativamente, a través de la variación de

EVALUACIÓN DEL RESIDUO DE CÁSCARA DE NUEZ (Juglans regia L. EN LA PRODUCCIÓN DE PLÁNTULAS DE Pinus patula, EN VIVERO

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Omar Romero-Arenas

2012-01-01

Full Text Available Para producir plantas de calidad en vivero, se utilizan sustratos comerciales como el Peat Moss, agrolita y vermiculita, cuyo costo es elevado y reduce significativamente los márgenes de utilidad; por lo anterior, se necesita buscar sustratos alternativos. La cáscara de nuez (Juglans regia L. es un residuo sin aprovechamiento en producción; sin embargo, cuenta con importantes elementos nutritivos para ser aprovechados por los organismos vegetales. Se evaluó el crecimiento inicial de Pinus patula producido en vivero, con composta de cáscara de nuez con agrolita y vermiculita, mediante sustitución paulatina del Peat Moss. Con un diseño experimental completamente al azar, se estudiaron 4 tratamientos a base de cáscara de nuez + agrolita y vermiculita, en proporciones que variaron desde 0% hasta 80% de cáscara de nuez, y la mezcla de sustratos comerciales. A los 7 meses y medio, las plántulas que se desarrollaron en el tratamiento 1, mezcla testigo (Peat Moss 33% + vermiculita 33% + agrolita 33% y el tratamiento 4 (Cáscara de nuez 33% + vermiculita 33% + agrolita 33% presentaron valores más altos en las variables: altura, diámetro, peso seco aéreo, peso seco radicular y peso seco total. La relación aérea/raíz y el índice de esbeltez no presentaron diferencias entre los 4 tratamientos. El valor más alto del índice de calidad de Dickson fue para el testigo (0,25 g.cm-1, seguido por el tratamiento 4 (0,24 g.cm-1, sin diferencias estadísticas. La cáscara de nuez permite producir plántulas sanas, por lo que es útil como sustrato alternativo para la producción de plantas en vivero, lo que reduce los costos de producción además de contribuir con el sector productivo forestal.

Desarrollo del Robot Paralelo Parallix LKF-240

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Eduardo Castillo Castañeda

2013-09-01

Full Text Available En este trabajo se presenta al robot paralelo PARALLIX LKF-2040 desarrollado en la Instituto Politécnico Nacional y actualmente comercializado en Instituciones de Educación Superior para fortalecer la enseñanza de la mecatrónica. Este mecanismo posee una plataforma fija y otra móvil. Los actuadores están montados en la plataforma fija, reduciendo el cableado y manteniéndolo fuera del espacio de trabajo. La plataforma móvil es el elemento efector y puede ser posicionada en un amplio espacio de trabajo. La estructura del manipulador es ligera, simplificando la dinámica y minimizando el peso a desplazar. Lo anterior, permite utilizar el par generado por los motores sólo para el desplazamiento de la carga. El robot PARALLIX LKF-2040 tiene sus orígenes en la configuración del robot tipo Delta pero tiene articulaciones rotacionales en lugar de esféricas, proporcionando un espacio de trabajo más amplio. Primeramente, se presenta el concepto de robot paralelo y sus ventajas respecto a los robots convencionales tipo serial. Se muestra la estructura geométrica de un robot paralelo tipo 3RSS y se encuentra la solución de su cinemática inversa. También, se presentan los resultados obtenidos del análisis del espacio de trabajo y el diseño de una arquitectura de control de tres ejes para servomotores con encoder incremental en cuadratura. Además, se proponen técnicas novedosas basadas en análisis de imágenes para determinar la precisión y la repetibilidad del robot, así como la rigidez bajo diferentes condiciones de carga.

INFLUENCIA DEL GENOTIPO Y TIPO DE INJERTO EN LA BROTACION DE Myrciaria dubia (H.B.K MC VAUGH “CAMU CAMU”

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Andy Richard Reátegui Salazar

2012-12-01

Full Text Available El camu camu, es una especie frutal nativa, silvestre y cultivada de la región amazónica, cuya importancia radica en el alto contenido de vitamina C, antocianinas y compuestos fenólicos presentes en la pulpa y cáscara de sus frutos. El presente trabajo se llevó a cabo en el Campo Experimental San Miguel, del INIA Loreto, con el objetivo de determinar la influencia del genotipo y el tipo de injerto en la brotación. Se evaluaron tres genotipos promisorios de camu camu (MD-014, MD-015 y MD-017 procedentes de la colección de germoplasma del INIA y tres tipos de injerto (astilla simple, astilla doble y púa; utilizándose como patrón plantones del genotipo MD-020, sobre los cuales se realizaron los injertos. La evaluación de la brotación se realizó a los 105 días después del injerto. Los resultados indican que el mejor tipo de injerto es el de púa, que obtuvo 85% de brotación y las mejores interacciones se lograron en los genotipos MD-017 y MD-015 con el injerto tipo púa; que alcanzaron 90% y 87.5% de brotación, respectivamente. Se concluyó que los mejores resultados se lograron cuando se combinaron el genotipo MD-017 con el injerto tipo púa.

Extracción y aplicaciones alimentarias de membranas de cáscaras de huevo

OpenAIRE

García Campos, Tania

2015-01-01

Caracterización físico-química de la membrana de la cáscara de huevo, seguida del estudio y desarollo de posibles aplicaciones de la membrana en diversos campos, entre los que destaca la formación de geles y la retención de cobre y proteínas.

Panzer Wakeful, Robot Autónomo de vigilancia y seguridad

OpenAIRE

Gómez Castillo, Leopoldo

2014-01-01

Un robot de vigilancia y seguridad para una zona determinada.Tiene tres plataformas, es de tipo móvil y específicamente de oruga (tipo tanque), con muchos componentes como cámara, sensores, láseres, ...

El Palacio sin máscara: La lectura de quien no estuvo allí.

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Héctor Abad Faciolince

2008-09-01

Full Text Available Se trata de un análisis de la obra "El Palacio sin máscara" referido a la toma del Palacio de Justicia por parte de guerrilleros y la masacre ocurrida por parte de los militares. En la obra se retrata la realidad, se poda la información de todo ruido para dejar ver la verdad.

PROPIEDADES TÉCNICO-FUNCIONALES DE LA FIBRA DIETARIA DE CÁSCARAS DE MANGO VARIEDADHILACHA (Mangifera indica L.): EFECTO DEL SECADO POR CONVECCIÓN

OpenAIRE

GUSTAVO ADOLFO HINCAPIÉ LL.; DIANA CAROLINA VÁSQUEZ O; VALERIA SOFÍA GALICIA M; CARLOS AUGUSTO HINCAPIÉ LL.

2014-01-01

Un subproducto de la obtención del jugo de mango es su cáscara; la cual contiene niveles considerables de fibra dietaria que podrían ser utilizados en la elaboración de productos alimenticios, sin embargo, actualmente no es muy aprovechado. El proceso de secado prolonga la vida útil de la cascara y permite que pueda ser adicionada a otros alimentos. En este estudio, se caracterizó fisicoquímicamente la Cáscara de Mango Hilacha (CMH) y se evaluó el efecto de cinco temperaturas de secado sobre ...

A propósito de la Bartonelosis en una Máscara Ecuatoriana Precolombina

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Hugo A. Sotomayor Tribín

1994-06-01

Full Text Available

Introducción

La bartonelosis, llamada también enfermedad de Carrión, fiebre de Oroya y Verruga peruana, se diagnosticó por primera vez, fuera del Perú, en Colombia, departamento de Nariño, y Ecuador, provincia de Loja, en los años de 1939 y 1940 por Patiño y Montalván, respectivamente.

El bacilo fue llamado por Strong en 1915 Bartonella bacilliformis en honor al médico peruano Alberto Barton que lo vio por primera vez en 1909.

Los vectores principales son algunos insectos Phebotomus.

La enfermedad confinada a los Andes entre las latitudes 2 norte y 13 sur y altitudes de 800 a 3.000 metros, con seguridad azotó a los pueblos precolombinos de esas zonas, como se ve en estatuillas cerámicas preincaicas peruanas que aparecen reproducidas en textos de Historia de la Medicina 1,2.3,4.

El propósito del presente trabajo es mostrar otra evidencia de esa enfermedad en el arte precolombino pero ya no procedente del Perú sino del Ecuador y no de una estatuilla sino de una máscara.

Material
Se presenta una máscara completa del rostro humano, propiedad del autor, de cerámica gris terracota, de 21.5 cm de ancho, 17 cm de alto, cóncava en su superficie posterior, con agujeros redondos en el sitio correspondiente a las pupilas y escleras completas, nariz, boca entreabierta y orejas de forma triangular. Tiene nariguera. En toda la superficie facial están representados 47 nódulos umbilicados de un promedio de 0.6 cm de diámetro con restos de pintura azul.

La máscara avalada en su autenticidad por varios expertos de arte precolombino, pertenece a la cultura Jama Coaque del Ecuador, al sur de la ciudad de Esmeraldas y al norte de la Bahía de Caraquez, en la costa, que floreció como un Desarrollo Regional entre los 400 años a.C. y los 500 d.C.5...

Algunas Características de los Cacaos Criollos de Venezuela

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Ciferri R.

1949-03-01

Full Text Available Se indican algunas características morfológicas y biométricas de los cacaos "Criollo de cáscara morada" y "Criollo de cáscara decolorada", observadas en un cacaotal de Venezuela y las cuales se comparan con las de algunos de sus cruces, así más afines, como más alejados, que en conjunto forman el Forastero Venezolano. Se llama la atención sobre unos tipos de cacao muy valiosos, derivados de los cruzamientos entre estos dos tipos de Criollo, mencionados. Se indica, además, la distribución de dichos Criollos en Venezuela.

ADSORCIÓN DE CROMO HEXAVALENTE EN LA CÁSCARA DE ARROZ MODIFICADA QUÍMICAMENTE

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Nancy Eggs

2012-01-01

Full Text Available El objetivo del presente estudio fue analizar los factores cinéticos que afectan la adsorción de cromo (VI en solución empleando como bioadsorbente la cáscara de arroz modificada químicamente, con hidróxido de potasio 1% m/m o con ácido fosfórico 1M. Se estudió la adsorción de cromo (VI considerando los siguientes parámetros pH, tiempo de incubación, masa del bioadsorbente y concentración inicial del tóxico. La determinación de cromo hexavalente y total se realizó por el método de la difenilcarbazida y por espectrofotometría de absorción atómica, respectivamente. El tratamiento químico con hidróxido de potasio o con ácido fosfórico de la cáscara de arroz produjo un aumento en la adsorción del tóxico. El análisis cinético de la adsorción de cromo (VI sugiere que el proceso es favorable cuando se trabaja a pH ácido (inferior a 2, se incrementa con la masa de bioadsorbente y con el tiempo de contacto.

PRODUCCIÓN Y CARACTERIZACIÓN DE PARTÍCULAS Y FIBRAS CORTAS DE β-SiC OBTENIDAS A PARTIR DE CÁSCARA DE ARROZ

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Marco Valencia

Full Text Available El aprovechamiento de la cáscara de arroz (CA es mínimo en la mayoría de los países latinoamericanos y solo una pequeña porción se utiliza eficientemente como abono o combustible. Los productos obtenidos por pirólisis de CA son, sin embargo, útiles para la fabricación de productos abrasivos y refractarios a base de carburo de silicio (SiC. Hay aplicaciones de reciente desarrollo y de mayor exigencia que consisten en usar el SiC como refuerzo de aleaciones metálicas para la fabricación de composites metálicos. En esta investigación se han obtenido fibrillas cortas y partículas finas de SiC por pirólisis controlada de CA. La síntesis del SiC se llevó a cabo en un horno de gas diseñado y puesto a punto durante el desarrollo del proyecto. El proceso fue optimizado mediante un diseño experimental que incluyó como variables la temperatura, el tiempo de pirólisis, el tipo de catalizador y la atmósfera de proceso.

Máscaras y personajes en la palliata: las máscaras de la atellana y su influencia en la palliata

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Rosario López Gregoris

2017-07-01

Full Text Available Este trabajo pretende determinar en qué ámbitos es posible identificar la influencia de las máscaras de la farsa atellana en la comedia latina palliata. También se discute en qué medida los rasgos específicos de la atellana, unidos a los personajes fijos de la comedia nueva griega, la Néa, explican la singularidad de la palliata y el éxito de Plauto ante el difícil público de Roma, habituado a una comicidad ligada a los sentidos. This paper discusses where one can identify the influence of the masks of the Atellan farce on palliata Latin comedy. I also discuss to what extent the specific characteristics of the atellana, together with the fixed character types of Greek new comedy (Néa, explain the singularity of the palliata and the success of Plautus in front of the difficult Roman public, which was used to a comicality linked to the senses.

PROPIEDADES TÉCNICO-FUNCIONALES DE LA FIBRA DIETARIA DE CÁSCARAS DE MANGO VARIEDADHILACHA (Mangifera indica L.: EFECTO DEL SECADO POR CONVECCIÓN

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GUSTAVO ADOLFO HINCAPIÉ LL.

2014-06-01

Full Text Available Un subproducto de la obtención del jugo de mango es su cáscara; la cual contiene niveles considerables de fibra dietaria que podrían ser utilizados en la elaboración de productos alimenticios, sin embargo, actualmente no es muy aprovechado. El proceso de secado prolonga la vida útil de la cascara y permite que pueda ser adicionada a otros alimentos. En este estudio, se caracterizó fisicoquímicamente la Cáscara de Mango Hilacha (CMH y se evaluó el efecto de cinco temperaturas de secado sobre las propiedades técnico-funcionales de la fibra dietaria; Capacidad de Hinchamiento (CH, Capacidad de Retención de Agua (CRA y Capacidad de Adsorción de Lípidos (CAL, características que determinan en gran medida la calidad de la fibra dietaria (FD. Los resultados obtenidos indican que la CMH tiene un contenido de fibra dietaria total, proteína, extracto etéreo, carbohidratos y fibra cruda similar al de otras variedades de mango. La cáscara de mango hilacha seca y molida (CSMH obtenida, es una promisoria fuente de FD, ya que su calidad no se vio afectada significativamente por el proceso de secado empleado en este trabajo.

Degradabilidad ruminal in vitro de ensilajes de pasto saboya (Panicum maximum jacq. con diferentes niveles de inclusión de cáscara de maracuyá (Passiflora edulis sims.

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Alexandra Barrera-Álvarez

2017-12-01

Full Text Available La investigación tuvo como objetivo evaluar la composición y degradabilidad ruminal in vitro de la materia seca, materia orgánica y materia inorgánica de los ensilajes de pasto saboya con los tratamientos T1: Pasto saboya 90%+cáscara de maracuyá 10%; T2: Pasto saboya 80%+cáscara de maracuyá 20%; T3: Pasto saboya 70%+cáscara de maracuyá 30% y T4: Pasto saboya 60%+cáscara de maracuyá 40%. Se utilizó el método de microensilaje (silos PVC de 3 kg de capacidad provistos de una válvula bunsen y mecanismo de extracción de efluentes y la técnica de degradación in vitro con el sistema de incubación DAISY II, empleando el líquido ruminal de bovinos brahman de 500±25 kg de peso promedio. Se aplicó un Diseño Completamente al Azar con seis repeticiones. El nivel de inclusión de maracuyá mejoró el contenido de nutrientes en el ensilaje, incrementando la materia orgánica, la proteína bruta y la grasa bruta y disminuyendo las fracciones de fibra. La degradabilidad de la materia seca, materia orgánica y materia inorgánica fue superior (p

Uso do suporte ventilatório com pressão positiva contínua em vias aéreas (CPAP por meio de máscara nasofacial no tratamento da insuficiência respiratória aguda

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Scarpinella-Bueno M.A.

1997-01-01

Full Text Available OBJETIVO. O objetivo dos autores foi avaliar o efeito da ventilação com CPAP oferecida por meio de máscara nasofacial como método de suporte ventilatório em pacientes com insuficiência respiratória aguda com critérios de indicação para intubação traqueal. CASUÍSTICA E MÉTODO. Foram estudados 11 pacientes com idade média de 41,3 anos em insuficiência respiratória aguda internados na Unidade Respiratória do Hospital São Paulo - Escola Paulista de Medicina. À admissão, era colhida gasometria arterial em ar ambiente e monitorizava-se freqüência respiratória (f, freqüência cardíaca (FC e pressão arterial (PA. Os mesmos parâmetros eram avaliados após oxigenoterapia via máscara facial aberta e com máscara facial de CPAP usando PEEP de 5cm H2O. RESULTADOS. Com o uso de CPAP através de máscara nasofacial, houve melhora significativa dos níveis de PaO2 e diminuição da freqüência respiratória (p<0,05, quando comparados aos valores em ar ambiente e com máscara facial aberta. CONCLUSÃO. Este trabalho permitiu concluir que a máscara facial de CPAP com 5cm H2O foi eficiente em melhorar a oxigenação arterial e diminuir a freqüência respiratória dos pacientes com insuficiência respiratória aguda, proporcionando-lhes maior conforto, constituindo uma medida terapêutica capaz de evitar o suporte ventilatório invasivo.

MODELAMIENTO DE LA CINÉTICA DE BIOADSORCIÓN DE Cr (III USANDO CÁSCARA DE NARANJA

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MARTHA LUCIA PINZÓN-BEDOYA

2009-01-01

Full Text Available En este trabajo se utilizó como material bioadsorbente cáscara naranja con el fin de remover iones cromo presentes en soluciones hipotéticas diluidas, utilizadas como modelo de aguas contaminadas con bajas concentraciones de este metal. Las condiciones de operación utilizadas fueron: relación sólido/líquido 4 g/l, tamaño de partícula ??0,425 mm, concentración inicial de disolución de Cr(III 100 mg/l, tiempo de contacto 60 h y pH constante (4 y 5. Los modelos cinéticos escogidos para identificar el mecanismo de reacción del proceso de bioadsorción usando cáscara de naranja fueron: primer orden reversible, pseudo- segundoorden, Elovich y difusión intraparticular. Los resultados indican que la ecuación de Elovich proporciona mayor exactitud en el ajuste de los datos experimentales del equilibrio a este modelo cinético. La bondad del ajuste de los datos se realizó por regresión no-lineal utilizando como criterio la minimización de la función objeto suma de los cuadrados del error, SCE, haciendo uso de la herramienta matemática MATLAB.

PRODUCCIÓN DE TOMATE DE CÁSCARA (Physalis ixocarpa Brot. BASADO EN LÁMINAS DE RIEGO Y ACOLCHADO PLÁSTICO

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R. López-López

2009-01-01

Full Text Available Entre los principales problemas que limitan el incremento de la producción y la productividad del cultivo de tomate de cáscara, están la disponibilidad y el alto costo del agua de riego, además del uso y manejo ineficiente de este recurso. Los sistemas actuales de producción de tomate de cáscara, tienen baja eficiencia productiva, entre otras causas, porque aplican altos volúmenes de agua por hectárea. En este contexto, se evaluó el efecto de diferentes láminas de riego y acolchado plástico en la producción del cultivo de tomate de cáscara en un sistema de fertirriego y optimizar el agua de riego para mejorar la productividad del cultivo. El diseño experimental fue completamente al azar con tres repeticiones con arreglo de tratamientos factorial 5 x 2, cinco niveles de lámina de riego: 40, 60, 80, 100 y 120 %, de la evapotranspiración de referencia (ET0 calculada con el método de Penman-Monteith y dos niveles sin y con acolchado plástico. Los resultados indican que existen diferencias significativas entre los tratamientos con acolchado plástico y láminas de riego tanto para el rendimiento de frutos como en la productividad del agua. El acolchado plástico incrementó en promedio 56 % el rendimiento de frutos y 57 % la eficiencia del agua de riego al reducir un 60 % la lámina de riego calculada por el método de Penman-Monteith.

Disfunção temporária do nervo lingual após uso de máscara laríngea: relato de caso Disfunción temporal del nervio lingual trás del uso de máscara laríngea: relato de caso Temporary lingual nerve dysfunction following the use of the laryngeal mask airway: report

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Hugo Eckener Dantas de Pereira Cardoso

2007-08-01

Full Text Available JUSTIFICATIVA E OBJETIVOS: A máscara laríngea tem sido utilizada com freqüência em Anestesiologia. O emprego dessa técnica, embora esteja relacionado com um menor número de complicações quando comparado com a cânula traqueal, não é isento de morbidade, principalmente, nos casos de via aérea difícil. O objetivo desse relato foi apresentar um caso de lesão unilateral de nervo lingual após o uso da máscara laríngea. RELATO DO CASO: Paciente do sexo feminino foi submetida à intervenção cirúrgica para troca de prótese mamária bilateral, sob anestesia geral balanceada, com máscara laríngea de tamanho 3. O volume aplicado para insuflação do balonete foi de 30 mL de ar. Após a primeira hora do pós-operatório, iniciou quadro de dormência e dor na garganta e nos dois terços posteriores da língua que evoluiu em 24 horas com perda da percepção do sabor dos alimentos. A suspeita diagnóstica foi de neuropraxia do nervo lingual pelo uso de máscara laríngea. Esse quadro se manteve por três semanas, período em que se obteve resolução dos sintomas. CONCLUSÃO: Complicações após o uso de máscara laríngea, apesar de raras, podem ocorrer. A neuropraxia do nervo lingual é uma delas. O seu diagnóstico é clínico, e a sua evolução, favorável, com resolução dos sintomas em semanas ou meses.JUSTIFICATIVA Y OBJETIVOS: La máscara laríngea ha sido utilizada con frecuencia en Anestesiología. El empleo de esa técnica, aunque esté relacionada a un menor número de complicaciones cuando se le compara a la cánula traqueal, no está exento de morbidez, principalmente en los casos de vía aérea difícil. El objetivo de este relato fue presentar un caso de lesión unilateral de nervio lingual trás del uso de la máscara laríngea. RELATO DEL CASO: Paciente del sexo femenino, sometida a intervención quirúrgica para cambio de prótesis mamaria bilateral, bajo anestesia general balanceada, con máscara laríngea de tama

Evaluación de la producción de leche en bovinos alimentados con cáscara de banano maduro

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Dr. Andrea Castro Guevara

2018-04-01

Full Text Available El objetivo del trabajo es evaluar la inclusión de cáscara de banano maduro como alternativa para reemplazar el banano verde en la alimentación de bovinos de aptitud lechera. La investigación consiste en llevar un registro del parámetro de producción de leche, en el grupo de tratamiento y en el grupo control, durante 61 días. Fueron registrados el código, edad del animal, fecha del último parto, la producción promedio de leche por vaca y los días de lactancia por vaca. Estos datos fueron registrados individualmente de los 36 bovinos en estudio. Posteriormente se distribuyeron los animales en dos grupos homogéneos, mediante una prueba para muestras independientes, en la que se encontró que no existen diferencias significativas entre los dos grupos, identificándose como grupo 1 (testigo o control y grupo 2 (tratamiento con cáscara de banano. La cáscara de banano maduro fue adquirida por la intervención de la Empresa Ecuatoriana CONFOCO S.A. La alimentación se basó en pastoreo por un tiempo de cinco horas y la ración en los corrales, la fórmula balanceada que se empleó en las raciones de los animales estuvo conformado por palmiste 47.0 Kg, gallinaza 9.0 Kg, caramelo de banano 34.4 Kg, raquis 331.8 Kg, Carbonato de calcio 10.8 Kg y sal común 2.7 Kg. Adicionalmente al grupo control se le agregaron 222.4 Kg de banano verde y al grupo experimental se le agregó 204.17 Kg de cáscara de banano maduro. La mezcla fue distribuida una vez al día a las 16h 00 en el compartimento de cada grupo. Dentro de los resultados se observa que ambos grupos, presentaron una producción de leche sin diferencias significativas (p>0.05 durante los 61 días de experimentación. La media de la producción que se obtuvo fue de 7.78 Kg para el grupo control y 7.70 Kg para el grupo experimental. Palabras clave: Alternativas nutricionales, ganadería, lactancia, residuos agroindustriales.

Reduzir-se a nada: articulações entre o masoquismo, o feminino e a máscara

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Carolina Nassau Ribeiro

2012-01-01

Full Text Available O artigo demonstra que o feminino não possui uma característica masoquista que lhe seja inerente. O suposto masoquismo feminino seria uma das máscaras utilizadas pelo feminino tanto para localizar-se como mulher como para atrair o desejo de um homem. Concluímos, porém, que existem parcerias tão devastadoras que podem reduzir o sujeito a nada.

RELACIÓN ENTRE PARÁMETROS TEXTURALES Y ENERGÉTICOS DE MONOLITOS DE CARBÓN ACTIVADO A PARTIR DE CÁSCARA DE COCO

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Diana Paola Vargas

2010-03-01

Full Text Available Se realizaron comparaciones entre las características estructurales y parámetros energéticos de cinco muestras de monolitos de carbón activado tipo disco, obtenidos a partir de cáscara de coco, mediante activación química con ácido fosfórico con diferentes concentraciones. Las muestras se caracterizaron por adsorción física de N2 a 77K, CO2 a 273 K, y calorimetrías de inmersión en benceno. A partir de los datos obtenidos, se calcularon volúmenes de microporo, mesoporo, microporosidad estrecha y parámetros energéticos de la entalpía de inmersión, K del modelo Langmuir y Energías características, Eo, del modelo Dubinin Radushkevich. Los resultados experimentales indicaron que la activación con ácido fosfórico produce desarrollo de microporosidad, con un volumen de microporo entre 0,36 y 0,45 cm3g-1, área BET entre 975 y 1320 m2g-1 y entalpías de inmersión entre 112,9 y 147,7 Jg-1. Se encontró que a mayor área BET, existe una mayor entalpía de inmersión en benceno, una menor energía característica y un menor valor de K.

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

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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.

Estudo de analgesia tópica pós-peeling facial profundo utilizando máscara a base de água, gel e óleo de melaleuca em comparação com o uso de máscara umedecida em soro fisiológico no Conjunto Hospitalar de Sorocaba

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Hamilton Aleardo Gonella

2016-10-01

Full Text Available INTRODUÇÃO: O peeling químico profundo é um procedimento que proporciona a esfoliação controlada da epiderme e derme com posterior renovação celular. Promove a normalização da pigmentação da pele, atenua cicatrizes, manchas, além de minimizar rugas finas. OBJETIVOS: Nosso objetivo foi observar se ocorre uma melhora da dor pós procedimento do peeling ao utilizar uma máscara a base de água deionizada, deionizada, gel alimentar e óleo de melaleuca, o Water Jel® , um material que já é utilizado em ferimentos por queimadura com relatos de parar a progressão da queimadura, alívio da dor e prevenção de injúrias ao ao resfriar a lesão e atuar como inibidor da resposta inflamatória local. JUSTIFICATIVA: Muitos pacientes deixam de propiciar melhoramento da aparecia da pele danificada por fatores extrínsecos e intrínsecos devido ao estigma da algia pós-peeling. Dessa forma, com a analgesia adequada os benefícios do peeling serão sentidos e apreciados pelo paciente com maior aceitação. METODOLOGIA: A seleção para as candidatas à realização do procedimento foi feita através da Classificação de Fitzpatrick (apenas fototipo tipo I e II selecionadas. As pacientes passavam por preparação da pele com uma aplicação prévia de hidroquinona (pelo menos 3 semanas antes do procedimento. Após o peeling, a algia foi avaliada por uma escala numérica e facial a partir de uma comparação entre hemifaces direita e esquerda, uma coberta com a mascara de Water Jel®, outra com a mesma mascara umedecida em soro, sem os princípios ativos do produto estudado,logo após a realização do peeling de Acido Tricloroacético. A paciente não sabia em qual hemiface cada máscara foi manipulada. O estudo foi realizado em 17 pacientes. RESULTADOS: A análise estatística pelo Teste de Wilcoxon não identificou diferença significativa entre as hemifaces esquerda e direita, uma vez que as médias das notas foram similares em ambas escalas.

Determinación del coeficiente global de transferencia de calor en secaderos rotativos de cáscara de limón Determination of global heat transfer coefficient in lemon peel rotary dryers

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Marcos A. Golato

2005-12-01

Full Text Available En la bibliografía consultada no se encontraron trabajos de secado de cáscara de limón en secaderos rotativos. Se realizaron ensayos de medición en secaderos rotativos de cáscara de limón en una instalación agroindustrial del noroeste argentino. Se desarrolló un modelo matemático semiempírico mediante la resolución de los balances de materia y energía. Se obtuvo una correlación estadística para la predicción de los coeficientes globales volumétricos de transferencia de calor aparentes para secaderos rotativos de cáscara de limón.No papers on lemon peel drying in rotary dryers were actually found in the sources consulted. Measurement tests were carried out in the assessment of rotary dryer systems used to dehydrate lemon peel in an agroindustrial plant of Northwestern Argentina. A semiempirical mathematic model was developed solving mass and energy balances. A statistical correlation for predicting global heat transfer coefficient in rotary dryer lemon peel dehydration was obtained.

Impacto do acoplamento de máscara facial sobre a oxigenação

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Gregori, Waldemar Montoya de; Mathias, Lígia Andrade da Silva Telles; Piccinini Filho, Luiz; Pena, Ernesto Leonardo de Carpio; Vicuna, Aníbal Heberto Mora; Vieira, Joaquim Edson

2005-01-01

JUSTIFICATIVA E OBJETIVOS: As diferentes técnicas de oxigenação existentes têm o objetivo de produzir desnitrogenização prévia ao período de apnéia durante a indução. A principal razão em que a concentração inspirada de oxigênio (CIO2) não atinge 100% é a falta de acoplamento adequado da máscara facial, permitindo a entrada de ar ambiente. Embora os anestesiologistas conheçam este princípio, nem todos o aplicam corretamente, facilitando a entrada de ar no fluxo de gases frescos (FGF) e, conse...

ADSORCIÓN DE CROMO HEXAVALENTE EN LA CÁSCARA DE ARROZ MODIFICADA QUÍMICAMENTE

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Nancy Eggs; Susana Salvarezza; Ricardo Azario; Nicolás Fernández; María del C. García

2012-01-01

El objetivo del presente estudio fue analizar los factores cinéticos que afectan la adsorción de cromo (VI) en solución empleando como bioadsorbente la cáscara de arroz modificada químicamente, con hidróxido de potasio 1% m/m o con ácido fosfórico 1M. Se estudió la adsorción de cromo (VI) considerando los siguientes parámetros pH, tiempo de incubación, masa del bioadsorbente y concentración inicial del tóxico. La determinación de cromo hexavalente y total se realizó por el método de la difeni...

MODELAMIENTO DE LA CINÉTICA DE BIOADSORCIÓN DE Cr (III) USANDO CÁSCARA DE NARANJA

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MARTHA LUCIA PINZÓN-BEDOYA; LUZ ESTELLA VERA VILLAMIZAR

2009-01-01

En este trabajo se utilizó como material bioadsorbente cáscara naranja con el fin de remover iones cromo presentes en soluciones hipotéticas diluidas, utilizadas como modelo de aguas contaminadas con bajas concentraciones de este metal. Las condiciones de operación utilizadas fueron: relación sólido/líquido 4 g/l, tamaño de partícula ??0,425 mm, concentración inicial de disolución de Cr(III) 100 mg/l, tiempo de contacto 60 h y pH constante (4 y 5). Los modelos cinéticos escogidos para identif...

La máscara arquitectónica en Andalucía.

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Pedro A. Galera Andreu

2013-01-01

Full Text Available La máscara o mascarón, constituye un recurso usual en la arquitectura occidental desde el Mundo Antiguo, que resucita con especial énfasis a partir del Renacimiento, en virtud de la cultura del Humanismo, y que en el campo de la arquitectura se convierte en piedra de toque para confrontar el valor de la naturaleza con la artificiosidad de la arquitectura. Tema central de la teoría y práctica arquitectónica en Italia, Andalucía será, dentro de España, región privilegiada en su utilización por los estrechos contactos con la península itálica a través de la temprana importación de obras, la presencia de artistas italianos y de españoles que visitaron el país vecino, además de la circulación de estampas, en un uso continuado desde el siglo XVI al XVIII.

Impacto do acoplamento de máscara facial sobre a oxigenação Impacto del acoplamiento de la máscara facial sobre la oxigenación Oxygenation: the impact of face mask coupling

OpenAIRE

Waldemar Montoya de Gregori; Lígia Andrade da Silva Telles Mathias; Luiz Piccinini Filho; Ernesto Leonardo de Carpio Pena; Aníbal Heberto Mora Vicuna; Joaquim Edson Vieira

2005-01-01

JUSTIFICATIVA E OBJETIVOS: As diferentes técnicas de oxigenação existentes têm o objetivo de produzir desnitrogenização prévia ao período de apnéia durante a indução. A principal razão em que a concentração inspirada de oxigênio (CIO2) não atinge 100% é a falta de acoplamento adequado da máscara facial, permitindo a entrada de ar ambiente. Embora os anestesiologistas conheçam este princípio, nem todos o aplicam corretamente, facilitando a entrada de ar no fluxo de gases frescos (FGF) e, conse...

Robots Móviles con Orugas Historia, Modelado, Localización y Control

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Ramón González

2015-01-01

Full Text Available Resumen: Uno de los campos de aplicación más significativos de la robótica móvil consiste en robots capaces de operar en condiciones exteriores sobre terrenos no preparados (robots planetarios, robots en agricultura, robot en operaciones de búsqueda y rescate, robots militares, etc.. Sin embargo, conseguir que los robots se muevan de forma eficiente y precisa en este tipo de entornos no es una tarea sencilla. Un primer aspecto crítico es el sistema de locomoción. En este caso, las orugas constituyen una alternativa sólida a otro tipo de sistemas y desde principios del siglo XX han demostrado sus bondades en vehículos tripulados. En este artículo se motiva y se demuestra mediante pruebas reales la idoneidad de este tipo de locomoción para robots móviles en terrenos no preparados. Es importante remarcar que este artículo pretende ser un resumen extendido del libro recientemente publicado por los autores “Autonomous Tracked Robots in Planar Off-Road Conditions” (González et al., 2014, y, por lo tanto, no pretende ser una contribución original. Inicialmente se presenta una perspectiva histórica de los vehículos y los robots con orugas. Posteriormente se discuten los aspectos de modelado con especial mención al fenomeno del deslizamiento. A continuación, se analizan varias estrategias de localización, en particular, la odometria visual. También se analiza el aspecto del control de navegación, para ello se analizan varias estrategias con compensación del deslizamiento. Finalmente se expresan las conclusiones del trabajo en base a la experiencia de los autores en este campo. Abstract: One of the most significant research field in mobile robotics deals with robots operating in off-road conditions (planetary rovers, agriculture robots, search and rescue operations, military robots, etc.. However, obtaining a successful result is not an easy task. One primary point is the

Modelo cinematico del mini robot movil Ricimaf

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Abelardo del Pozo Quintero

2012-12-01

Full Text Available El presente trabajo describe el modelo dinámico del mini robot móvil construido en el Icimaf, cuya  tracción se logra mediante dos motores de paso acoplados a dos ruedas plásticas forradas con una capa de goma para facilitar su  movimiento y una pequeña rueda direccional. Se elabora la estructura jacobiana necesaria para el desarrollo del modelo dinámico. Se incluye el análisis de un rasgo especial de estos robots, que  es su naturaleza no holonómica, en contraste  con los robots manipuladores, lo que da lugar a un tipo de restricción del movimiento. La elaboración del modelo dinámico originó el empleo de los multiplicadores de Lagrange. Para la obtención de las ecuaciones dinámicas se emplea el método de Euler-Lagrange

Estudio del uso de robots industriales como asistentes en operaciones de laparoscopia

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Bernardo Efraín Garcés

2009-01-01

Full Text Available Este artículo presenta un estudio sobre el uso de los robots industriales como asistentes en operaciones de laparoscopia. Se presenta un resumen sobre la laparoscopia como método quirúrgico así como de esta intervención asistida por robots. Se aborda de manera particular el problema del paso por el orificio abdominal (trocar por donde se introducen los instrumentos quirúrgicos. Este problema es resuelto a través de un algoritmo de optimización que entrega las trayectorias que deben seguir las articulaciones del codo y la muñeca de un robot antropomórfico. Se estudian dos robots industriales (Puma de Unimation y PA10 de Mitsubishi y se evalúan en simulación sus respectivos desempeños como posibles asistentes en operaciones de este tipo.

Compatibilidad sexual entre dos tipos de Hylocerus (Cactaceae

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Roberta Castillo M

2003-09-01

Full Text Available Dos de los tipos de pitahaya mas cultivados en la Península de Yucatán, México, difieren principalmente por el color de su cáscara, el primero es de color rojo (Uqroo1, perteneciente a Hylocereus undatus, mientras que en el segundo es color amarillo claro (Uqroo2, hasta el momento también identificado como H. undatus; este último es mas dulce. En ambos tipos de pitahayas, se realizaron autopolinizaciones y polinizaciones cruzadas directas y recíprocas, con el propósito de evaluar el efecto en la cantidad de frutos que lograron su desarrollo. Se midieron algunas variables para detectar la influencia del progenitor paterno en algunas características del fruto. Los testigos se obtuvieron de flores polinizadas libremente. El diseño experimental utilizado fue completamente al azar, con 15 repeticiones por tratamiento. Se encontró que Uqroo1 es autocompatible, mientras que Uqroo2 es autoincompatible. Los testigos de ambos tipos alcanzaron el mismo peso, y los frutos de Uqroo2 logrados por polinización cruzada tuvieron un peso similar al de los testigos o fueron significativamente mas pesados. Algunas variables resultaron positivamente correlacionados; el coeficiente entre el número de semillas y el peso total del fruto fue de r = 0.84. La correlación mas alta (r = 0.97 resultó entre el peso total y el peso de la pulpa. En los frutos obtenidos por polinización cruzada prevalecieron las características del progenitor materno. Se recomienda cultivar la Pitahaya blanca con otro tipo de pitahaya, además de Uqroo1There are two types of pitahaya that are cultivated in Yucatan Peninsula of Mexico. They differ mainly in the skin color of the fruit, one of them has a red skin (Uqroo1, while the other has a light yellow skin (Uqroo2 both belong to Hylocereus undatus (Haworth Britt. & Rose. The yellow skin pitahaya is the sweetest. The studies were conducted using the methods of self pollination and cross pollination, with direct crosses and

BIOSORCIÓN DE Cd, Pb y Zn POR BIOMASA PRETRATADA DE ALGAS ROJAS, CÁSCARA DE NARANJA Y TUNA

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Lissette Vizcaíno Mendoza

2015-01-01

Full Text Available Debido a su movilidad en los ecosistemas y a su toxicidad para las formas superiores de vida,los metales pesados Cd, Pb y Zn son priorizados como unos de los contaminantes inorgánicosmás importantes debido al alto riesgo que representan para el medio ambiente. Con el objeto dedisminuir su concentración se diseñó un sistema para evaluar su remoción empleando biomasade algas rojas, cáscaras de naranja (Citrus sp. y tuna guajira (Opuntia sp.. Se estudió la influenciadel pretratamiento y el empaquetamiento mediante ensayos tipo batch, en los que se emplearonsoluciones de sodio y calcio. Se obtuvo como resultado una mayor capacidad de sorción de lasalgas modificadas con NaOH 0.1 N y de la naranja y la tuna con modificación sucesiva con NaOH yCaCl20.2 M, y una afección poco significativa (≤1% del proceso de sorción al empacar la biomasael placas planas de tul poliéster. La eficiencia de remoción se determinó mediante un reactor deflujo continuo de columna fija con un volumen líquido de 400 mL, 75 g de biomasa y tiemposde retención promedio de 1 y 2 h. Los resultados mostraron una eficiencia similar de las tresbiomasas para remover Cd y Pb, con promedios superiores al 95%, mientras que el Zn se removiócon mejor eficiencia (62% al emplear tuna modificada como sorbente. Finalmente, el materialse calcinó a 700 °C con lo que se obtuvo una ceniza estable frente a soluciones ácidas, lo cualgarantiza la captura de los metales removidos.

PROHEXADIONA-CA, UNA ALTERNATIVA EN LA PRODUCCIÓN DE TOMATE DE CÁSCARA (Physalis ixocarpa Brot.

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H. Ramírez

2010-01-01

Full Text Available El tomate de cáscara, por su superficie cultivada y su constante aumento en el consumo per capita, se considera una de las principales hortalizas en México. Se cultiva en cualquier región del país, aunque con una producción media nacional por debajo de su potencial. Prohexadiona de Ca (P-Ca, es un retardante del crecimiento señalado recientemente como una alternativa prometedora en la horticultura moderna, principalmente para mejorar la producción y calidad del producto cosechado. Con base en lo anterior, se evaluaron los efectos de P-Ca sobre el crecimiento vegetativo y productivo; así como las propiedades químicas del fruto en tomate de cáscara. Se realizaron dos aplicaciones de P-Ca a diferentes dosis (0, 125, 175 y 200 mg·litro-1. La primera se realizó cuando las plantas presentaron primordios florales y la segunda 20 días después. Con un diseño en bloques completos al azar y una comparación de medias con la prueba DMS a una P¿0.05, se demostró que P-Ca redujo significativamente la altura de la planta, aumentó notablemente el número de frutos, el rendimiento por planta (200 mg·litro-1, el contenido de vitamina C en frutos (175 y 200 mg·litro-1 y la actividad enzimática catalasa (175 mg·litro-1. Las variables de tamaño y peso de fruto, el contenido de proteína, la actividad enzimática peroxidasa y el contenido mineral en fruto no fueron afectados por P-Ca.

Estimacion de los parámetros cinéticos y tiempo de vida de la cáscara de arroz y arcilla mediante la técnica de análisis termogravimétrico (tga)

OpenAIRE

PINEDA GOMEZ, POSIDIA; BEDOYA HINCAPIÉ, CLAUDIA MILENA; ROSALES RIVERA, ANDRES

2011-01-01

La cáscara de arroz y la arcilla son materiales comúnmente usados en procesos agrícolas e industriales, por lo cual es de interés científico el estudio de la cinética de sus descomposiciones térmicas en diferentes atmósferas. En este trabajo se estimaron los parámetros cinéticos (energía de activación, orden de reacción y factor preexponencial) y el tiempo de vida que caracterizan el proceso de descomposición de la cáscara de arroz y la arcilla, mediante el uso de la técnica de análisis termo...

ESTIMACION DE LOS PARÁMETROS CINÉTICOS Y TIEMPO DE VIDA DE LA CÁSCARA DE ARROZ Y ARCILLA MEDIANTE LA TÉCNICA DE ANÁLISIS TERMOGRAVIMÉTRICO (TGA

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POSIDIA PINEDA GOMEZ

2011-01-01

Full Text Available La cáscara de arroz y la arcilla son materiales comúnmente usados en procesos agrícolas e industriales, por lo cual es de interés científico el estudio de la cinética de sus descomposiciones térmicas en diferentes atmósferas. En este trabajo se estimaron los parámetros cinéticos (energía de activación, orden de reacción y factor preexponencial y el tiempo de vida que caracterizan el proceso de descomposición de la cáscara de arroz y la arcilla, mediante el uso de la técnica de análisis termogravimétrico (TGA. Se usaron en ambos casos atmósferas de nitrógeno y aire exponiendo las muestras a un programa de temperatura controlada en un rango de temperatura ambiente hasta 800 ºC, con velocidad de calentamiento de 10 ºC/min. Para la determinación de los parámetros cinéticos se utilizó un método basado en la linealización de la ecuación de Arrhenius, cuya solución se obtuvo por medio del software StatGraphics Plus 5.1. Los resultados obtenidos en el caso de la cáscara de arroz, presentan parámetros cinéticos y tiempos de vida inferiores a los mostrados por la arcilla, indicando para esta última altadurabilidad y resistencia a la degradación.

Caracterización de un robot para aplicaciones de mecanizado con requerimientos de tolerancias

OpenAIRE

Ferreras Higuero, Eugenio

2014-01-01

El presente Trabajo fin Fin de Máster, versa sobre una caracterización preliminar del comportamiento de un robot de tipo industrial, configurado por 4 eslabones y 4 grados de libertad, y sometido a fuerzas de mecanizado en su extremo. El entorno de trabajo planteado es el de plantas de fabricación de piezas de aleaciones de aluminio para automoción. Este tipo de componentes parte de un primer proceso de fundición que saca la pieza en bruto. Para series medias y altas, en función de las pr...

Biosorción de Cd (II) y Pb (II) en columna de lecho fijo con cáscara de cacao

OpenAIRE

Vera, L.; Bermejo, D.; Uguña, M.F.; García, N.; Flores, M.; Brazales, D.

2018-01-01

En este trabajo se presentan los resultados de la biosorcion de Pb (II) y Cd (II) de aguas sintéticas con cáscara de cacao en columnas de lecho fijo. Los datos experimentales fueron ajustados a varios modelos que describen la curva de ruptura para sistemas monocomponentes y bicomponentes. Los porcentajes de remoción de plomo y cadmio en sistemas monocomponentes son 91% y 90% respectivamente. En sistemas bicomponentes Pb-Cd el porcentaje de remoción de plomo 88% y cadmio 90%. El modelo de Dosi...

APROVECHAMIENTO DE PULPA Y CÁSCARA DE PLÁTANO (Musa paradisiaca spp PARA LA OBTENCIÓN DE MALTODEXTRINA

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DIANA VICTORIA MELO-SABOGAL

Full Text Available Los subproductos de las cadenas agroindustriales constituyen alrededor del 90% de la parte del cultivo, por lo cual, establecer alternativas de aprovechamiento puede ser importantes para los productores. En este trabajo se evaluó el efecto del tratamiento enzimático sobre almidón obtenido de pulpa y cáscara de plátano (Musa paradisiaca spp. y se estableció el efecto de la temperatura de secado en almidón hidrolizado sobre propiedades químicas, físicas y reológicas. Se cuantificó la actividad de agua, el contenido de humedad y el contenido de dextrosa equivalente, azúcares reductores presentes en la maltodextrina por cromatografía líquida de alta eficacia; además se determinaron parámetros de color y reológicos. La hidrólisis enzimática presentó efecto significativo sobre la cantidad de dextrosa equivalente, permitió la obtención de maltotriosa, maltosa y glucosa, compuestos propios de maltodextrina, además, tuvo efecto sobre los parámetros reológicos, evidenciándose el cambio de la estructura del almidón. La temperatura de 130°C fue la que tuvo mayor efecto sobre las variables de actividad de agua, contenido de humedad y cambio de color. Lo anterior demuestra que es posible la obtención de maltodextrinas a partir de pulpa y cáscara de plátano por vía enzimática y secado por atomización a temperatura de 130°C.

Crescimento de genótipos de frangos tipo caipira

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R. C. Veloso

2015-10-01

Full Text Available RESUMOObjetivou-se com este trabalho comparar o padrão de crescimento, mediante ajustes das respectivas curvas de crescimento por modelos não lineares, bem como estudar o desenvolvimento de cortes de carcaça em relação ao peso da carcaça em diferentes genótipos de frangos tipo caipira. Foram utilizados 840 pintos de um dia, machos, distribuídos em delineamento inteiramente ao acaso, dos seguintes genótipos da linhagem Redbro: Caboclo, Carijó, Colorpak, Gigante Negro, Pesadão Vermelho, Pescoço Pelado e Tricolor. As aves foram alojadas em 28 boxes, sendo 30 aves/boxe, em galpão de alvenaria com acesso a um piquete de 45m², com quatro repetições. O peso corporal individual dos frangos foi medido ao nascer, aos 14, 28, 42, 56, 70 e 84 dias de idade. Para a determinação das curvas de crescimento do peso corporal das aves, os dados coletados foram avaliados por meio dos modelos não lineares: Brody, Gompertz, Logístico, Richards e von Bertalanffy. Foi empregado o PROC NLIN do SAS, utilizando-se o método interativo de Gauss-Newton. Os critérios usados para escolha do modelo de melhor ajuste da curva de crescimento foram o coeficiente de determinação, o desvio padrão assintótico, o desvio médio absoluto dos resíduos e o índice assintótico. As análises para obtenção dos coeficientes alométricos foram realizadas por meio do PROC GLM do SAS para os genótipos Carijó, Colorpak, Pesadão Vermelho, Pescoço Pelado e Tricolor. Foram avaliados os pesos da carcaça, do peito, das coxas, das sobrecoxas, das pernas e das asas das aves abatidas aos 85 dias de idade. Apenas as equações propostas por Gompertz, von Bertalanffy e Logístico atingiram a convergência, e o modelo proposto por von Bertalanffy foi o mais adequado para descrever o crescimento dos genótipos de frangos caipiras. Todos os cortes avaliados apresentaram crescimento tardio em relação ao peso da carcaça em genótipos de frangos tipo caipira.

Símbolos da resistência: A repressão aos movimentos sociais no Brasil e a proibição ao uso de máscaras em manifestações

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Ana Paula de Andrade Patrocinio

2017-12-01

Full Text Available O ponto de partida do presente trabalho foi a recente legislação, aprovada em 2014 no âmbito do estado de Minas Gerais, cujo objetivo era de proibir o uso de máscaras e adereços com semelhante função durante manifestações populares. Diante disso, buscou-se resgatar o histórico recente de repressão institucionalizada aos movimentos sociais no Brasil. Foram investigadas as possíveis causas para tanto e como procedem as agências governamentais em face de situações desta espécie. Assim, por meio de um estudo combinado da sociologia das manifestações e das ciências criminais, pretendeu-se buscar o discurso oculto por trás da máscara legislativa, evidenciando como uma legislação neste sentido pode vir a legitimar uma atuação política e antidemocrática do poder punitivo.

Antocianinas, ácido ascórbico, polifenoles totales y actividad antioxidante, en la cáscara de camu-camu (Myrciaria dubia (H.B.K McVaugh Antocianinas, ácido ascórbico, polifenóis totais e atividade antioxidante na casca do camu-camu (Myrciaria dubia (H.B.K McVaugh

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Juan Edson Villanueva-Tiburcio

2010-05-01

Full Text Available Este trabajo fue realizado en la UNAS, Tingo María, Perú. Los objetivos fueron evaluar el contenido de antocianinas, ácido ascórbico, y polifenoles totales, en la cáscara fresca y seca de camu-camu (Myrciaria dubia (H.B.K McVaugh en diferentes estados de madurez; evaluar la actividad antioxidante en la cáscara seca, usando diferentes tipos de radicales (DPPH, ABTS+ y Peroxilo y correlacionar el valor de ácido ascórbico y polifenoles totales con la actividad antioxidante. La extracción fue realizada en medio acuoso, y los resultados de las evaluaciones de cada experimento fueron analizados por un diseño completamente al azar (DCA, según la prueba de t-student (p A pesquisa foi realizada na UNAS em Tingo Maria, Peru, teve como objetivos: avaliar o teor de antocianinas, ácido ascórbico e polifenóis totais, na casca fresca e na casca seca do camu-camu (Myrciaria dubia (HBK McVaugh em diferentes tempos de maturação; avaliar a atividade antioxidante na casca seca utilizando diferentes tipos de radicais (DPPH, ABTS+ e Peroxilo e correlacionar o teor de ácido ascórbico e polifenóis totais com a atividade antioxidante. A extraç��o foi realizada em meio aquoso, os resultados das avaliações de cada experiência são analisados no delineamento inteiramente casualizado (DIC, pelo teste de t-student (p < 0,05. O extrato da casca da amostra madura fresca apresentou as concentrações mais elevadas de ácido ascórbico e de antocianinas em relação a meio madura e verde, com 21,95 mg.g-1 de casca e 46,42 mg.L-1 de cianidin-3-glucosídeo, respectivamente, enquanto que o extrato da casca seca meio madura apresentou o maior teor de ácido ascórbico em relação a madura e verde (53,49 mg.g-1 e de polifenóis totais: 7,70 mg Ác. Gálico/g. A maior atividade antioxidante foi encontrada no extrato da casca seca da amostra meio madura com IC50 = 46,20; 20,25 e 8,30 μg.mL-1, em comparação com DPPH radical, ABTS+ e Perox

Development of a fully automated high-resolution mechanical spray patternator

DEFF Research Database (Denmark)

Lund, Ivar; Cortsen, Jens; Sølvason, Dorthe

2012-01-01

Artiklen omhandler udviklingen af måleudstyr der kan analysere væskefordelingen fra sprøjtedyser. Måleudstyret er fuldautomatisk og består af en Scara robot, software til styring af robotten, analyseramme bestående af 1936 opsamlingsceller. Cellerne er octagonale og har en afstand mellem de modst...

Modelamiento de la cinética de bioadsorción de cr (iii) usando cáscara de naranja

OpenAIRE

PINZÓN BEDOYA, MARTHA LUCIA; VERA VILLAMIZAR, LUZ ESTELLA

2010-01-01

En este trabajo se utilizó como material bioadsorbente cáscara naranja con el fin de remover iones cromo presentes en soluciones hipotéticas diluidas, utilizadas como modelo de aguas contaminadas con bajas concentraciones de este metal. Las condiciones de operación utilizadas fueron: relación sólido/líquido 4 g/l, tamaño de partícula F£0,425 mm, concentración inicial de disolución de Cr(III) 100 mg/l, tiempo de contacto 60 h y pH constante (4 y 5). Los modelos cinéticos escogidos para identif...

Divergência genética entre genótipos de frangos tipo caipira

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R. C. Veloso

2015-10-01

Full Text Available RESUMOObjetivou-se com este trabalho verificar a divergência genética entre sete genótipos de frangos tipo caipira da linhagem Redbro utilizando as características de desempenho por meio de técnicas de análise multivariada. Foram utilizados 840 pintos de um dia, machos, distribuídos em delineamento inteiramente ao acaso, dos seguintes genótipos: Caboclo, Carijó, Colorpak, Gigante Negro, Pesadão Vermelho, Pescoço Pelado e Tricolor. Após a consistência dos dados, foram avaliadas as seguintes variáveis: ganho em peso médio diário, consumo de ração médio diário e conversão alimentar, para os períodos: 1 a 28, 1 a 56, 1 a 70 e 1 a 84 dias de idade; peso corporal ao nascimento, aos 28, 56, 70 e aos 84 dias de idade. O desempenho dos genótipos foi avaliado por meio da análise de variância multivariada e da função discriminante linear de Fisher, usando os testes do maior autovalor de Roy e da união-interseção de Roy para as comparações múltiplas. O estudo da divergência genética foi feito por meio da análise por variáveis canônicas e pelo método de otimização de Tocher. Os genótipos Caboclo e Gigante Negro apresentaram médias canônicas diferentes dos demais genótipos. As duas primeiras variáveis canônicas explicaram 97,41% da variação entre os genótipos. A divergência genética entre os genótipos avaliados permitiu a formação de quatro grupos com os seguintes genótipos: grupo 1 - Colorpak; grupo 2 - Pesadão Vermelho e Pescoço Pelado; grupo 3 - Carijó e Tricolor; e grupo 4 - Caboclo e Gigante Negro.

Síntesis y caracterización de monolitos de carbón activado utilizando como precursor cáscara de coco

OpenAIRE

Vargas Delgadillo, Diana; Giraldo-Gutierréz, Liliana; Ladino-Ospina, Yolanda; Moreno-Piraján, Juan

2009-01-01

Diferente series de monolitos de carbón activado fueron preparados por activación química de cáscara de coco con cloruro de zinc a diferentes concentraciones, sin el uso de ningún aglomerante. El paso de conformado por prensado fue introducido entre la impregnación con el agente químico y el tratamiento térmico. Las estructuras fueron caracterizadas por adsorción de N2 a 77 K, microscopia electrónica de barrido (SEM) y algunas series fueron también caracterizadas mediante calorimetría de inme...

Navegación de Robots Móviles en Entornos no Estructurados utilizando Álgebra Lineal

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Andrés Rosales

2009-04-01

Full Text Available Resumen: Este trabajo presenta un enfoque basado en la teoría del álgebra lineal, los métodos numéricos y una modificación al método de fuerza ficticia, para la navegación de robots móviles en entornos dinámicos. Para el diseño del controlador se utiliza el modelo dinámico de un robot móvil no holonómico tipo uniciclo. Trabajos anteriores a menudo ignoran la dinámica del robot, por lo que sufren de singularidades en sus algoritmos. Los resultados de simulación y experimentación confirman la factibilidad y efectividad del controlador propuesto, logrando que el robot sea capaz de adaptar su comportamiento al nivel del conocimiento disponible y navegar de manera segura en entornos no estructurados, mientras se minimiza el error de seguimiento. Palabras clave: álgebra lineal, evasión de obstáculos, fuerza ficticia, modelo dinámico, robot móvil

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

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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.

Manipulación autónoma multipropósito en el robot de servicios jaume-2

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Mario Prats

2008-04-01

Full Text Available Resumen: Este artículo presenta una arquitectura de control modular que permite realizar tareas de manipulación en entornos cotidianos a un robot diseñado para ello. Dicho robot integra una plataforma móvil, un brazo redundante articulado, y diferentes tipos de sensores incluyendo visión. Un control de impedancia velocidad/fuerza, que permite la ejecución de una gran variedad de tareas mediante el formalismo denominado TFF (i.e. Task Frame Formalism ha sido implementado de modo satisfactorio. Las distintas tareas son representadas como una red de habilidades básicas que son ejecutadas por el robot usando el control de impedancia. Diferentes mecanismos para la transición entre habilidades de acuerdo al estado perceptual del robot han sido definidos. La validez experimental de nuestro enfoque es demostrada mediante el Robot de Servicios de la UJI, Jaume-2, realizando una tarea cotidiana como es abrir una puerta. Finalmente, este nuevo marco es aplicado para progresar en la nueva versión del Robot Bibliotecario de la UJI, demostrando una gran habilidad en el modo en que el robot manipula libros. Palabras Clave: manipulación, arquitecturas de control, robótica de servicios

Control Servo-Visual de un Robot Manipulador Planar Basado en Pasividad

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Carlos Soria

2008-10-01

Full Text Available Resumen: En este trabajo se diseña un controlador servo visual basado en la propiedad de pasividad del sistema visual. Se propone un regulador con ganancias de control variables, de tal manera que se evita la saturación de los actuadores y al mismo tiempo presenta la capacidad de corregir errores de pequeña magnitud. Asimismo el diseno se hace tenieñdo en cuenta el desempeño L2, a fin de darle capacidad de seguimiento de objetos en movimiento, con un error de control pequeño. Se muestran resultados experimentales realizados en un robot manipulador industrial tipo planar para verificar el cumplimiento de los objetivos del controlador propuesto. Palabras Clave: robot manipulador industrial, control servo visual, control no lineal, pasividad

Entre a Identidade e a Máscara: um Estudo de “Três Máscaras” de José Régio

OpenAIRE

Madeira D'Ascensão, Maria

2013-01-01

"Três Máscaras” é uma peça de teatro da autoria de José Régio. Nesta, conforme o próprio título o sugere, sobressaem três personagens que sustentam disfarces num baile de máscaras. Na verdade, estas estão mascaradas das emblemáticas personagens Columbina, Pierrot e Mefistófeles que  à semelhança do que sucedia nas encenações da Commedia dell’arte em que se visava uma criação coletiva sujeita à inspiração do momento  fantasiam um diálogo e uma ação norteados pelo simbolismo do respetivo disf...

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

NARCIS (Netherlands)

Leenes, R.E.; Lucivero, F.

2015-01-01

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

Ultraestructura de la cáscara de huevos eclosionados y no eclosionados de Kinosternon angustipons (Testudinata: Kinosternidae

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R. Acuña-Mesén

2001-12-01

Full Text Available Se describe la ultraestructura de la cáscara de los huevos de Kinosternon angustipons y se compara con la de K. leucostomum y K. scorpioides. Esta investigación se realizó con cuatro huevos provenientes de tortugas en cautiverio, para una muestra de 30 secciones analizadas en el Microscopio Electrónico de Barrido. Está constituida por tres capas: la cutícula o externa, la calcárea o intermedia y la testácea o interna. La comparación entre huevos eclosionados y no eclosionados de K. angustipons muestra similitudes en cuanto a su superficie externa que es plana, unidades abanicadas y fibras proteicas superpuestas al azar. Los huevos no eclosionados se diferencian por la presencia de estructuras esponjoides y mayor porosidad externa. Los espacios con forma de punta de lanza y el adelgazamiento de las fibras proteicas son típicos en la capa calcárea y membrana testácea de los huevos eclosionados. La evidencia ultraestructural muestra que durante el desarrollo embrionario disminuye el grosor de la cáscara y, además que, la de los huevos no eclosionados de K. angustipons es más gruesa que la de los otros dos kinostérnidos costarricensesThe ultrastructure of eggshells of Kinosternon angustipons is described and compared with the ones of K. leucostomum and K. scorpioides. Four eggs from captive turtles (30 sections were studied with Scanning Electron Microscopy (SEM. The shell has three layers: cuticle or external, calcareous or intermediate and testacean or internal. Hatched and non hatched eggs have similar characteristics in their external surface: fanned units and proteic fibers superposed at random. They differ in the presence of spongelike structures and more external porosity in non hatched eggs. The intermediate and testacean layers of the hatched eggs have lance point like spaces and are thin in the proteic fibers. The ultrastructural evidence shows that during the embryonic development the thickness of the peel decreases. Non

Empleo de la cáscara de arroz en la fundición de piezas de acero al carbono//Using of rice husk in the carbon steel casting parts process

Directory of Open Access Journals (Sweden)

Juan Carlos Cruz-Pérez

2012-05-01

Full Text Available Los materiales auxiliares desempeñan un papel importante en el aumento de la eficiencia tecnológica del proceso de fundición de piezas de acero al carbono. En este artículo se exponen los primeros resultados del empleo de la cáscara de arroz como material termoaislante en la obtención de piezas fundidas de acero al carbono. En los experimentos se evaluó la influencia  de seis combinaciones de las variables espesor de pared del casquillo y capa de cobertura. En la confección de los casquillos se utilizó cáscara de arroz triturada, la que posteriormente fue aglutinada con silicato de sodio, apisonada y endurecida con CO2, mientras que la cobertura se utilizó sin procesamiento previo. El mayor nivel de entrega de acero se obtuvo al emplear un espesor de casquillo de 65 mm y una altura de cobertura de 85 mm. El valor del ASAF generado por las variantes experimentales resultó igual o inferior a 0,48. Palabras claves: casquillo termoaislante, polvo de cobertura, cáscara de arroz, acero fundido.______________________________________________________________________________ Abstract Feeding auxiliary materials perform a very important role in improves technological efficiency of carbon steel casting parts process. In this article are exposing the first results in the rice husk using as an insulating material in such process. The variables sleeve thickness and covering thickness’ influence were evaluated in six combinations by means of experiments. In sleeves preparation was used crushed rice husk, which was agglutinated with sodium silicate, compacted and hardened with CO2, meanwhile as covering it was uses without previous preparation. The mayor liquid steel delivering level was get employing 65 mm sleeve thickness and 85 mm covering thickness. The ASAF value generated for experimental variants was equal or inferior to 0.48. Key words: insulating sleeve, riser sleeve, hot topping, rice husk, steel cast.

Evaluación económica de cáscara de nuez como sustrato para producción de plántulas de Pinus patula Schl. et Cham. en vivero

Directory of Open Access Journals (Sweden)

O. Romero-Arenas

2013-01-01

Full Text Available Se evaluó la rentabilidad de un vivero forestal para la producción de plántulas de Pinus patula en la sustitución del sustrato turba, por la composta de cáscara de nuez de castilla en una superficie de 1,000 m2, ubicado en Zitlalcuautla Tetela de Ocampo, en el estado de Puebla. Se utilizaron los indicadores de evaluación económica: valor actual neto (van, relación beneficio- costo (B/C, relación beneficio-inversión neta (n/k y tasa interna de retorno (tir para realizar el análisis de rentabilidad. Los resultados obtenidos empleando cáscara de nuez, para un periodo de cinco años, fueron: van = 1,035,383.275, B/C = 1.662, N/K = 4.0 y TIR = 17.60. Con base en estos indicadores, se concluyó que el proyecto resulta viable desde el punto de vista económico y no se ve afectada la calidad de plántulas de Pinus patula. A los siete meses y medio, las plántulas que se desarrollaron en la mezcla testigo (peat moss® 33% + vermiculita 33% + agrolita 33% y el tratamiento 2 (cáscara de nuez 33% + vermiculita 33% + agrolita 33% presentaron valo- res similares en el índice de calidad de Dickson, para el testigo (0,25 g.cm-1, el tratamiento 2 (0,24 g.cm-1, los cuales no presentaron diferencias estadísticas. La rentabilidad del proyecto de inversión es excelente y el aprovechamiento del subproducto de la actividad agrícola del municipio de Tetela de Ocampo, presentan buenas perspectivas de comercialización y reducción de costos de producción en un 12% respecto al peat moss®, contribuyendo al sector productivo forestal de la región.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

Directory of Open Access Journals (Sweden)

Hooman Samani

2013-12-01

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

Monolitos de carbón activado a partir de cáscara de coco e impregnación con niquel y cobre

OpenAIRE

Giraldo, Liliana; Moreno-Piraján, J. C

2009-01-01

Una serie de diferentes monolitos de carbón activado fueron preparados a partir de cáscara de coco por medio de activación química con ácido fosfórico a diferentes concentraciones sin utilizar aglomerantes ni plastificantes. Al monolito que mayor área desarrolló se le impregnó vía húmeda con soluciones de Ni y Cu a diferentes relaciones molares. Las estructuras fueron caracterizadas por la adsorción de N2 a 77 K, y se exploró su morfología por medio de microscopía electrónica de barrido. Los ...

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

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

Robot vision for nuclear advanced robot

International Nuclear Information System (INIS)

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

1991-01-01

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

Bioadsorción de iones de plomo y cromo procedentes de aguas residuales utilizando la cáscara de la mandarina (Citrus Reticuata Var. Clementina)

OpenAIRE

Verdugo Vergara, José Francisco

2017-01-01

El presente trabajo tiene el objetivo de evaluar la capacidad de bioadsorción de plomo y cromo mediante la cáscara de la mandarina, la cual es considerada un residuo, con esta investigación lo que se desea es aprovechar este residuo, empleándolo como bioadsorbente en el tratamiento de las aguas residuales contaminadas con metales pesados. En los procesos de bioadsorción se variaron algunos parámetros. The objective of this work assignment is to evaluate the bioadsorption capacity of lead a...

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.

Control desacoplado de un actuador de rigidez variable para robots asistenciales

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J. Medina

2016-01-01

Full Text Available Resumen: Los actuadores de rigidez variable son dispositivos que permiten cambiar la posición y rigidez articular de un robot en forma simultánea. En los últimos años se han diseñado y desarrollado muchos dispositivos de este tipo, con la esperanza de favorecer la seguridad en la interacción humano-robot y mejorar el rendimiento dinámico de los robots. En este artículo se presenta el desarrollo de un controlador para un actuador de rigidez variable de configuración serie. La estrategia de control se basa en la linealización por realimentación y el ajuste de dos controladores lineales. Esta estrategia permite el seguimiento de referencias de posición y rigidez articular de forma simultánea y desacoplada. Además, se realizan simulaciones en las que se incorpora este dispositivo dentro del robot asistencial ASIBOT, a fin de evaluar el desempeño del controlador, los cambios en la dinámica del robot y las posibles ventajas que tendrá la inclusión del mismo a nivel de seguridad en la interacción física humano-robot. Abstract: The variable stiffness actuators are devices that change the position and stiffness of a robot simultaneously. In recent years have been designed and developed many devices of this type, hoping to ensure safety in human-robot interaction and improve the dynamic performance of robots. In this article, we present the control of a variable stiffness actuator with serial configuration. The control strategy is based on feedback linearization and adjustment of two linear controllers. This allows the control, independently, of the stiffness and the equilibrium position of the joint. Finally, the behavior of this device within the assistive robot ASIBOT, is simulated in order to assess: the controller performance, changes in the dynamics of the robot and possible advantages of a level of safety during physical interaction human-robot. Palabras clave: control de robot

Robotics

Science.gov (United States)

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

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

Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

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

2016-01-01

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

Caracterización de la Funcionalidad Tecnológica de una Fuente Rica en Fibra Dietaria Obtenida a partir de Cáscara de Plátano / Characterization of Technological Functionality of Dietary Fiber Rich Source Obtained from Plantain Peel

Directory of Open Access Journals (Sweden)

Alarcón García Miguel Ángel

2013-08-01

Full Text Available Resumen. Con el objetivo de obtener la fuente de fibra dietaria y realizar su caracterización, cáscaras de plátano verde (Musa AAB fueron sometidas a un proceso industrial que involucró etapas de selección, lavado, troceado, secado (hasta alcanzar una humedad final del 5% y molido. El proceso completo presentó un rendimiento de 2% en fuente de fibra de cáscara de plátano (FFCP. Se determinaron valores de fibra dietaria total (FDT; 46,79%, fibra dietaria soluble (FDS; 1,68% y fibra dietaria insoluble (FDI; 45,12%. El material resultante fue sometido al efecto de la temperatura utilizando 2 niveles (temperatura ambiente, 20 ºC, y temperatura de escaldado para productos cárnicos, 74 °C y bajo estas condiciones fue caracterizado en términos de capacidad de absorción de agua, capacidad de absorción de aceite, capacidad de retención de agua y capacidad de absorción de moléculas orgánicas; variables que no presentaron diferencias estadísticamente significativas, a excepción de la capacidad de absorción de aceite. Por lo anterior, puede concluirse que la FFCP corresponde a un recurso con aptitud para su inclusión en matrices alimenticias tipo cárnicas. / Abstract. Green plantain peels (Musa AAB were subjected to an industrial process involving selection, washing, chopping, drying (until reach a final moisture content of 5% and grounding steps with the aim of obtaining a source of dietary fiber and perform their characterization. The total process yield was 2% as a fiber source plantain peel (FSPP. Values for total dietary fiber (TDF; 46.79%, soluble dietary fiber (SDF; 1.68% and insoluble dietary fiber (IDF; 45.12% were determined. The resulting material was subjected to the effect of two levels of temperature(environmental temperature, 20 ºC, and scalding temperature, 74 °C for meat products. Under these conditions, the FSPP was characterized in terms of water absorption capacity, oil retention capacity, water holding capacity

MÓDULO CONDUCTUAL INMERSO EN UNA ARQUITECTURA DE CONTROL PARA SISTEMAS MULTI-ROBOTS

Directory of Open Access Journals (Sweden)

Ángel Eduardo Gil Pérez

2016-03-01

Full Text Available El presente trabajo describe el diseño de un módulo conductual para robots de propósito general, implementado en el marco de una arquitectura de control para sistemas multi-robots.El mismo está estructurado en cuatro capas: reactiva, cognitiva, social, y una capa transversal que gestiona un conjunto de emociones básicas, que afectan de forma directael comportamiento del robot y su disposición hacia la ejecución de las tareas y hacia la interrelación con los otros individuos del sistema (es decir, a las otras capas. El objetivo de la arquitectura es brindar una plataforma que facilite los procesos de auto-organización y emergencia del sistema.Se propone un modelo emocional, que toma en consideración cuatro emociones básicas y un estado neutro; esto con el fin de dotar a los robots de un factor adicional que influya en su funcionamiento, que puede ser determinante cuando estos enfrentan situaciones donde la incertidumbre se hace presente. De esta forma, se busca mejorar su proceso de toma de decisión y su adaptación a las dinámicas presentes en el entorno, en particular analizando la influencia de las emociones en sistemas de este tipo.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

OpenAIRE

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

2013-01-01

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

DINAMICA Y ESTADO ESTACIONARIO DE UN ROBOT MANIPULADOR EN EL DOMINIO FISICO

OpenAIRE

Padilla García, José Aarón

2012-01-01

En este trabajo de investigación se propone un procedimiento para determinar la respuesta de estado estacionario de un robot manipulador planar, el cual pertence a un tipo de sis- temas no lineales caracterizado por el producto de estados, mediante el modelado en Bond Graph con una causalidad derivativa (BGD) en los elementos almacenadores. Esta repre- sentación del sistema no tiene sentido físico, pero dentro del marco teórico del Bond Graph puede proporcionar información vali...

Robot Actors, Robot Dramaturgies

DEFF Research Database (Denmark)

Jochum, Elizabeth

This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

Formación de robots móviles mediante el uso de controladores

Directory of Open Access Journals (Sweden)

Adriana Riveros Guevara

2013-12-01

Full Text Available El manejo de sistemas multi-robots, ha adquirido gran atención en las últimas décadas, destacándose en aplicaciones tales como la elaboración de mapas, el transporte de objetos e incluso el rescate de personas. Teniendo en cuenta esta motivación, se realizó la búsqueda de trabajos que abordaron el tema, encontrando diferentes tipos de controladores aplicados a estos sistemas manteniendo la configuración líder-seguidor.

Máscaras a la deriva: acerca de la narrativa de Tomás de Mattos

Directory of Open Access Journals (Sweden)

José Manuel González Álvarez

2014-06-01

Full Text Available El presente artículo pretende indagar en aspectos estructurales y temáticos de la novela La fragata de las máscaras (1996 del narrador uruguayo Tomás de Mattos. Tomando como punto de partida el Benito Cereno de Herman Melville, De Mattos construye un texto denso y laberíntico que no desmerece la prosa del escritor norteamericano. Aprovechando los cabos sueltos dejados por Melville en Benito Cereno, el uruguayo osa reescribir el episodio del motín acaecido pero invirtiendo las voces y dando protagonismo a los esclavos. Erige así una novela sugestiva en su planteamiento y compleja en su estructura, con un auténtico homenaje a la noción de transtextualidad en sentido lato, acuñada por Gérard Genette; intertextos, paratextos e hipertextos y continuas puestas en abismo se entrecruzan para conformar una novela polifónica pero no por ello estrictamente posmoderna, si nos atenemos al pensamiento del autor, muy distante del descreimiento que gobierna otros textos de la nueva novela histórica uruguaya coetáneos al que aquí analizamos.

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

NARCIS (Netherlands)

Coeckelbergh, Mark

2011-01-01

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

Exploratorium: Robots.

Science.gov (United States)

Brand, Judith, Ed.

2002-01-01

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

Robots como ferramenta pedagógica nos primeiros anos a aprendizagem como participação

Directory of Open Access Journals (Sweden)

SÓNIA MATILDE PINTO CORREIA MARTINS

2015-01-01

Full Text Available El presente artículo describe y analiza un proyecto realizado con dos grados del 1er ciclo de enseñanza básica en Portugal (2doy 3er grado que trabajaron en conjunto con robots, tomando el aprendizaje como un fenómeno intrín-secamente relacionado a la participación en comunidades de práctica (Lave, 1996; Lave; Wenger, 1991. Se pretende caracterizar a los participantes, a la metodología de trabajo implementada, describirlos artefactos utilizados (robots y escritura de una historia y analizar la relación de los participantes con los robots, así como los patrones de participación que se relevaron con este tipo de trabajo. Se busca enfatizar e las contribuciones derivadas de la participación en ambientes sociales digitales para el aprendizaje de los alumnos, como la participación y la negociación conjunta de significados, la importancia de que los robots y la historia hayan sido “construidos” por los alumnos y la existencia de un repertorio compartido y un emprendi-miento conjunto.

Robotics

International Nuclear Information System (INIS)

Scheide, A.W.

1983-01-01

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

Estereótipos e mulheres na cultura marroquina

OpenAIRE

Sadiqi,Fatima

2008-01-01

Estereótipos sobre as mulheres no Marrocos podem ser caracterizados como crenças culturais incompletas e inexatas mantidas por algumas pessoas e que se encontram inscritos em expressões lingüísticas ou em discursos subliminares. A cultura popular marroquina emprega representações poderosas para transmitir e sustentar tais estereótipos. Embora existam alguns estereótipos positivos, a maioria dos estereótipos sobre as mulheres no Marrocos é negativa e reflete ditames patriarcais subliminares qu...

Diseño de un laboratorio remoto de robots y procesos de manufactura industriales

Directory of Open Access Journals (Sweden)

Rafael Castillo Ortega

2013-12-01

Full Text Available El presente artículo aborda el diseño de un Laboratorio Remoto de Robots y Procesos de Manufactura Industriales. Primero se presenta el estado del arte y después se expone una propuesta que consiste en acceder por software al escritorio remoto de las PC que controlan dichos dispositivos y también acceder por hardware a un dispositivo diseñado para manipular el Teach pendant (consola de programación de los robots industriales para su programación sin modificar tanto el software propietario como el hardware original de cada equipo. Se utilizó un servidor web tipo LAMP programado con software libre para la administración del uso de los equipos; la retroalimentación de los usuarios remotos se realizó mediante monitoreo con cámaras IP.

CARACTERIZAÇÃO PÓS-COLHEITA E SENSORIAL DE GENÓTIPOS DE BANANEIRAS TIPO PRATA

Directory of Open Access Journals (Sweden)

ARIANE CASTRICINI

2015-03-01

Full Text Available RESUMO O norte de Minas Gerais é grande produtor de banana ‘Prata-Anã’ irrigada, cultura altamente suscetível ao Mal-do-Panamá. O uso de genótipos resistentes é uma alternativa, mas os frutos devem apresentar características pós-colheita o mais próximo possível da ‘Prata-Anã’, para melhor aceitação pelos consumidores. O objetivo do trabalho foi caracterizar frutos em pós-colheita, identificar a preferência e a intenção de compra de diferentes genótipos de bananeira tipo Prata. Os genótipos Prata-Anã, BRS Platina e Fhia-18. foram caracterizados no ponto de colheita (verdes e maduros (estádio seis de maturação, por avaliações químicas, físicas e sensoriais. Quando verde, ‘BRS Platina’ apresentou maior massa fresca e tamanho que ‘Fhia-18’ e ‘Prata-Anã’. ‘Fhia-18.’ teve a tonalidade verde da casca mais intensa que a dos demais genótipos. Madura, ‘BRS Platina’ foi mais firme, mas com a mesma resistência ao despencamento que ‘Fhia-18’ e superior à ‘Prata-Anã’. ‘Fhia-18’ apresentou cor da casca com amarelo mais clara e tão brilhante quanto da ‘Prata-Anã’, mas ‘BRS Platina’ teve a tonalidade de amarelo mais intensa. Bananas ‘Fhia-18’ foram mais ácidas, ‘BRS Platina’, com menor acidez titulável, e ‘Prata-Anã’, o maior teor de sólidos solúveis. Os genótipos Prata-Anã e BRS Platina tiveram maior preferência e intenção de compra pelos consumidores, sendo as bananas ‘Prata-Anã’ em dedos e ‘BRS Platina’ e ‘Fhia-18’ em dedos, buquê e penca, as mais preferidas. Entretanto, a maioria compraria bananas ‘Prata-Anã’ em buquê e ‘BRS Platina’ e ‘Fhia-18’ em penca. Enquanto verdes, os genótipos foram semelhantes à ‘Prata-Anã’, e maiores diferenças químicas e físicas ocorreram quando maduros.

Evaluación de la actividad antioxidante de la pulpa, cáscara y semilla del fruto del camu camu (Myrciaria dubia H.B.K.)

OpenAIRE

Sotero Solis, Víctor; Silva Doza, Luz; García de Sotero, Dora; Imán Correa, Sixto

2009-01-01

El camu camu es una especie nativa de la Amazonía y el interés por su fruto radica en su alta concentración de ácido ascórbico. En el presente estudio se realizó la determinación de la actividad antioxidante de la pulpa, cáscara y semilla del camu camu colectado en el banco de Germoplasma del INIA-Loreto. Se realizó la evaluación de la actividad antioxidante, mediante el secuestro de radicales libres del DPPH. Se determinó la concentración de compuestos fenólicos y ácido ascórbico, mediante e...

Towards Versatile Robots Through Open Heterogeneous Modular Robots

DEFF Research Database (Denmark)

Lyder, Andreas

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

Reflexão teórica sobre a utilização da dança e da máscara no Sociodrama Moreniano com adolescentes em situação de crise

Directory of Open Access Journals (Sweden)

Ana Cláudia A Valladares

2005-04-01

Full Text Available A adolescência é uma fase do desenvolvimento humano, um período evolutivo de transição entre a infância e a vida adulta. É um momento de definições de “identidade” sujeito à instabilidade psíquica. Este trabalho tem como objetivo propor uma reflexão sobre o sociodrama com o uso de confecção de máscaras e o uso da dança, bem como sua aplicação junto a alunos adolescentes em situação de crise, mais especificamente, aqueles recém ingressos no curso de graduação em Enfermagem de Universidades públicas. Foram realizadas retirei a palavra extensiva buscas em livros, dissertações, teses e artigos de revistas científicas. De posse do material, foi procedida a leitura; a seguir foram elaboradas as sínteses, descrições, reflexões e articulações entre os temas abordados. Tal busca confirmou que as atividades sociodramáticas, associada à dança e à máscara, desenvolvem a expressão e a imaginação espontânea, descarregam tensões e ainda exteriorizam alegrias, temores e fantasias.

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

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

TIPOS DE DISCURSO

OpenAIRE

Garcia, Afrânio; UERJ

2012-01-01

O professor Adilson Citelli, em seu excelente livro Linguageme persuasão, apresenta cinco tipos de discurso:§ discurso dominante§ discurso autorizado§ discurso polêmico,§ discurso lúdico§ discurso autoritário.

Robot engineering

Energy Technology Data Exchange (ETDEWEB)

Jung, Seul

2006-02-15

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

Robot engineering

International Nuclear Information System (INIS)

Jung, Seul

2006-02-01

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

AS MÁSCARAS DA POBREZA: O CRACK COMO MECANISMO DE EXCLUSÃO SOCIAL

Directory of Open Access Journals (Sweden)

Manoel de Lima Acioli Neto

2016-05-01

Full Text Available O objetivo desse estudo foi analisar as representações sociais das drogas e seus usuários na legislação brasileira sobre drogas, a partir dos marcadores “crack” e “pobreza”. O perfil dos usuários de crack com consumo frequente no Brasil é de homens, solteiros, negros, com cerca de 30 anos, baixa escolaridade e desempregado. Aproximadamente, 40% vivem em situação de rua, em extrema privação social, embora essa condição não seja advinda do consumo. Diante dessa realidade, analisou-se o modo como a legislação sobre drogas se posiciona sobre o assunto. Para isso, realizou-se uma análise temática de conteúdo dos documentos que compõem a legislação, investigando como representam as drogas e seus usuários. Os resultados apontam que, apesar do quadro de exclusão social dos usuários, a legislação tem foco maior na repressão. Existe um direcionamento ao combate às drogas e uma interdição ao seu consumo. Nesse sentido, o racismo de estado opera como um mecanismo de exclusão velado às camadas socioeconômicas pobres e o crack parece dizer respeito ao maquiamento da pobreza em uma máscara possível de ser rejeitada publicamente.

INTEGRACION DE UNA CELULA FLEXIBLE DE MECANIZADO, DE TIPO DOCENTE INTEGRATION OF A EDUCATIONAL FLEXIBLE MANUFACTURING CELL

Directory of Open Access Journals (Sweden)

Abraham Farias F

2007-04-01

Full Text Available Este trabajo trata sobre la integración de una célula flexible de mecanizado de tipo docente, compuesta por una fresadora didáctica CNC, marca Denford, un brazo robótico articulado de seis ejes, modelo Scorbot -ER Vplus  y un riel deslizante; todos pertenecientes al Laboratorio de Manufactura Integrada por Computador, de la Escuela de Ingeniería Mecánica de la Universidad de Talca. Las tareas que realiza esta célula flexible son controladas por un PC director  a través de un  programa, utilizando el software y el propio control del robot y su objetivo es realizar el ciclo de carga y descarga de un  trozo de material de 65×65×40 mm. (madera y su posterior mecanización. El problema de comunicación entre los equipos involucrados y la fresadora CNC fue resuelto en cuanto su diseño "stand alone" no contemplaba la integración con otros equipos. Por otro lado, se agregaron algunos sistemas electroneumáticos para que la operación fuera automática, como los de sujeción de piezas y la apertura y cierre de puertas. Con esta célula flexible de mecanizado de tipo docente, la facultad de Ingeniería cuenta con una plataforma básica, a la que se puede adicionar otras funciones, como por ejemplo, dotarla de un sistema automático de alimentación de piezas, de un sistema de visión digital para dar más autonomía al robot, incorporar un torno CNC y  generar un programa para administrar las órdenes de trabajo.This paper describes the integration of an educational flexible manufacturing cell, consisting of a Denford CNC mill with six axes, and a Scorbot - ER Vplus robotic arm that slides along a rail. This equipment is located at the Computer Integrated Manufacture Laboratory, at the School of Mechanical Engineering at Universidad de Talca. The flexible cell is controlled by software in a PC that interacts with the software in the robotic arm. The specific tasks described in this paper are loading and unloading a wooden piece (640×65�

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

OpenAIRE

Cheng, Frank Shaopeng

2008-01-01

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

Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y Actuación

Directory of Open Access Journals (Sweden)

J. Colorado

2011-10-01

Full Text Available Resumen: Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales, ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementación de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructura ósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs. Palabras clave: Aleación con Memoria de Forma (SMA, Robots bio-inspirados, Alas mórficas

Lesao óssea em leucemias agudas linfoblásticas tipo T e TIPO nao T / nao B

OpenAIRE

Martins, Fernando Lopes

2013-01-01

Resumo: O AUTOR APRESENTA OS RESULTADOS DO ESTUDO RADIOLÓGICO DE ESQUELETO DE 61 PACIENTES PORTADORES DE LEUCEMIA AGUDA LINFOBLÁSTICA, CORRELACIONANDO A PRESENÇA OU NÃO DE Lesões ÓSSEAS COM A CLASSIFICAÇÃO IMUNOLÓGICA DE LAL TIPO T E TIPO não T / não B

Obtención potencial de polímeros biodegradables. Estudio de la disolución de la cáscara de piña en PEG

Directory of Open Access Journals (Sweden)

Manuel Moya P.

2016-03-01

Full Text Available Se determinaron las condiciones para disolver la cáscara de piña en polietilénglicol 400. Se utilizó un tamaño de partícula entre 125 y 150 micrómetros, una relación 1/1 en peso de sustrato/PEG, temperatura 225°C y un tiempo de disolución de 3 horas. El análisis de la solución resultante fue [OH]= 3,6 ± 0,2 mmol/g, [COOH]= 1,10 ± 0,03 mmol/g y contenido de agua de 2,70 ± 0,05 mg/mL .

Funcionamiento psicofisiológico y susceptibilidad a la sintomatología premenstrual en mujeres Tipo A y Tipo B

Directory of Open Access Journals (Sweden)

Francesc Palmero

2002-01-01

Full Text Available El presente trabajo se centra en explorar el papel que juega el componente emocional del Patrón de Conducta Tipo A (PCTA en diversas áreas relacionadas con la salud. En este contexto nuestra investigación desarrolla dos objetivos diferenciados. El primero trata de constatar la relación entre determinadas características del PCTA y el mecanismo psicofisiológico en una tarea experimental de estrés real (situación de examen, considerando si existen diferencias entre los dos grupos de personas, Tipo A y Tipo B, tanto en la dimensión tónica como en la dimensión fásica de la tasa cardiaca. El segundo de nuestros objetivos trata de establecer la relación existente entre determinadas características del PCTA y la experiencia de sintomatología relacionada con el ciclo menstrual, considerando tanto la sintomatología premenstrual global, como la sintomatología premenstrual específica, diferenciando tres grandes grupos de síntomas: fisiológicos, psicológicos y conductuales. La muestra final estuvo conformada por 28 mujeres Tipo A y 29 mujeres Tipo B. Los instrumentos utilizados fueron el inventario de Actividad de Jenkins (JAS, el calendario menstrual de síntomas de registro diario (CMSRD y un polígrafo que permitió registrar la tasa cardiaca. En cuanto a nuestro primer objetivo, los datos hacen pensar en la existencia de distintos perfiles psicofisiológicos en ambos grupos de mujeres; en el segundo objetivo, parece que las mujeres Tipo A experimentan de forma clara más síntomas psicológicos que las mujeres Tipo B.

Generic robot architecture

Science.gov (United States)

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

2010-09-21

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

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

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

2017-01-01

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

Tratamiento de una maloclusión clase III en dentición decidua y mixta con expansión rápida palatina y máscara facial

OpenAIRE

Carlos Soldevilla, Luciano; Aliaga Del Castillo, Arón

2014-01-01

Reportamos el seguimiento de un caso clínico de mordida cruzada que en un inicio comprometió el uso de un aparato de expansión palatina adhesivo de acrílico, que después de la estabilización del tratamiento y coincidente con el recambio dentario anterosuperior, sufrió recidiva de la mordida cruzada anterior, la cual fue corregida con el uso de máscara facial. El propósito de corregir la mordida cruzada en edades tempranas permite que se produzca mejoras en el patrón esquelético de clase III y...

Formulación de una mermelada a partir de pulpa y cáscara de tunas (Opuntia spp. elaborada a nivel planta piloto Formulación de una mermelada a partir de pulpa y cáscara de tunas (Opuntia spp. elaborada a nivel planta piloto

Directory of Open Access Journals (Sweden)

José Luis Magaña Ramírez

2012-02-01

Full Text Available After a series of experimental tests of jam pulp-based and peel of prickly pear fruit at a laboratory level, generated from previous research projects, and based on results of sensory evaluation, microbiological and physicochemical analysis, it was selected a formulation for a jam from a mixture of pulp and peel of prickly pear fruit “reyna” variety, and “xoconostle” prickly pear fruit pulp for processing at the pilot platform. The jam produced was characterized by physicochemical analysis and microbiological. In the physicochemical analysis, it was included the determination of dietetic fiber (4.35 g dietetic fiber/15 g jam, being one of the most important evaluation, which value comes mainly from the skin of prickly pear fruit. From the physicochemical analysis, it was designed a label for the jam produced. Based on the specifications required by the “Norma Oficial Mexicana”, the product can be considered suitable for consumption and marketing purposes. Después de una serie de pruebas experimentales de mermeladas a base de pulpa y cás­cara de tunas a nivel laboratorio, generados de proyectos de investigación anteriores, y con base en resultados de evaluación sensorial, análisis microbiológico y fisicoquímico, se seleccionó una formulación de mermelada a partir de una mezcla de pulpa y cáscara de tuna variedad reyna, y pulpa de tuna variedad xoconostle para su procesamiento a nivel planta piloto. La mermelada elaborada fue caracterizada mediante análisis fisicoquímico y microbiológico. Dentro de los análisis fisicoquímicos se incluyó la determinación de Fibra Dietética (4.35 g de fibra dietética/15 g de mermelada, siendo éste uno de los análisis más importantes, cuyo valor procede principalmente de la cáscara de las tunas. Basados en las especificaciones exigidas por la Norma Oficial Mexicana, el producto puede considerarse apto para su consumo y para propósitos de comercialización.

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.

Reação de resistência tipo I e tipo II a Giberela em cultivares de trigo

Directory of Open Access Journals (Sweden)

Rafael Hansen Alves

2013-09-01

Full Text Available O objetivo deste trabalho foi avaliar as reações de resistência tipo I e tipo II à giberela em 28 cultivares de trigo em casa de vegetação. A inoculação de Fusarium graminearum foi realizada no estádio de florescimento. Para a resistência tipo I, a avaliação foi feita 21 dias após a inoculação. Foi determinada a severidade no estádio de espiga seca e a porcentagem de grãos giberelados. A avaliação da severidade foi feita pela porcentagem de espiguetas infectadas, no estádio de espiga verde atribuindo-se uma nota em uma escala linear de zero (nenhuma infecção a 100 (100% de espiguetas infectadas. Para a resistência tipo II, as avaliações foram realizadas aos 7, 14 e 21 dias após a inoculação, contando-se as espiguetas com sintomas da doença, excluindo as duas espiguetas que foram inoculadas. As cultivares Frontana, BRS 177, BRS 179, BRS Umbu, BRS Camboim, Abalone, Ônix, Pampeano e Fundacep 30 apresentaram menor severidade da doença e menor porcentagem de grãos giberelados, demonstrando serem fontes de resistência tipo I. As cultivares BRS Guamirim, CD 120, Onix, Rubi, Fundacep 50, BRS 179, Pampeano, Abalone, CD 114, IPR 85, Safira, BRS Louro, CD 117, CDF 2002116, CD 115, BRS 177, CD 0529 e BRS Camboim apresentaram a menor área abaixo da curva de progresso da doença, demonstrando a presença da resistência do tipo II.

Cinemática inversa de robot serial utilizando algoritmo genético basado en MCDS

Directory of Open Access Journals (Sweden)

Juan Jairo Vaca González

2015-04-01

Full Text Available Los robots manipuladores seriales son herramientas eficaces para realizar tareas repetitivas y de precisión en la industria, siempre que se comprenda la cinemática involucrada en el posicionamiento y orientación del efector final. Este artículo presenta una metodología para resolver el problema cinemático inverso de un robot serial (Melfa RV-2A utilizando un algoritmo genético (AG a partir del modelo cinemático directo Screws (MCDS. Para esto, se obtienen los parámetros Screw que modelan el robot, se calcula el espacio de trabajo asociado y se diseña el AG contemplando una función multi-objetivo de alcance de posición y orientación en que se sitúa el efector final, con respecto a una coordenada y orientación de un punto objetivo establecido. La validación del AG se realiza según la aptitud, el tiempo de convergencia y la cantidad de generaciones usadas por la función para alcanzar el objetivo. Por tanto, la implementación de un AG basado en un MCDS es una herramienta prometedora que podría utilizarse para calcular la cinemática inversa de robots seriales. Esta novedosa implementación permite establecer por primera vez la exposición matricial de un sistema cinemático directo para obtener la solución cinemática inversa de un robot serial. En consecuencia, se demuestra que esta es una metodología factible y eficiente para solucionar la cinemática inversa de cualquier tipo de robot manipulador.

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.

Método predictivo de volatilidad tipo cambio

Directory of Open Access Journals (Sweden)

Jeffrey Viales Abellán

2011-01-01

Full Text Available Las series temporales descritas por precios de ciertos activos financieros tales como el de las acciones y divisas presentan dos principales características, excesos de kurtosis y clustering de volatilidad. Para recoger estas características se han utilizado modelos no lineales tales como los modelos Garch o Volatilidad Condicionada y los modelos de Volatilidad Estocástica, ambos tipos de modelo son empleados para la gestión del riesgo cambiario a corto plazo; el primer tipo de modelos definen la volatilidad en función de la misma volatilidad rezagada y de los shocks (innovaciones de volatilidad; el segundo tipo de modelos son similares a los modelos Garch con la variante de que la volatilidad incluye por si misma un término aleatorio de tipo proceso Wienner2; estos modelos son empleados para simular caminatas aleatorias del tipo de cambio con volatilidades simuladas por las ecuación estocásticas de volatilidad.En el presente trabajo se analizará el desempeño del modelo Garch en comparación a las medidas de volatilidad utilizadas actualmente para la gestión del riesgo cambiario; sus implicaciones para la gestión de riesgos.

Modelling of industrial robot in LabView Robotics

Science.gov (United States)

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

2017-08-01

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

Estabilidad para un control borroso en modo deslizante aplicado a un robot paralelo neumático

Directory of Open Access Journals (Sweden)

Pablo J. Prieto

2015-10-01

Full Text Available Resumen: Se presenta un controlador borroso tipo Mamdani basado en técnicas en modo deslizante para el posicionamiento de un robot paralelo neumático de dos grados de libertad (2 GDL. Es probado que el sistema es asintóticamente estable en el sentido de Lyapunov y se presentan resultados numéricos y experimentales. Ma's aún, el controlador diseñado puede ser aplicado en control de trayectoria al ser retroalimentadas la velocidad y la aceleración del sistema. Se presentan adema's resultados satisfactorios obtenidos en forma experimental para el caso de seguimiento de trayectoria. Abstract: In this paper is reported a Mamdani type fuzzy controller based on sliding mode techniques applied to the regulation of a 2 DOF pneumatic parallel robot. Is is proved that the system is stable in Lyapunov sense, and numerical and experimental results are reported. Moreover, the designed controller can be applied to tracking control if speed and acceleration from the system are feedbacked. Also are reported satisfactory experimental results for the tracking case. Palabras clave: Control borroso, Control de robot, Estabilidad de Lyapunov, Modos deslizantes., Keywords: Fuzzy control, Robot control, Lyapunov stability, Sliding mode.

Towards Sociable Robots

DEFF Research Database (Denmark)

Ngo, Trung Dung

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

Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

Energy Technology Data Exchange (ETDEWEB)

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

2009-09-15

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

Robot Futures

DEFF Research Database (Denmark)

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

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

Soft Robotics Week

CERN Document Server

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

2017-01-01

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

Towards Versatile Robots Through Open Heterogeneous Modular Robots

OpenAIRE

Lyder, Andreas

2010-01-01

Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

Robotic architectures

CSIR Research Space (South Africa)

Mtshali, M

2010-01-01

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

Estructura Robótica Pre-Tensada para Robot en Tuberías Petroleras

OpenAIRE

Urdaneta, María Alejandra; García, Cecilia; Saltaren, Roque; Contreras, Gustavo; Ugarte, Rubén

2012-01-01

Resumen: En este trabajo se presenta el desarrollo de un robot basado en la estructura Pre-Tensada con el fin de realizar tareas de inspección y mantenimiento en tuberías petroleras. Este tipo de estructura mecánica se caracteriza por su bajo peso y su alta capacidad de adaptación a los diferentes diámetros.La aplicación requiere que el dispositivo desarrollado se desplace verticalmente y a alta velocidad por las tuberías utilizadas en la extracción del petróleo. Cabe destacar que en dichas i...

INTERFAZ HÁPTICA TIPO GUANTE CON REALIMENTACIÓN VIBRATORIA

Directory of Open Access Journals (Sweden)

Mónica Rocío Díaz Tribaldos

Full Text Available El presente artículo muestra el diseño y construcción de un guante háptico con realimentación vibratoria. El guante construido, llamado Virtual Touch, involucra sensores de flexión con el fin de captar en todo momento el movimiento realizado por la mano, así como pequeños motores de vibración que indican al usuario el contacto con un objeto virtual. Se implementaron dos tipos de software para manejar el dispositivo, primero que todo una aplicación en el ambiente ROS (Robotic Operation System basado en Linux®, y como segunda instancia una aplicación en Windows® utilizando como motor de renderizado gráfico a VTK (The Visualization ToolKit, open source. Las dos aplicaciones muestran el guante virtual que sigue fielmente los movimientos de la mano real, además de que indican claramente el contacto con un objeto virtual. Además, en el caso de la aplicación realizada con VTK, se puede observar la deformación realizada sobre el objeto. Las aplicaciones futuras de este dispositivo son múltiples, entre ellas el diagnóstico médico.

Parâmetros de desempenho e carcaça de genótipos de frangos tipo caipira

Directory of Open Access Journals (Sweden)

R.C. Veloso

2014-08-01

Full Text Available Objetivou-se com este trabalho avaliar as características de desempenho e de carcaça de sete genótipos de frangos tipo caipira da linhagem Redbro. Foram utilizados 840 pintos de um dia, machos, distribuídos em delineamento inteiramente ao acaso, dos seguintes genótipos: Caboclo, Carijó, Colorpak, Gigante Negro, Pesadão Vermelho, Pescoço Pelado e Tricolor. Os frangos foram alojados em 28 boxes, sendo 30 frangos por boxe, em galpão de alvenaria com acesso a um piquete de 45m², em quatro repetições. As características de desempenho (conversão alimentar, ganho em peso médio diário, consumo de ração médio diário foram avaliadas nos períodos: um a 28, um a 56, um a 70 e um a 84 dias de idade. O peso corporal foi avaliado aos 28, 56, 70 e 84 dias de idade. As características de carcaça (peso e rendimento de carcaça, peito e pernas foram obtidas a partir do abate de dois frangos por boxe, aos 85 dias de idade. As análises estatísticas foram realizadas utilizando-se o "proc glm" do SAS. Verificou-se que, em todos os períodos, os frangos do genótipo Colorpak apresentaram maior peso corporal, consumo de ração médio diário, ganho em peso médio diário e melhor conversão alimentar. Entretanto, os genótipos Caboclo e Gigante Negro apresentaram menores consumo de ração médio diário, ganho de peso médio diário e pior conversão alimentar. Quanto ao rendimento de cortes, observou-se que os genótipos Caboclo e Gigante Negro apresentaram os menores valores, e o Carijó, Colorpak, Pesadão Vermelho, Pescoço Pelado e Tricolor obtiveram os melhores rendimentos de pernas. Para o rendimento de peito, o Carijó e o Pesadão Vermelho obtiveram os maiores valores. A escolha do genótipo deve ser feita de acordo com o interesse do mercado, pois há diferenças no desempenho e no rendimento de carcaça e dos cortes.

Soft Robotics.

Science.gov (United States)

Whitesides, George M

2018-04-09

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

Dinámica de los plaguicidas en la naranja. Estudio de la degradación de los plaguicidas en la cáscara, pulpa y zumo de la naranja.

OpenAIRE

García Gómez, José María

2015-01-01

Falta por incorporar las palabras clave La tesis “Dinámica de los plaguicidas en la naranja. Estudio de la degradación de los plaguicidas en la cáscara, pulpa y zumo de la naranja” se divide en tres fases de estudio. En una primera etapa se estudia la optimización de la extracción de plaguicidas. Utilizando acetato de etilo como extractante, se estudia la influencia de la variación de la constante dieléctrica así como la influencia del medio ácido. Para ello se estudia la adición de cl...

Exploiting Child-Robot Aesthetic Interaction for a Social Robot

OpenAIRE

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

2012-01-01

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

Evolutionary robotics

Indian Academy of Sciences (India)

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

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

Science.gov (United States)

Fong, Terry

2017-01-01

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

Efecto antimicrobiano del quitosano y cascara de naranja en el tratamiento de aguas residuales.

OpenAIRE

Campo Vera, Yesenia; Agroindustrial, Tecnológica y Ambiental Araucana- GIISATA - Colombia; Delgado, Mónica Alexandra; Agroindustrial, Tecnológica y Ambiental Araucana- GIISATA - Colombia; Roal, Yuly; Agroindustrial, Tecnológica y Ambiental Araucana- GIISATA - Colombia; Mora, Gustavo; Agroindustrial, Tecnológica y Ambiental Araucana- GIISATA - Colombia

2017-01-01

El quitosano y sus derivados como agentes antimicrobianos naturales pueden aplicarse en agricultura, alimentos, biomédica, biotecnológica y farmacéutica. Su actividad antimicrobiana depende de muchos factores tales como su tamaño molecular, fuente, componentes asociados, pH, concentración y tipo de microorganismo. La cáscara de naranja es un biosorbente de naturaleza ecológica, de bajo costo y fácil disponibilidad. La investigación tiene como objetivo evaluar el efecto antimicrobiano de mezcl...

Extracción y reología de Betaglucanos de cebada y elaboración de masas de pan sin gluten enriquecidas con los extractos

OpenAIRE

Rivero Hernández, Miguel

2012-01-01

La materia prima utilizada ha sido la cebada H13 tipo waxy, una cebada desnuda, es decir sin cáscara, con un contenido de beta-glucanos del 4,51%, de la que se obtuvieron tres extractos distintos: el primero procedente de la harina integral de la cebada (18,8 % de -glucanos), el segundo de esa misma harina integral tratada con etanol para inactivar las betaglucanasas (21,5 % de -glucanos), y el tercero procedente de la fracción gruesa de la molienda pretratada igualmente con ...

O oraloma da diabetes melitos tipo 1 vs diabetes melitos tipo 2 - um estudo comparativo

OpenAIRE

Brás, Vítor Daniel Moreira

2013-01-01

A Diabetes Melitos é uma doença de grande prevalência a nível mundial e os seus mecanismos fisiopatológicos não são ainda totalmente conhecidos. Actualmente, a terapêutica seguida em casos de Diabetes Melitos é eminentemente sintomática consistindo na administração de insulina nos casos de Diabetes Melitos tipo 1 ou quando se verifica a falência das células beta do pâncreas de pacientes com Diabetes Melitos tipo 2, ou no controlo da glicemia nos casos de Diabetes Melitos ...

Control mediante modos deslizantes en tiempo discreto para el seguimiento de trayectorias de un robot móvil1

Directory of Open Access Journals (Sweden)

P.A. Niño-Suárez

2007-10-01

Full Text Available Resumen: En este trabajo se presenta una estrategia de control en tiempo discreto para el seguimiento de trayectorias de un robot móvil tipo (2,0 controlado remotamente. La estrategia de control se desarrolló mediante un enfoque de modos deslizantes, considerando el modelo discreto exacto del vehículo en el cual se incluyen los efectos del retardo de transporte causado por la propagación de las señales sobre una red de comunicación. El esquema de control garantiza el seguimiento de trayectorias predeterminadas obteniéndose convergencia asintótica de los errores de seguimiento. La estrategia propuesta es evaluada mediante una serie de resultados por simulación. Palabras clave: Robot móvil, retardos de transporte, control en tiempo discreto, modos deslizantes

ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

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

Robotic buildings(s)

NARCIS (Netherlands)

Bier, H.H.

2014-01-01

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

Cloud Robotics Platforms

Directory of Open Access Journals (Sweden)

Busra Koken

2015-01-01

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

Distributed Robotics Education

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2011-01-01

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

Robot Mechanisms

CERN Document Server

Lenarcic, Jadran; Stanišić, Michael M

2013-01-01

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

Robots de servicio

Directory of Open Access Journals (Sweden)

Rafael Aracil

2008-04-01

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

Filigree Robotics

DEFF Research Database (Denmark)

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

2016-01-01

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

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

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

1999-05-15

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

Robotics education

International Nuclear Information System (INIS)

Benton, O.

1984-01-01

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

Genótipos de haptoglobina e hipertensão refratária em pacientes com diabete melito tipo 2

Directory of Open Access Journals (Sweden)

Vânia Pereira Albuquerque Wobeto

2011-10-01

Full Text Available FUNDAMENTO: Tem sido sugerido que o polimorfismo da haptoglobina pode influenciar na patogênese das complicações microvasculares e macrovasculares em pacientes diabéticos. OBJETIVO: O objetivo principal deste estudo transversal foi de realizar uma investigação da existência ou não de uma associação entre os genótipos de haptoglobina e a prevalência de eventos isquêmicos cardiovasculares (angina estável, angina instável e infarto agudo do miocárdio, hipertensão arterial sistêmica, hipertensão refratária, obesidade e dislipidemia em 120 pacientes com diabete melito tipo 2, seguidos no Hospital Universitário da Unicamp, em Campinas, Estado de São Paulo. MÉTODOS: A genotipagem da haptoglobina foi realizada por reações em cadeia da polimerase alelo-específicas. As frequências dos genótipos de haptoglobina foram comparadas com a presença/ausência de doença cardiovascular, hipertensão arterial sistêmica, hipertensão refratária, obesidade e dislipidemia; medições de pressão arterial sistólica e diastólica; glicemia, colesterol (total, lipoproteínas de alta densidade - HDL e lipoproteínas de baixa densidade - LDL e triglicerídeos; assim como níveis de creatinina sérica. RESULTADOS: Embora nenhuma associação entre o genótipo de haptoglobina e a presença de doença cardiovascular tenha sido identificada, encontramos um excesso significativo de pacientes com o genótipo Hp2-1 entre as pessoas com hipertensão refratária, que também apresentavam uma maior pressão arterial sistólica e diastólica e níveis de colesterol total e LDL. CONCLUSÃO: Nossos resultados sugerem que os pacientes com diabete melito tipo 2 com o genótipo Hp2-1 podem apresentar uma maior chance de desenvolver hipertensão refratária. Estudos adicionais em populações diabéticas são necessários para confirmar esses achados.

Planificación de trayectorias para un robot tipo con restricciones dinámicas

Directory of Open Access Journals (Sweden)

Leonardo Solaque Guzmán

2008-01-01

Full Text Available Este documento presenta una aproximación a la planificación de caminos óptimos para un sistema con restricciones dinámicas y desplazándose dentro de un espacio libre de obstáculos. Se considera el modelo dinámico del dirigible y un análisis para el planteamiento de modelos simplificados o comúnmente conocidos como modelos de control. Se propone una planificación de la trayectoria desde el punto de vista de la teoría óptima utilizando un modelo de la dinámica de un robot móvil (que se desplaza a velocidad constante y en avance, es decir con restricciones dinámicas como punto de partida para la primera aproximación a los caminos óptimos. Para el suavizado de las trayectorias del dirigible se proponen dos modelos con relajación en la dinámica de la variable de control y finalmente se presenta una simulación de la comparación de los diferentes resultados.

Robot Aesthetics

DEFF Research Database (Denmark)

Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

Robots: l'embarras de richesses [:survey of robots available

International Nuclear Information System (INIS)

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

1989-01-01

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

Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

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

Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

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

An Intelligent Robot Programing

Energy Technology Data Exchange (ETDEWEB)

Hong, Seong Yong

2012-01-15

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

An Intelligent Robot Programing

International Nuclear Information System (INIS)

Hong, Seong Yong

2012-01-01

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

Neuro-robotics from brain machine interfaces to rehabilitation robotics

CERN Document Server

Artemiadis

2014-01-01

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

Cloud Robotics Model

OpenAIRE

Mester, Gyula

2015-01-01

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

Space Robotics Challenge

Data.gov (United States)

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

Are Sex Robots as Bad as Killing Robots

OpenAIRE

Richardson, Kathleen

2016-01-01

In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...

La máscara involuntaria de José Martí: La construcción del sujeto a través de la mirada de los Otros

Directory of Open Access Journals (Sweden)

Florencia Bonfiglio

2004-11-01

Full Text Available Este trabajo explora la imagen de escritor que Martí construye a través de sus lecturas de los "otros"; en particular, las operaciones que realiza al "traducir" desde Nueva York las figuras de Walt Whitman, Oscar Wilde y Julián del Casal para el público latinoamericano. Leo la construcción de Martí de lo "natural" como una de las variadas máscaras que asumen los modernistas: desde el espacio de la crónica, y ante la necesidad de diferenciación de otros discursos, la lectura crítica del presente cosmopolita promueve la creación de una voz propia mediante la cual se forja una figura de escritor.

Multi-robot control interface

Science.gov (United States)

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

2011-12-06

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

Preparación de carbón activado a partir de cáscara de naranja por activación química. caracterización física y química

OpenAIRE

Peña, Karen; Giraldo, Liliana; Moreno, Juan Carlos

2013-01-01

Se preparan carbones activados por pirólisisde cáscara de naranja, residuoslignocelulósicos, por activación químicamediante impregnación con solucionesde ácido fosfórico a diferentes concentraciones(32 %, 36 %, 40 % y 48 %p/V), a una temperatura de 373 K y untiempo de residencia de 3 h, presentandorendimientos alrededor del 36 %. Lacaracterización de la textura porosa delos carbones activados obtenidos se determinapor adsorción física de N2 a 77K. El análisis isotérmico muestra paralos carbon...

Cosmética Decorativa

OpenAIRE

Lopes, Céline Alexandra Múrias

2010-01-01

Monografia apresentada à Universidade Fernando Pessoa para obtenção do grau Licenciada em Ciências Farmacêuticas Neste trabalho de monografia foi realizada uma pesquisa bibliográfica sobre a descrição, classificação e formulação dos diferentes tipos de cosméticos decorativos: base maquilhadora, pó facial, blush, sombra para olhos, delineador (eyeliner), lápis de maquilhagem, máscara para pestanas (rímel), antiolheiras (correctivo) e batom. Graças aos cosméticos decorativos, é p...

Robotics

Energy Technology Data Exchange (ETDEWEB)

Lorino, P; Altwegg, J M

1985-05-01

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

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

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

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

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

Directory of Open Access Journals (Sweden)

Fernando Gonzalez

2017-12-01

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

Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

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

2017-01-01

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

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.

Healthcare Robotics

OpenAIRE

Riek, Laurel D.

2017-01-01

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

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

International Nuclear Information System (INIS)

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

1990-01-01

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

Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

Science.gov (United States)

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

2017-01-01

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

Recent advances in robotics

International Nuclear Information System (INIS)

Beni, G.; Hackwood, S.

1984-01-01

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

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

Science.gov (United States)

Kazakoff, Elizabeth R.; Bers, Marina Umaschi

2014-01-01

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

Adsorción de Fenol en soluciones acuosas empleando monolitos de carbón activado de cáscara de Coco: isotermas y cinéticas de adsorción

OpenAIRE

Moreno Piraján, Juan; Giraldo, Liliana; González, Juan

2011-01-01

En esta investigación se obtuvo carbón activado por activación química con ácido fosfórico (H3PO4) al 85% a partir de material cáscara de Coco, el cual fue conformado en estructuras rígidas de geometrías Monolíticas, especificamente geometrías disco y “panal de abejas” o honeycomb. El carbón activado obtenido fue empleado en la remoción de fenol en soluciones acuosas con concentraciones iniciales entre 10 y 100 mg/L en sistemas batch a temperatura ambiente. Las determinaciones se realizaron m...

OTROS TIPOS ESPECÍFICOS DE DIABETES MELLITUS

Directory of Open Access Journals (Sweden)

DRA. M. Gabriela Sanzana G.

2016-03-01

En las “Diabetes Atípicas” (no incluidas en la clasificación ADA, se mencionan la DM tipo 2 en niños y adolescentes, favorecida por el aumento de la obesidad y del sedentarismo; la diabetes propensa a la cetosis, que debutan en cetoacidosis, con etiopatogenia y evolución de DM2; los Latent Autoinmune Diabetes of Adults (LADA, DM tipo 1 de lenta aparición y la diabetes postrasplante.

Catarata e diabetes mellitus tipo 1

OpenAIRE

Pizzol,Melissa Manfroi Dal; Esteves,Jorge Freita; Sccoco,Caio Augusto; Roggia,Murilo Felix; Rosa,Carolina Maurente da; Lambert,José Humberto Franco; Canani,Luís Henrique

2008-01-01

OBJETIVO: Avaliar a prevalência de catarata e seus fatores de risco em uma população portadora de diabetes mellitus tipo 1 (DM1). MÉTODOS: Estudo de casos e controles de um banco de dados de 181 pacientes (362 olhos) com diagnóstico de diabetes mellitus tipo 1. Os pacientes foram classificados como casos quando apresentavam diagnóstico de catarata. As variáveis estudadas foram a presença ou não de retinopatia diabética, tratamento com panfotocoagulação, presença de hipertensão arterial sistêm...

Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

Directory of Open Access Journals (Sweden)

Mazen Ghandour

2017-06-01

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

Robots and lattice automata

CERN Document Server

Adamatzky, Andrew

2015-01-01

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

Robot vision

International Nuclear Information System (INIS)

Hall, E.L.

1984-01-01

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

Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

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

Robot Wars: US Empire and geopolitics in the robotic age

Science.gov (United States)

Shaw, Ian GR

2017-01-01

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

KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENT ANÁLISIS DE LA CINEMÁTICA DE UN ROBOT PARALELO CON UN SEGMENTO PASIVO

Directory of Open Access Journals (Sweden)

Abdelhakim Cherfia

2007-08-01

Full Text Available This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f added to a PPP passive central segment. This structure provides a pure translation motion. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix. Further, we determine the reciprocal relations between cartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometrical model expressions. A determination of the workspace based on the geometrical model analysis is derived followed by a numerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Moreover, the analysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure. A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models.Este trabajo presenta el modelo geométrico de un robot paralelo con tres grados de libertad (d.o.f agregados a un segmento central pasivo del PPP. Esta estructura proporciona un movimiento de translación pura. También determinaremos las relaciones entre las velocidades generalizadas y articulares usando la matriz Jacobiana inversa. Además, determinamos las relaciones recíprocas entre las velocidades cartesianas y angulares del end-effector vía velocidades articulares por la derivación simple de las expresiones del modelo geométrico directo. Una determinación del espacio de trabajo basado en el análisis del modelo geométrico es derivado seguido por un cálculo numérico de todos los puntos que deben alcanzarse permitiendo una visualización gráfica de tal espacio de trabajo. Por otra parte, el análisis de los coeficientes de la matriz Jacobiana permite asegurar que no haya singularidades del tipo 1 y 2 en tal estructura. Se ha realizado un prototipo de robot paralelo en nuestro laboratorio

Evaluación experimental del caminado en tiempo real de un robot bípedo de 5 g.d.l. con marcha basada en movimientos cicloidales

Directory of Open Access Journals (Sweden)

Víctor De-León-Gómez

2015-10-01

Full Text Available Resumen: En este artículo se presentan los resultados de las pruebas de caminado realizadas con el robot bípedo de 5 grados de libertad (g.d.l. desarrollado en el Instituto Tecnológico de la Laguna (ITLag. El patrón de marcha que se aplica en este robot se basa en leyes de movimiento de tipo cicloidal, las cuales le permiten avanzar mediante pasos sin impactos. Los experimentos realizados mostraron un adecuado comportamiento mecánico del robot y un desempeño eficaz de la ley de control aplicada para mantener el ZMP (acrónimo de Zero Moment Point dentro del polígono de soporte de los pies del robot durante la marcha. Los parámetros especificados para el patrón de marcha aseguraron un caminado estable del robot, sin saturar los pares demandados a los actuadores. Abstract: The results of experimental tests of walking of the 5 degrees of freedom (dof biped robot developed at the Instituto Tecnológico de la Laguna (ITLag are presented in this paper. The gait pattern that is applied in this robot is based on cycloidal motion-type laws, which allow to advance by steps without impacts. Experiments showed an adequate mechanical behavior of the robot and effective performance of the control law applied to keep the ZMP (Zero Moment Point inside of the support polygon of the robot's feet during walking. The specified parameters for gait pattern ensured a stable walking of the robot, without saturating the torque applied by the actuators. Palabras clave: Robots bípedos, patrones de marcha, ZMP, movimiento cicloidal, seguimiento de trayectorias., Keywords: Biped robots, gait patterns, ZMP, cycloidal motion, path tracking.

Robotic vision system for random bin picking with dual-arm robots

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

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

Modular Robotic Wearable

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2009-01-01

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

Ataxia espinocerebelar tipo 6: relato de caso

Directory of Open Access Journals (Sweden)

Bianca Simone Zeigelboim

2014-10-01

Full Text Available O objetivo deste estudo foi verificar as alterações vestibulococleares observadas em um caso de ataxia espinocerebelar tipo 6. O caso foi encaminhado do Hospital de Clínicas para o Laboratório de Otoneurologia de uma Instituição de Ensino e foi submetido aos seguintes procedimentos: anamnese, inspeção otológica, avaliações audiológica e vestibular. O caso retrata uma paciente com diagnóstico genético de ataxia espinocerebelar tipo 6, do sexo feminino, com 57 anos de idade, que referiu desequilíbrio à marcha com tendência a queda para a esquerda, disartria e disfonia. Na avaliação audiológica apresentou configuração audiométrica descendente a partir da frequência de 4kHz e curva timpanométrica do tipo "A" com presença dos reflexos estapedianos bilateralmente. No exame vestibular observou-se na pesquisa da vertigem posicional presença de nistagmo vertical inferior e oblíquo, espontâneo e semiespontâneo múltiplo com características centrais (ausência de latência, paroxismo, fatigabilidade e vertigem, nistagmooptocinético abolido e hiporreflexia à prova calórica. Constataram-se alterações labirínticas que indicaram afecção do sistema vestibular central evidenciando-se a importância dessa avaliação. A existência da possível relação entre os achados com os sintomas vestibulares apresentados pela paciente apontou a relevância do exame labiríntico neste tipo de ataxia uma vez que a presença do nistagmo vertical inferior demonstrou ser frequente neste tipo de patologia.

Marine Robot Autonomy

CERN Document Server

2013-01-01

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

Industrial Robots.

Science.gov (United States)

Reed, Dean; Harden, Thomas K.

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

Social Robots

DEFF Research Database (Denmark)

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

Non-manufacturing applications of robotics

International Nuclear Information System (INIS)

Dauchez, P.

2000-12-01

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

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

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

2007-01-01

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

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

Science.gov (United States)

2010-04-01

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

Tipos de pasteurização e agentes coagulantes na fabricação do queijo tipo prato

OpenAIRE

Ramos, Thaís de Melo

2013-01-01

O presente trabalho foi realizado com os objetivos de avaliar a influência do tipo de pasteurização pelos sistemas de aquecimento indireto high temperature short time, ou HTST, e injeção direta de vapor (IDV), e avaliar a influência de duas diferentes enzimas coagulantes na fabricação do queijo tipo prato. O delineamento experimental utilizado neste experimento foi um fatorial 2 x 2 x 5 inteiramente casualizado, sendo dois sistemas de pasteurização (HTST e IDV), duas enzimas coagulantes e cin...

Human-Robot Interaction

Science.gov (United States)

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

2015-01-01

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

Diabetes tipo 2 en niños: Serie de casos

Directory of Open Access Journals (Sweden)

Helard Manrique-Hurtado

2015-01-01

Full Text Available Objetivos: Describir las características clínicas y bioquímicas de un grupo de niños y adolescentes con diagnóstico reciente de diabetes tipo 2. Material y métodos: Estudio descriptivo, retrospectivo, tipo de serie de casos. Se definió caso al niño o adolescente con glucosa plasmática en ayunas mayor a 126 mg/dl, ausencia de antiGAD y péptido C mayor a 1,5 ng/dl. Se excluyeron a los pacientes con diagnóstico previo de diabetes mellitus tipo 1, diabetes tipo MODY o diabetes secundaria a uso de fármacos. Resultados: La edad media fue 14,3 años, 59% fueron mujeres y 43% tenía por lo menos un padre con diabetes tipo 2. Al momento del diagnóstico, el índice de masa corporal fue 32,8 kg/m2, 85% tenía acantosis nigricans y 68% estaba en estadio Tanner IV y V. El tratamiento inicial incluyó el uso de hipoglicemiantes orales en 75% de los casos, siendo más frecuente el uso de metformina (64,3%. Solamente el 41% de los pacientes recibía algún tipo de insulina. Conclusiones: Los niños y adolescentes con diabetes tipo 2, tienen una frecuencia aumentada de obesidad/sobrepeso, acantosis nigricans y antecedente familiar de DM2. En general, tienen mal control metabólico y reciben metformina como tratamiento inicial.

Next generation light robotic

DEFF Research Database (Denmark)

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

2017-01-01

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

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Directory of Open Access Journals (Sweden)

Kristel Knaepen

Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

Science.gov (United States)

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

Roles and Self-Reconfigurable Robots

DEFF Research Database (Denmark)

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

2007-01-01

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

Robot Teachers

DEFF Research Database (Denmark)

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

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

Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

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

2007-01-01

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

Micro Robotics Lab

Data.gov (United States)

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

Robot fish bio-inspired fishlike underwater robots

CERN Document Server

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

2015-01-01

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

Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

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

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

Directory of Open Access Journals (Sweden)

Addythia Saphala

2015-10-01

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

Presentation robot Advee

Czech Academy of Sciences Publication Activity Database

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

2012-01-01

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

Robotic surgery update.

Science.gov (United States)

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

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

Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

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

Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

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

Robotic seeding

DEFF Research Database (Denmark)

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

2017-01-01

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

An Adaptive Robot Game

DEFF Research Database (Denmark)

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

2010-01-01

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

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

DEFF Research Database (Denmark)

Andersen, Rasmus Skovgaard

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

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

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

Advanced mechanics in robotic systems

CERN Document Server

Nava Rodríguez, Nestor Eduardo

2011-01-01

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

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

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

The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

Science.gov (United States)

Arnold, Thomas; Scheutz, Matthias

2017-06-01

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

Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

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

Grasping in Robotics

CERN Document Server

2013-01-01

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

Designing Emotionally Expressive Robots

DEFF Research Database (Denmark)

Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

2017-01-01

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

Estructura Robótica Pre-Tensada para Robot en Tuberías Petroleras

Directory of Open Access Journals (Sweden)

María Alejandra Urdaneta

2012-04-01

Full Text Available Resumen: En este trabajo se presenta el desarrollo de un robot basado en la estructura Pre-Tensada con el fin de realizar tareas de inspección y mantenimiento en tuberías petroleras. Este tipo de estructura mecánica se caracteriza por su bajo peso y su alta capacidad de adaptación a los diferentes diámetros.La aplicación requiere que el dispositivo desarrollado se desplace verticalmente y a alta velocidad por las tuberías utilizadas en la extracción del petróleo. Cabe destacar que en dichas instalaciones se cuenta con Bombas Electro Sumergibles (BES y Bombas de Cavidad Progresiva (BCP, ambas muy sensibles a las condiciones adversas del entorno; por lo tanto, la importancia de esta investigación radica en que el robot incorpora una red de sensores específicos para medir aquellas variables que puedan interferir en el funcionamiento normal de las bombas. Además, este robot permite automatizar la recuperación de objetos que pueden caer al pozo durante la instalación y mantenimiento del mismo, actualmente este proceso es manual.En este artículo se describen detalladamente las hipótesis de diseño realizadas y la metodología utilizada para el desarrollo del primer prototipo. Finalmente se presentan los resultados obtenidos de dicho desarrollo a través de los cuales se ha podido validar la potencialidad de la aplicación. Abstract: This paper presents the development of a robot based on the prestressed structure to carry out maintenance inspection on oil pipelines. This type of mechanical structure is characterized by low weight and high capacity of adaptation to different diameters. The application requires the device to move vertically and developed high-speed. Note that in such facilities with electric submersible pumps (ESP and Progressive Cavity Pumps (BCP, both highly sensitive to adverse environmental conditions, therefore, the importance of this research is that the robot incorporates a specific sensor network to measure those

ENTALPÍA DE INMERSIÓN DE MONOLITOS DE CARBÓN ACTIVADO

OpenAIRE

Diana Vargas; Juan Carlos Moreno; Liliana Giraldo

2011-01-01

En este trabajo se presentan los resultados obtenidos de la calorimetría de inmersión en benceno sobre monolitos de carbón activado tipo disco y panal, que se obtuvieron mediante activación química de cáscara de coco con cloruro de zinc a diferentes concentraciones. Adicionalmente, las estructuras fueron caracterizadas por adsorción de N2 a 77 K. Las entalpías de inmersión determinadas se encuentran entre 73,5 y 164,2 Jg-1; con los datos de inmersión se calcul...

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

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

Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

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

Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

Science.gov (United States)

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

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

Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

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

Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

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

Inverse kinematic solution for near-simple robots and its application to robot calibration

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

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

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

Science.gov (United States)

Marras, Stefano; Porfiri, Maurizio

2012-08-07

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

Micro robot bible

International Nuclear Information System (INIS)

Yoon, Jin Yeong

2000-08-01

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

Micro robot bible

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jin Yeong

2000-08-15

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

Robots at Work

OpenAIRE

Graetz, Georg; Michaels, Guy

2015-01-01

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

To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

Directory of Open Access Journals (Sweden)

Nicole Mirnig

2017-05-01

Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

ROILA : RObot Interaction LAnguage

NARCIS (Netherlands)

Mubin, O.

2011-01-01

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

Laboratorio remoto para la enseñanza de la programación de un robot industrial

Directory of Open Access Journals (Sweden)

Carlos Ariza L.

2011-06-01

Full Text Available El presente artículo describe la evolución del desarrollo y funcionamiento de un laboratorio remoto para la enseñanza de la automatización. Por medio de una aplicación Web, un software de acceso remoto que permite una conexión multiusuario independiente y archivos que contienen código con comandos del símbolo del sistema. Con esto se logra administrar el laboratorio evitando conflictos de uso entre los usuarios. Con este desarrollo se busca incrementar el tiempo de productividad y eliminar las restricciones de espacio y tiempo para la utilización de un robot manipulador de tipo industrial.

Evidence for robots.

Science.gov (United States)

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Francisco J. Rodríguez-Lera

2018-03-01

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

1st Iberian Robotics Conference

CERN Document Server

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

2014-01-01

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

Biometria e armazenamento de sementes de genótipos de cacaueiro

Directory of Open Access Journals (Sweden)

Lucimara Ribeiro Venial

2017-03-01

Full Text Available Genótipos de Theobroma cacao L. devem ser melhor estudados, para se identificar aqueles que produzem sementes mais desenvolvidas e viáveis após o armazenamento. Objetivou-se com este trabalho estudar a biometria e dois tempos de armazenamento de sementes de genótipos de cacaueiro. A biometria foi avaliada em oito genótipos de cacaueiro (tratamentos. Foram instalados testes de germinação em delineamento inteiramente ao acaso, no esquema fatorial 8 x 2 (genótipos: CCN51, PH16, CEPEC2002, Ipiranga, SJ02, PS1319, TSH1188 e Comum x dois períodos de armazenamento: 0 e dois dias. O genótipo TSH1188 apresentou maior comprimento, relação comprimento/largura, espessura e massa de 100 sementes. A absorção de água das sementes recém-colhidas dos genótipos é lenta, justificada pelos altos teores de água, o que não caracteriza padrão-trifásico. Os teores de água reduziram em média 2,3 vezes nas sementes armazenadas em relação às recém-colhidas. A germinação das sementes recém-colhidas dos genótipos foi de 100%. Após o armazenamento, as sementes do PS1319 apresentaram a menor redução da germinação (39%, enquanto as dos PH16, CEPEC2002 e SJ02 reduziram 96%. A velocidade de germinação foi maior e o tempo médio menor que dois dias nas sementes recém-colhidas do PS1319, indicando serem mais tolerante à dessecação. Sugere-se o uso dos genótipos TSH1188 e PS1319 em programas de melhoramento genético.

Springer handbook of robotics

CERN Document Server

Khatib, Oussama

2016-01-01

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

Innovations in robotic surgery.

Science.gov (United States)

Gettman, Matthew; Rivera, Marcelino

2016-05-01

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

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

International Nuclear Information System (INIS)

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

1990-01-01

The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments

Soft-Material Robotics

OpenAIRE

Wang, L; Nurzaman, SG; Iida, Fumiya

2017-01-01

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

AssistMe robot, an assistance robotic platform

Directory of Open Access Journals (Sweden)

A. I. Alexan

2012-06-01

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

Socially Impaired Robots: Human Social Disorders and Robots' Socio-Emotional Intelligence

OpenAIRE

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

2016-01-01

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

Educational Robotics as Mindtools

Science.gov (United States)

Mikropoulos, Tassos A.; Bellou, Ioanna

2013-01-01

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

Robot friendship: Can a robot be a friend?

DEFF Research Database (Denmark)

Emmeche, Claus

2014-01-01

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

Multi-robot caravanning

KAUST Repository

Denny, Jory

2013-11-01

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

Self-Organizing Robots

CERN Document Server

Murata, Satoshi

2012-01-01

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

Human-robot interaction tests on a novel robot for gait assistance.

Science.gov (United States)

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

2013-06-01

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

Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

DEFF Research Database (Denmark)

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

2009-01-01

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

From sex robots to love robots: is mutual love with a robot possible?

NARCIS (Netherlands)

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

2017-01-01

Some critics of sex-robots worry that their use might spread objectifying attitudes about sex, and common sense places a higher value on sex within love-relationships than on casual sex. If there could be mutual love between humans and sex-robots, this could help to ease the worries about

The relation between people's attitudes and anxiety towards robots in human-robot interaction

NARCIS (Netherlands)

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

2013-01-01

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

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...

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

OpenAIRE

Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

2018-01-01

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

Developing a successful robotics program.

Science.gov (United States)

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

2012-01-01

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

Communication of Robot Status to Improve Human-Robot Collaboration

Data.gov (United States)

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

Making Humanoid Robots More Acceptable Based on the Study of Robot Characters in Animation

Directory of Open Access Journals (Sweden)

Fatemeh Maleki

2015-03-01

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

Robotics in medicine

Science.gov (United States)

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

2015-11-01

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

Inventing Japan's 'robotics culture': the repeated assembly of science, technology, and culture in social robotics.

Science.gov (United States)

Sabanović, Selma

2014-06-01

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

German robots: The impact of industrial robots on workers

OpenAIRE

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

2017-01-01

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

Diseño de antenas tipo DRA (Dielectric Resonator Antennas)

OpenAIRE

Soria Gallego, Juan

2013-01-01

En este trabajo se va a estudiar un tipo de antenas conocidas como antenas resonantes dieléctricas (DRA) desde el punto de vista de diseño y características radiantes, así como de sus posibles aplicaciones. Las DRAs son un tipo de antenas cada vez más usadas ya que presentan numerosas ventajas respecto a otro tipo de antenas, entre ellas que son fáciles de diseñar, baratas y muy eficientes. Por ello, cada vez aparecen nuevos diseños y nuevas aplicaciones. Entre ellas se ha extendido el uso...

Autonomous military robotics

CERN Document Server

Nath, Vishnu

2014-01-01

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

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

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

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.

Uso da abordagem lateral para introdução de máscara laríngea durante craniotomia em paciente acordado: relato de caso Uso del abordaje lateral para la introducción de máscara laríngea durante craniotomía en paciente despierto: relato de caso Use of the lateral approach for laryngeal mask insertion during awake craniotomy: case report

Directory of Open Access Journals (Sweden)

Mirna Bastos Marques

2006-12-01

Full Text Available JUSTIFICATIVA E OBJETIVOS: Durante uma craniotomia em que se realiza o teste de Afasia de Aachen com o paciente acordado e cooperativo, é necessário o uso da técnica anestésica "dormindo-acordado-dormindo". O objetivo deste relato de caso foi descrever a técnica anestésica utilizada em paciente com sinais de via aérea difícil. RELATO DO CASO: Descreveu-se o caso de um paciente submetido à ressecção de um tumor no lobo temporal esquerdo, no giro de Wernicke, com sinais clínicos de via aérea difícil. Foi utilizada a técnica "dormindo-acordado-dormindo", com infusão contínua de propofol e remifentanil. A via aérea foi mantida com o uso da máscara laríngea, por abordagem lateral. CONCLUSÕES: A técnica utilizada foi eficaz para a obtenção de um paciente acordado e cooperativo no intra-operatório, tendo sido assegurada permeabilidade da via aérea com o uso da máscara laríngea. A inserção desse dispositivo por abordagem lateral é de especial interesse por se tratar de um paciente com possível dificuldade de acesso à via aérea, em procedimento cirúrgico em que era necessário evitar deslocamento do paciente e contaminação do campo cirúrgico.JUSTIFICATIVA Y OBJETIVOS: Durante una craniotomía en que se realiza la prueba de Afasia de Aachen con el paciente despierto y cooperativo, se necesita el uso de la técnica anestésica "durmiendo-despierto-durmiendo". El objetivo de este relato de caso fue el de describir la técnica anestésica utilizada en paciente con señales de vía aérea difícil. RELATO DEL CASO: Se ha descrito el caso de un paciente sometido a la resección de un tumor en el lobo temporal izquierdo, en el giro de Wernicke, con señales clínicos de vía aérea difícil. Fue utilizada la técnica "durmiendo-despierto-durmiendo", con infusión continua de propofol y remifentanil. La vía aérea se mantuvo con el uso de la máscara laríngea, a través de abordaje lateral. CONCLUSIONES: La t

Conceptions of health service robots

DEFF Research Database (Denmark)

Lystbæk, Christian Tang

2015-01-01

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

Continuum limbed robots for locomotion

Science.gov (United States)

Mutlu, Alper

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

Soft computing in advanced robotics

CERN Document Server

Kobayashi, Ichiro; Kim, Euntai

2014-01-01

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

Robotics and remote systems applications

International Nuclear Information System (INIS)

Rabold, D.E.

1996-01-01

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

Situation Assessment for Mobile Robots

DEFF Research Database (Denmark)

Beck, Anders Billesø

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

Fundamentals of soft robot locomotion

OpenAIRE

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

2017-01-01

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

Desarrollo de Experimentos de un Robot Navegador con Redes Neuronales en un Ambiente Estructurado: Programación de Conductas con Algoritmo de Retropropagación

Directory of Open Access Journals (Sweden)

Alejandro Hossian

2015-02-01

Full Text Available El presente artículo busca comunicar los avances realizados en el análisis y desarrollo de experimentos realizados en computadora para robots navegadores mediante la aplicación de Tecnologías Inteligentes. Para su realización se dispone de software y hardware apropiados a partir de los cuales se diseña un ambiente de navegación con obstáculos definidos en el marco de un entorno industrial. En este contexto, se diseña un ambiente computarizado con el cual el robot interactúa, en el cual se desplaza hasta llegar a un objetivo predeterminado, tratando de no colisionar. Bajo estas premisas y requisitos de usuario, se analiza el desempeño del robot a los efectos de procurar optimizar su performance dentro de este escenario. Para evaluar las potencialidades y limitaciones que presentan las conductas del robot, y en función de la complejidad del ambiente de navegación y de las tareas que éste debe llevar a cabo, se hace uso de las tecnologías de las Redes Neuronales Artificiales (RNA. A tal efecto, una arquitectura de RNA de tipo Backpropagation es la que se utiliza en el presente trabajo.

Open Issues in Evolutionary Robotics.

Science.gov (United States)

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

2016-01-01

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

Mergeable nervous systems for robots.

Science.gov (United States)

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

2017-09-12

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

Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

Science.gov (United States)

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

2009-01-01

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

[Robotics in pediatric surgery].

Science.gov (United States)

Camps, J I

2011-10-01

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

Toward a framework for levels of robot autonomy in human-robot interaction.

Science.gov (United States)

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

2014-07-01

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

Estudio de diferentes activantes químicos en la obtención de carbón activado a partir de la cáscara de Hymenaea courbaril L. para la remoción de cadmio (II)

OpenAIRE

Poleo, Nelson; Oliveros, Solaida; Colina, Marinela; Rincón, Nancy; Mesa, Johan; Colina, Gilberto

2010-01-01

El uso de diferentes agentes químicos (ZnCl2, H3PO4, H2SO4, HNO3 y HCl) para la activación de la cáscara del fruto de algarrobo (Hymenaea courbaril L.) permitió evaluar y comparar la capacidad adsortiva de los carbones preparados correspondientes. El precursor fue impregnado con los agentes químicos señalados, por separado y pirolizado a 500°C en cada caso. Las características superficiales de los carbones activados preparados (CAA) se determinaron a través del método convencional de Brunauer...

[Robot-aided training in rehabilitation].

Science.gov (United States)

Hachisuka, Kenji

2010-02-01

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

Current status of robotic simulators in acquisition of robotic surgical skills.

Science.gov (United States)

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

2015-03-01

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

Comprometimento medular por linfoma tipo Burkitt: relato de um caso

Directory of Open Access Journals (Sweden)

Murillo Côrtes Drummond

1985-06-01

Full Text Available Registro de caso de linfoma tipo Burkitt com comprometimento intrarraqueano em criança de três anos de idade. Considerações sobre esse tipo de tumor são feitas em função do caso observado e de dados da literatura.

Análisis estadístico exploratorio de dos tipos de secado de quinua

OpenAIRE

Mena Reinoso, Angel Patricio

2015-01-01

El presente trabajo “Análisis Estadístico Exploratorio de dos Tipos de Secado de Quinua” permite realizar una validación estadística del tipo de secador que posea una alta eficiencia, rendimiento en el secado de este tipo de cereal (Chenopodium quinoa Willd). Para el efecto se empleó el secador de bandejas y un secador solar tipo invernadero, el experimento se llevó a cabo con tres tipos de muestras, una con cascara y las otras escarificadas. La quinua fue sometida a un secado ...

A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics.

Science.gov (United States)

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

2017-01-01

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

DSLs in robotics

DEFF Research Database (Denmark)

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

2017-01-01

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

Robots de servicio

OpenAIRE

Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

2008-01-01

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

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

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

Human-robot skills transfer interfaces for a flexible surgical robot.

Science.gov (United States)

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

2014-09-01

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

Measuring Attitudes Towards Telepresence Robots

OpenAIRE

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

2011-01-01

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

Robotic environments

NARCIS (Netherlands)

Bier, H.H.

2011-01-01

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

2016 International Symposium on Experimental Robotics

CERN Document Server

Nakamura, Yoshihiko; Khatib, Oussama; Venture, Gentiane

2017-01-01

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

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

Science.gov (United States)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

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

Robot Control Overview: An Industrial Perspective

Directory of Open Access Journals (Sweden)

T. Brogårdh

2009-07-01

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

Low cost submarine robot

Directory of Open Access Journals (Sweden)

Ponlachart Chotikarn

2010-10-01

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

Vision-Based Robot Following Using PID Control

Directory of Open Access Journals (Sweden)

Chandra Sekhar Pati

2017-06-01

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

ROBOTICS 2014 - The International Conference on ROBOTICS, Bucharest, Romania, October 23-24, 2014

Directory of Open Access Journals (Sweden)

Iulian TABĂRĂ

2014-12-01

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

Robotic hand with modular extensions

Science.gov (United States)

Salisbury, Curt Michael; Quigley, Morgan

2015-01-20

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

Physical Human Robot Interaction for a Wall Mounting Robot - External Force Estimation

DEFF Research Database (Denmark)

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

2018-01-01

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

Vision-Based Robot Following Using PID Control

OpenAIRE

Chandra Sekhar Pati; Rahul Kala

2017-01-01

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

Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

Science.gov (United States)

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

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

Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

Directory of Open Access Journals (Sweden)

Joachim de Greeff

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

Robot Tracer with Visual Camera

Science.gov (United States)

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

2017-12-01

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

Robotics for nuclear power plants

International Nuclear Information System (INIS)

Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

1984-01-01

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

Robotics for nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

1984-10-01

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

30 Years of Robotic Surgery.

Science.gov (United States)

Leal Ghezzi, Tiago; Campos Corleta, Oly

2016-10-01

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

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

Data.gov (United States)

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

Advances in robot kinematics

CERN Document Server

Khatib, Oussama

2014-01-01

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

Effect of cognitive biases on human-robot interaction: a case study of robot's misattribution

OpenAIRE

Biswas, Mriganka; Murray, John

2014-01-01

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

Robotic systems in spine surgery.

Science.gov (United States)

Onen, Mehmet Resid; Naderi, Sait

2014-01-01

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

Robots in the Roses

OpenAIRE

2014-01-01

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

Robot Motion and Control 2011

CERN Document Server

2012-01-01

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

Full autonomous microline trace robot

Science.gov (United States)

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

2000-10-01

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

Diseño y construcción de un biodigestor anaeróbica vertical semicontinua para la obtención de gas metano y biol apartir de las cáscaras de naranja y mango.

OpenAIRE

Gonzabay Valdiviezo, Anthony William; Suárez Monroy, Pablo Moises

2016-01-01

En la elaboración del presente proyecto se pretende realizar el diseño y construcción de un biodigestor anaeróbico vertical semicontinuo para la obtención de gas metano y biol a partir de las cáscaras de naranja y mango. Esto se logrará al estimar los parámetros de diseño del Biodigestor anaeróbico, calculando la cantidad de gas metano y biol estimado que podría generar el biodigestor, además de construirlo y operarlo para la obtención de gas metano y biol. In the production of the presen...

Rehabilitation robotics.

Science.gov (United States)

Krebs, H I; Volpe, B T

2013-01-01

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

Robots of the Future

Indian Academy of Sciences (India)

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

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Directory of Open Access Journals (Sweden)

Philipp Beckerle

2017-05-01

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

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Science.gov (United States)

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

2017-01-01

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

Advances in Robotics and Virtual Reality

CERN Document Server

Hassanien, Aboul

2012-01-01

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

Optimización de las condiciones de extracción de compuestos fenólicos a partir de cáscara de uva variedad quebranta (Ica, Perú) empleando técnicas convencionales y extracción asistida por ultrasonido

OpenAIRE

Dueñas Zurita, Julia Alicia

2017-01-01

La producción de vino y pisco representa una de las principales actividades agrícolas en todo el mundo, esta producción se acompaña con la generación de grandes cantidades de desechos que son ricos en compuestos bioactivos (especialmente compuestos fenólicos) con capacidad antioxidante. El propósito de este trabajo es seleccionar y optimizar las condiciones de extracción de compuestos fenólicos a partir de cáscara de uva variedad Quebranta provenientes de vinificaciones empleando un método co...

Can Social Robots Qualify for Moral Consideration? Reframing the Question about Robot Rights

Directory of Open Access Journals (Sweden)

Herman T. Tavani

2018-03-01

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

Multi-Robot Assembly Strategies and Metrics

Science.gov (United States)

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

2018-01-01

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

Multi-Robot Assembly Strategies and Metrics.

Science.gov (United States)

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

2018-02-01

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

Present and Future of Nuclear Robotics

International Nuclear Information System (INIS)

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

1997-01-01

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

Robots as Confederates

DEFF Research Database (Denmark)

Fischer, Kerstin

2016-01-01

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

Developing new behavior strategies of robot soccer team SjF TUKE Robotics

Directory of Open Access Journals (Sweden)

Mikuláš Hajduk

2016-09-01

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

Learning robotics using Python

CERN Document Server

Joseph, Lentin

2015-01-01

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

Open middleware for robotics

CSIR Research Space (South Africa)

Namoshe, M

2008-12-01

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

Design-Oriented Enhanced Robotics Curriculum

Science.gov (United States)

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

2013-01-01

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

Interaction with Soft Robotic Tentacles

DEFF Research Database (Denmark)

Jørgensen, Jonas

2018-01-01

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

Survival of falling robots

Science.gov (United States)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-01-01

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

Robot Games for Elderly

DEFF Research Database (Denmark)

Hansen, Søren Tranberg

2011-01-01

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

Survival of falling robots

Science.gov (United States)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-02-01

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

Lessons of nuclear robot history

International Nuclear Information System (INIS)

Oomichi, Takeo

2014-01-01

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

The Power of Educational Robotics

Science.gov (United States)

Cummings, Timothy

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

Clean-room robot implementation

International Nuclear Information System (INIS)

Comeau, J.L.

1982-01-01

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

Referees check robots after qualifying match at regional robotic competition at KSC

Science.gov (United States)

1999-01-01

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

Design and Implementation of a New DELTA Parallel Robot in Robotics Competitions

Directory of Open Access Journals (Sweden)

Jonqlan Lin

2015-10-01

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

Working with Robots: The Real Story.

Science.gov (United States)

Fey, Carol

1986-01-01

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

Robots: An Impact on Education.

Science.gov (United States)

Blaesi, LaVon; Maness, Marion

1984-01-01

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

Adsorción de Cr(VI) por Cocos nucífera L. en aguas residuales de Fibrocemento en Santiago de Cuba

OpenAIRE

Pérez Silva, Rosa María; Calzado Lamela, Orlindes; Cascaret Carmenaty, Dannis Adrián; Tur Naranjo, Enieyis

2014-01-01

La adsorción y/o formación de complejos de metales pesados basados en la actividad química de la biomasa, es el proceso conocido como biosorción y es la base de una nueva tecnología para su remoción en efluentes industriales y su posterior recuperación. En esta tecnología se pueden utilizar diferentes tipos de biomasas tales como: algas, microorganismos y sub-productos agrícolas. Este trabajo estudió la adsorción de Cr(VI) utilizando la cáscara del fruto de la planta Cocos nucífera L. como bi...

Robotics in hazardous waste management

International Nuclear Information System (INIS)

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

1994-01-01

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

Future of robotic surgery.

Science.gov (United States)

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

2013-01-01

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

Hand-held medical robots.

Science.gov (United States)

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

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

Human-Robot Planetary Exploration Teams

Science.gov (United States)

Tyree, Kimberly

2004-01-01

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

Dynamic photogrammetric calibration of industrial robots

Science.gov (United States)

Maas, Hans-Gerd

1997-07-01

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

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social.

Science.gov (United States)

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

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

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social

Science.gov (United States)

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

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

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social

Directory of Open Access Journals (Sweden)

Eva Wiese

2017-10-01

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

Two Legged Walking Robot

OpenAIRE

Kraus, V.

2015-01-01

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

RHOBOT: Radiation hardened robotics

Energy Technology Data Exchange (ETDEWEB)

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

1997-10-01

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

RHOBOT: Radiation hardened robotics

International Nuclear Information System (INIS)

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

1997-10-01

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

Automated technological equipment-robot complexes

International Nuclear Information System (INIS)

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

1984-01-01

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

Robotic liver surgery

Science.gov (United States)

Leung, Universe

2014-01-01

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

Airborne spectral measurements of surface-atmosphere anisotropy during the SCAR-A, Kuwait oil fire, and TARFOX experiments

Science.gov (United States)

Soulen, Peter F.; King, Michael D.; Tsay, Si-Chee; Arnold, G. Thomas; Li, Jason Y.

2000-04-01

During the SCAR-A, Kuwait Oil Fire Smoke Experiment, and TARFOX deployments, angular distributions of spectral reflectance for various surfaces were measured using the scanning Cloud Absorption Radiometer (CAR) mounted on the nose of the University of Washington C-131A research aircraft. The CAR contains 13 narrowband spectral channels between 0.47 and 2.3 μm with a 190° scan aperture (5° before zenith to 5° past nadir) and 1° instantaneous field of view. The bidirectional reflectance is obtained by flying a clockwise circular orbit above the surface, resulting in a ground track approximately 3 km in diameter within about 2 min. Spectral bidirectional reflectances of four surfaces are presented: the Great Dismal Swamp in Virginia with overlying haze layer, the Saudi Arabian Desert and the Persian Gulf in the Middle East, and the Atlantic Ocean measured east of Richmond, Virginia. Although the CAR measurements are contaminated by atmospheric effects, results show distinct spectral characteristics for various types of surface-atmosphere systems, including hot spots, limb brightening and darkening, and Sun glint. In addition, the hemispherical albedo of each surface-atmosphere system is calculated directly by integrating over all high angular-resolution CAR measurements for each spectral channel. Comparing the nadir reflectance with the overall hemispherical albedo of each surface, we find that using nadir reflectances as a surrogate for hemispherical albedo can cause albedos to be underestimated by as much as 95% and overestimated by up to 160%, depending on the type of surface and solar zenith angle.

Experiential Learning of Robotics Fundamentals Based on a Case Study of Robot-Assisted Stereotactic Neurosurgery

Science.gov (United States)

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

2016-01-01

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

Teleautonomous Control on Rescue Robot Prototype

Directory of Open Access Journals (Sweden)

Son Kuswadi

2012-12-01

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

International Conference Educational Robotics 2016

CERN Document Server

Moro, Michele; Menegatti, Emanuele

2017-01-01

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

Medical robotics.

Science.gov (United States)

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

2011-01-01

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

Beyond Speculative Robot Ethics

NARCIS (Netherlands)

Smits, M.; Van der Plas, A.

2010-01-01

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

Robotic assisted laparoscopic colectomy.

LENUS (Irish Health Repository)

Pandalai, S

2010-06-01

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

Toward understanding social cues and signals in human-robot interaction: effects of robot gaze and proxemic behavior.

Science.gov (United States)

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

2013-01-01

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

Design of Piano -playing Robotic Hand

Directory of Open Access Journals (Sweden)

Lin Jen-Chang

2013-09-01

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

Robotic aortic surgery.

Science.gov (United States)

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

2011-01-01

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

Living with robots: investigating the user acceptance of social robots in domestic environments

NARCIS (Netherlands)

de Graaf, M.M.A.

2015-01-01

Over the most recent decades, the field of social robotics has advanced rapidly. There are a growing number of different types of robots, and their roles within society are expanding. This dissertation has argued that investigating the long-term acceptance of social robots in home environments is

From Child-Robot Interaction to Child-Robot-Therapist Interaction: A Case Study in Autism

Directory of Open Access Journals (Sweden)

I. Giannopulu

2012-01-01

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

Effects of Interruptibility-Aware Robot Behavior

OpenAIRE

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

2018-01-01

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

Robotics for nuclear power plants

International Nuclear Information System (INIS)

Nakayama, Ryoichi; Kimura, Motohiko; Abe, Akira

1993-01-01

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

Social categorization of social robots: anthropomorphism as a function of robot group membership.

Science.gov (United States)

Eyssel, Friederike; Kuchenbrandt, Dieta

2012-12-01

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

Mobile robotics for CANDU maintenance

International Nuclear Information System (INIS)

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

1996-01-01

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

Robotic system for process sampling

International Nuclear Information System (INIS)

Dyches, G.M.

1985-01-01

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

A IDENTIFICAÇÃO DE TIPOS DE LIDERANÇA A PARTIR DE ARQUÉTIPOS

Directory of Open Access Journals (Sweden)

Adriana Nunes Lacerda e Prestupa

2009-09-01

junguianos analisados por Moore e Gillette (1993 foram relacionados com características de líderes dentro do contexto organizacional. Desta forma foi possível apresentar uma tipologia rica e aplicável, onde o individuo pode se identificar e também entender o processo e a maturação das características dos arquétipos estudados para melhor desempenho dentro das organizações.

An example of the use of robotics in French nuclear power plants the ISIS robot

International Nuclear Information System (INIS)

Seguy, J.; Thirion, H.

1988-01-01

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

The EMeRGE modular robot, an open platform for quick testing of evolved robot morphologies

DEFF Research Database (Denmark)

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

2017-01-01

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

Measurement of the robot motor capability of a robot motor system: a Fitts's-law-inspired approach.

Science.gov (United States)

Lin, Hsien-I; Lee, C S George

2013-07-02

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

Remote controlled data collector robot

Directory of Open Access Journals (Sweden)

Jozsef Suto

2012-06-01

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

Recent Development of Rehabilitation Robots

Directory of Open Access Journals (Sweden)

Zhiqin Qian

2015-02-01

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

Studying Robots Outside the Lab

DEFF Research Database (Denmark)

Blond, Lasse

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

Integration of Haptics in Agricultural Robotics

Science.gov (United States)

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

2017-08-01

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

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

NARCIS (Netherlands)

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

2009-01-01

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

Design of Piano -playing Robotic Hand

OpenAIRE

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

2013-01-01

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

Vitruvian Robot

DEFF Research Database (Denmark)

Hasse, Cathrine

2017-01-01

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

Novel robotic systems and future directions

Directory of Open Access Journals (Sweden)

Ki Don Chang

2018-01-01

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

Robotic devices for nuclear plant

Energy Technology Data Exchange (ETDEWEB)

Abel, E

1986-05-01

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

A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

Directory of Open Access Journals (Sweden)

Juan A. Corrales

2011-10-01

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

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

International Nuclear Information System (INIS)

1991-01-01

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

[Robot-assisted pancreatic resection].

Science.gov (United States)

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

2017-06-01

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

The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course

Science.gov (United States)

Cappelleri, D. J.; Vitoroulis, N.

2013-01-01

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

Collision-free motion coordination of heterogeneous robots

Energy Technology Data Exchange (ETDEWEB)

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

2008-11-15

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

Collision-free motion coordination of heterogeneous robots

International Nuclear Information System (INIS)

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

2008-01-01

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

Project ROBOTICS 2008

DEFF Research Database (Denmark)

Conrad, Finn

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

Review of emerging surgical robotic technology.

Science.gov (United States)

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

2018-04-01

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

Human-machine Interface for Presentation Robot

Czech Academy of Sciences Publication Activity Database

Krejsa, Jiří; Ondroušek, V.

2012-01-01

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

Vision servo of industrial robot: A review

Science.gov (United States)

Zhang, Yujin

2018-04-01

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

Mutual Visibility by Robots with Persistent Memory

OpenAIRE

Bhagat, Subhash; Mukhopadhyaya, Krishnendu

2017-01-01

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

Robotic assisted andrological surgery

Science.gov (United States)

Parekattil, Sijo J; Gudeloglu, Ahmet

2013-01-01

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

Problems of Sport Biomechanics and Robotics

Directory of Open Access Journals (Sweden)

Wlodzimierz S. Erdmann

2013-02-01

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

Pyrotechnic robot - constructive design and command

Directory of Open Access Journals (Sweden)

Ionel A. Staretu

2013-10-01

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

Probabilistic approaches to robotic perception

CERN Document Server

Ferreira, João Filipe

2014-01-01

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

WebotsTM: Professional Mobile Robot Simulation

Directory of Open Access Journals (Sweden)

Olivier Michel

2008-11-01

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

Training in urological robotic surgery. Future perspectives.

Science.gov (United States)

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

2018-01-01

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

Robot-assisted gait training for stroke patients: current state of the art and perspectives of robotics

Directory of Open Access Journals (Sweden)

Morone G

2017-05-01

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

Robotics in percutaneous cardiovascular interventions.

Science.gov (United States)

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

2017-11-01

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

Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems.

Science.gov (United States)

Ando, Noriyasu; Kanzaki, Ryohei

2017-09-01

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

Cognitive Coordination for Cooperative Multi-Robot Teamwork

NARCIS (Netherlands)

Wei, C.

2015-01-01

Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot

Student teams maneuver robots in qualifying match at regional robotic competition at KSC

Science.gov (United States)

1999-01-01

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

Robotic assisted minimally invasive surgery

Directory of Open Access Journals (Sweden)

Palep Jaydeep

2009-01-01

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

Design Minimalism in Robotics Programming

Directory of Open Access Journals (Sweden)

Anthony Cowley

2008-11-01

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

Design Minimalism in Robotics Programming

Directory of Open Access Journals (Sweden)

Anthony Cowley

2006-03-01

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

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

OpenAIRE

C. S. George Lee; Hsien-I Lin

2013-01-01

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...

Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction

Science.gov (United States)

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children’s social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference); the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a “mental model” of the robot, tailoring the tutoring to the robot’s performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot’s bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance. PMID:26422143

Robotics for nuclear facilities

International Nuclear Information System (INIS)

Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

1988-01-01

It is highly desirable that automatic or remotely controlled machines perform inspection and maintenance tasks in nuclear facilities. Toshiba has been working to develop multi-functional robots, with one typical example being a master-slave manipulator for use in reprocessing facilities. At the same time, the company is also working on the development of multi-purpose intelligent robots. One such device, an automatic inspection robot, to be deployed along a monorail, performs inspection by means of image processing technology, while and advanced intelligent maintenance robot is equipped with a special wheel-locomotion mechanism and manipulator and is designed to perform maintenance tasks. (author)

Modeling and identification for high-performance robot control : an RRR-robotic arm case study

NARCIS (Netherlands)

Kostic, D.; Jager, de A.G.; Steinbuch, M.; Hensen, R.H.A.

2004-01-01

We explain a procedure for getting models of robot kinematics and dynamics that are appropriate for robot control design. The procedure consists of the following steps: (i) derivation of robot kinematic and dynamic models and establishing correctness of their structures; (ii) experimental estimation

Special Issue on Intelligent Robots

Directory of Open Access Journals (Sweden)

Genci Capi

2013-08-01

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

Which Robot Features Can Stimulate Better Responses from Children with Autism in Robot-Assisted Therapy?

Directory of Open Access Journals (Sweden)

Jaeryoung Lee

2012-09-01

Full Text Available This study explores the response of autistic children to a few design features of the robots for autism therapy and provides suggestions on the robot features that have a stronger influence on the therapeutic process. First, we investigate the effect of selected robot features on the development of social communication skills in autistic children. The results indicate that the toy's “face” and “moving limb” usually draw the children's attention and improve children's facial expression skills, but do not contribute to the development of other social communication skills. Secondly, we study the response of children with low-functioning autism to robots with verbal communication functionalities. Test results show that children interacted with the verbal-featured robot more intensively than with the experimenter. We conclude that robots with faces and moving limbs can engage autistic children in a better way. Facial expression of the robots can elicit a greater response than prompting by humans.

Technology of disaster response robot and issues

International Nuclear Information System (INIS)

Tadokoro, Satoshi

2013-01-01

The needs, function structure , ability of disaster response robot are stated. Robots are classified by move mode such as Unmanned Ground Vehicle (UGV), Legged Robots, Exoskeleton, Unmanned Aerial Vehicle (UAV), Wall Climbing Robots, robots for narrow space. Quince, disaster response robot, collected at first information in the building of Fukushima Daiichi Nuclear Power Station. Functions of rescue robots and technical problems under disaster conditions, shape and characteristics of robots and TRL, PackBot, Pelican, Quince, scope camera, and three-dimensional map made by Quince are illustrated. (S.Y.)

Robot skills for manufacturing

DEFF Research Database (Denmark)

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

2016-01-01

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

Robotics at Savannah River

International Nuclear Information System (INIS)

Byrd, J.S.

1983-01-01

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

Towards Light‐guided Micro‐robotics

DEFF Research Database (Denmark)

Glückstad, Jesper

‐dimensional microstructures. Furthermore, we exploit the light shaping capabilities available in the workstation to demonstrate a new strategy for controlling microstructures that goes beyond the typical refractive light deflections that are exploited in conventional optical trapping and manipulation e.g. of micro......Robotics in the macro‐scale typically uses light for carrying information in machine vision for monitoring and feedback in intelligent robotic guidance systems. With light’s miniscule momentum, shrinking robots down to the micro‐scale regime creates opportunities for exploiting optical forces...... and torques in micro‐robotic actuation and control. Indeed, the literature on optical trapping and micro‐manipulation attests to the possibilities for optical micro‐robotics. Advancing light‐driven micro‐robotics requires the optimization of optical force and optical torque that, in turn, requires...

Application of robotics in nuclear facilities

International Nuclear Information System (INIS)

Byrd, J.S.; Fisher, J.J.

1986-01-01

Industrial robots and other robotic systems have been successfully applied at the Savannah River nuclear site. These applications, new robotic systems presently under development, general techniques for the employment of robots in nuclear facilities, and future systems are discussed

Robotic transthoracic esophagectomy.

Science.gov (United States)

Puntambekar, Shailesh; Kenawadekar, Rahul; Kumar, Sanjay; Joshi, Saurabh; Agarwal, Geetanjali; Reddy, Sunil; Mallik, Jainul

2015-04-23

We have initially published our experience with the robotic transthoracic esophagectomy in 32 patients from a single institute. The present paper is the extension of our experience with robotic system and to best of our knowledge this represents the largest series of robotic transthoracic esophagectomy worldwide. The objective of this study was to investigate the feasibility of the robotic transthoracic esophagectomy for esophageal cancer in a series of patients from a single institute. A retrospective review of medical records was conducted for 83 esophageal cancer patients who underwent robotic esophagectomy at our institute from December 2009 to December 2012. All patients underwent a thorough clinical examination and pre-operative investigations. All patients underwent robotic esophageal mobilization. En-bloc dissection with lymphadenectomy was performed in all cases with preservation of Azygous vein. Relevant data were gathered from medical records. The study population comprised of 50 men and 33 women with mean age of 59.18 years. The mean operative time was 204.94 mins (range 180 to 300). The mean blood loss was 86.75 ml (range 50 to 200). The mean number of lymph node yield was 18. 36 (range 13 to 24). None of the patient required conversion. The mean ICU stay and hospital stay was 1 day (range 1 to 3) and 10.37 days (range 10 to 13), respectively. A total of 16 (19.28%) complication were reported in these patents. Commonly reported complication included dysphagia, pleural effusion and anastomotic leak. No treatment related mortality was observed. After a median follow-up period of 10 months, 66 patients (79.52%) survived with disease free stage. We found robot-assisted thoracoscopic esophagectomy feasible in cases of esophageal cancer. The procedure allowed precise en-bloc dissection with lymphadenectomy in mediastinum with reduced operative time, blood loss and complications.

Robots for Astrobiology!

Science.gov (United States)

Boston, Penelope J.

2016-01-01

The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

Automatic control system generation for robot design validation

Science.gov (United States)

Bacon, James A. (Inventor); English, James D. (Inventor)

2012-01-01

The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

Effect of the immersion in 1-MCP on the physicochemical and physiological properties of yellow pitahaya fruit (Selenicereus megalanthus How with minimum processing

Directory of Open Access Journals (Sweden)

Segura Rojas Diego Fernando

2011-09-01

Full Text Available

La pitahaya amarilla (Selenicereus megalanthus How es una fruta exótica con gran potencial comercial. No obstante, sólo ha sido aprovechada comercialmente como fruta entera, sin procedimientos que le den valor agregado y mayor tiempo de vida de anaquel. En este trabajo se evaluó la aplicación de 200 mg/lt de 1-MCP en pitahaya amarilla mínimamente procesada (rodajas con cáscara y sin cáscara, empacada al vacío y almacenada bajo refrigeración, sobre la intensidad respiratoria y parámetros de calidad como sólidos solubles, acidez total titulable, pérdida de peso, azücares totales, firmeza y color. La aplicación de 1-MCP aumentó la producción de CO2, lo cual se manifestó en mayores contenidos de sólidos solubles y azúcares totales, pero no incidió en la pérdida de peso, variación de la acidez total titulable, cambios de color y retención de la firmeza. En ambos tipos de procesamientos se logró reducir durante el almacenamiento la pérdida de vitamina C.

Segmentation and Location Computation of Bin Objects

Directory of Open Access Journals (Sweden)

C.R. Hema

2008-11-01

Full Text Available In this paper we present a stereo vision based system for segmentation and location computation of partially occluded objects in bin picking environments. Algorithms to segment partially occluded objects and to find the object location [midpoint,x, y and z coordinates] with respect to the bin area are proposed. The z co ordinate is computed using stereo images and neural networks. The proposed algorithms is tested using two neural network architectures namely the Radial Basis Function nets and Simple Feedforward nets. The training results fo feedforward nets are found to be more suitable for the current application.The proposed stereo vision system is interfaced with an Adept SCARA Robot to perform bin picking operations. The vision system is found to be effective for partially occluded objects, in the absence of albedo effects. The results are validated through real time bin picking experiments on the Adept Robot.

PREPARACIÓN DE CARBÓN ACTIVADO A PARTIR DE CÁSCARA DE NARANJA POR ACTIVACIÓN QUÍMICA. CARACTERIZACIÓN FÍSICA Y QUÍMICA

Directory of Open Access Journals (Sweden)

Karen Peña

2013-08-01

Full Text Available Se preparan carbones activados por pirólisisde cáscara de naranja, residuoslignocelulósicos, por activación químicamediante impregnación con solucionesde ácido fosfórico a diferentes concentraciones(32 %, 36 %, 40 % y 48 %p/V, a una temperatura de 373 K y untiempo de residencia de 3 h, presentandorendimientos alrededor del 36 %. Lacaracterización de la textura porosa delos carbones activados obtenidos se determinapor adsorción física de N2 a 77K. El análisis isotérmico muestra paralos carbones materiales activados obtenidosáreas superficiales entre 940 y 1200m2g–1 con características de materialesmesoporosos. El estudio mediante técnicasde equilibrio como las titulacionestipo Boehm y la determinación del fósfororesidual, así como técnicas espectroscópicascomo el infrarrojo (IR permitenobservar cómo la variación en la concentracióndel agente activante muestra unainfluencia sobre la química superficialdel material carbonoso a obtener.

AN IMPLEMENTATION OF PACMAN GAME USING ROBOTS

OpenAIRE

Madhav. Rao

2011-01-01

As the field of robotics are advancing, robotics education needs to consider technological advances and societal level of interest. Realizing computer games in robotic platforms is one such technological advance for educating students in robotics science. Realizing computer games in robotics environment is still a challenge due to high investment factor in developing robot models. However the effort can lead to the enhanced interest in robotics education and further involvement in science and...

Quebrando estereótipos e rompendo preconceitos na sala de aula

Directory of Open Access Journals (Sweden)

Daniela Jakubaszko

2015-04-01

Full Text Available Este texto se preocupa em contribuir para a reflexão que torna possível a identificação e ruptura dos estereótipos sociais que dão origem a preconceitos e ações discriminatórias. Com base nos estudos de Walter Lippann, Agnes Heller, Adam Shaff e Eclea Bosi, pretende-se discutir os conceitos de estereótipo e preconceito, buscando entender o que são e porque se formam. Para entender melhor o estereótipo temos que refletir sobre três elementos que a ele se ligam: a linguagem, o cotidiano e o senso comum. É no plano da linguagem - do diálogo e das práticas de linguagem - que se deve estudar e se pode romper e desconstruir os estereótipos, tomando consciência da própria formação discursiva. O texto oferece, ainda, algumas sugestões para trabalhar o conceito na sala de aula e para ampliar o repertório de textos e referências a serem debatidas com os alunos.