Customizable Visualizations with Formula-Linked Building Blocks

DEFF Research Database (Denmark)

Kuhail, Mohammad Amin; Lauesen, Søren

different appearance or behavior than what the widgets support. Another approach is to combine primitive graphical elements using traditional programming or visualization toolkits. Traditional programming allows high customizability, but it is time consuming and hard to develop advanced visualizations......One approach to visualization construction is to use complex blocks (widgets) that are tailored for specific visualizations, and customize the visualizations by setting the properties of the widgets. This approach allows fast and easy visualization construction but falls short if the user wants....... Visualization toolkits allow easier visualization creation in some cases, but customization and interaction are tedious. As an alternative, we developed uVis visualization tool that uses spreadsheet-like formulas to connect building blocks. uVis formulas can refer to building blocks and database tables. We...

Characteristics of Recycled Concrete Aggregates from Precast Slab Block Buildings

Science.gov (United States)

Venkrbec, Václav; Nováková, Iveta; Henková, Svatava

2017-10-01

Precast slab block buildings (PSBB) typically and frequently occur in Central and Eastern Europe, as well as elsewhere in the world. Some of these buildings are currently used beyond their service life capacity. The utilization of recycled materials from these buildings with regard to applying the principles of sustainable construction and using recycled materials will probably be significant in the following years. Documentation from the manufacturing processes of prefabricated blocks for precast slab block buildings is not available, and also it is difficult to declare technological discipline during the construction of these buildings. Therefore, properties of recycled concrete aggregates (RCA) produced from construction and demolition waste (C&DW) of precast slab block buildings build between 1950s to 1990s are not sufficiently known. The demolition of these buildings is very rare today, but it can be assumed an increase in demolitions of these buildings in the future. The use of RCA in new concrete requires verification/testing of the geometrical and physical properties of RCA according to the EN 12 620+A1 standard. The aim of the contribution is to present a case study of the demolition of slab block building with emphasis on RCA usage. The paper presents the results of the tests according to European standards for determining selected geometrical and physical properties of the RCA. The paper describes and evaluates tests such as determination of particle size distribution - Sieve Analysis, content of fine particles, determination of density and water absorption. The results of the properties testing of RCA are compared with the properties of natural aggregate. The general boundary conditions of RCA particular tests are presented.

"Adventures of Harvey" - Use, Acceptance of and Relationship Building with a Social Robot in a Domestic Environment

Science.gov (United States)

Klamer, Tineke; Ben Allouch, Somaya; Heylen, Dirk

The goal of this study was to improve our understanding about how older people use social robots in domestic environments and in particular whether and how they build relationships with these robots. Three participants interacted with the Nabaztag, a social robot, for a 10-day period in their own home environment. Some of our findings are (1) utilitarian-, hedonic-, and social factors are important when accepting social robots, (2) utilitarian-, hedonic- and social factors are important for building a relationship with the Nabaztag, (3) there is a relationship between name-calling and relationship building and (4) there is a relationship between using non-verbal- and verbal communication and relationship building.

A droplet-based building block approach for bladder smooth muscle cell (SMC) proliferation

Energy Technology Data Exchange (ETDEWEB)

Xu, F; Moon, S J; Emre, A E; Turali, E S; Song, Y S; Hacking, S A; Demirci, U [Department of Medicine, Bio-Acoustic-MEMS in Medicine (BAMM) Laboratory, Center for Biomedical Engineering, Brigham and Women' s Hospital, Harvard Medical School, Boston, MA (United States); Nagatomi, J, E-mail: udemirci@rics.bwh.harvard.ed [Department of Bioengineering, Clemson University, Clemson, SC (United States)

2010-03-15

Tissue engineering based on building blocks is an emerging method to fabricate 3D tissue constructs. This method requires depositing and assembling building blocks (cell-laden microgels) at high throughput. The current technologies (e.g., molding and photolithography) to fabricate microgels have throughput challenges and provide limited control over building block properties (e.g., cell density). The cell-encapsulating droplet generation technique has potential to address these challenges. In this study, we monitored individual building blocks for viability, proliferation and cell density. The results showed that (i) SMCs can be encapsulated in collagen droplets with high viability (>94.2 +- 3.2%) for four cases of initial number of cells per building block (i.e. 7 +- 2, 16 +- 2, 26 +- 3 and 37 +- 3 cells/building block). (ii) Encapsulated SMCs can proliferate in building blocks at rates that are consistent (1.49 +- 0.29) across all four cases, compared to that of the controls. (iii) By assembling these building blocks, we created an SMC patch (5 mm x 5 mm x 20 mum), which was cultured for 51 days forming a 3D tissue-like construct. The histology of the cultured patch was compared to that of a native rat bladder. These results indicate the potential of creating 3D tissue models at high throughput in vitro using building blocks.

Modular Robotics in an African Context

DEFF Research Database (Denmark)

Lund, Henrik Hautop

2011-01-01

In this paper, we review the concept, development and use of modular robotic devices for education, health improvements, and business in Africa. The modular robotics inspired technology has the advantage of allowing any user easy access to a physical construction of new and advanced technology. We...... conceptualized several educational tools inspired by modular robotics for contextualized IT education in Tanzania, leading to a novel IT degree program and the development of East Africa’s first science and business park in Iringa, Tanzania. The prototypes inspired by modular robotics were developed in the local......, rural context and tested by local users in hospitals and rehabilitation centres. In this paper, we review the development of both modular building blocks for education and modular robotic tiles for rehabilitation in Tanzania....

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

DEFF Research Database (Denmark)

Christensen, Bjørn Klint

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

Solid-phase route to Fmoc-protected cationic amino acid building blocks

DEFF Research Database (Denmark)

Clausen, Jacob Dahlqvist; Linderoth, Lars; Nielsen, Hanne Mørck

2012-01-01

Diamino acids are commonly found in bioactive compounds, yet only few are commercially available as building blocks for solid-phase peptide synthesis. In the present work a convenient, inexpensive route to multiple-charged amino acid building blocks with varying degree of hydrophobicity...... was developed. A versatile solid-phase protocol leading to selectively protected amino alcohol intermediates was followed by oxidation to yield the desired di- or polycationic amino acid building blocks in gram-scale amounts. The synthetic sequence comprises loading of (S)-1-(p-nosyl)aziridine-2-methanol onto...... of simple neutral amino acids as well as analogs displaying high bulkiness or polycationic side chains was prepared. Two building blocks were incorporated into peptide sequences using microwave-assisted solid-phase peptide synthesis confirming their general utility....

Internet of Things building blocks and business models

CERN Document Server

Hussain, Fatima

2017-01-01

This book describes the building blocks and introductory business models for Internet of Things (IoT). The author provide an overview of the entire IoT architecture and constituent layers, followed by detail description of each block . Various inter-connecting technologies and sensors are discussed in context of IoT networks. In addition to this, concepts of Big Data and Fog Computing are presented and characterized as per data generated by versatile IoT applications . Smart parking system and context aware services are presented as an hybrid model of cloud and Fog Afterwards, various IoT applications and respective business models are discussed. Finally, author summarizes the IoT building blocks and identify research issues in each, and suggest potential research projects worthy of pursuing. .

Building Blocks: Enmeshing Technology and Creativity with Artistic Pedagogical Technologies

Science.gov (United States)

Janzen, Katherine J.; Perry, Beth; Edwards, Margaret

2017-01-01

Using the analogy of children's building blocks, the reader is guided through the results of a research study that explored the use of three Artistic Pedagogical Technologies (APTs). "Building blocks" was the major theme that emerged from the data. Sub-themes included developing community, enhancing creativity, and risk taking. The…

Elementary structural building blocks encountered in silicon surface reconstructions

International Nuclear Information System (INIS)

Battaglia, Corsin; Monney, Claude; Didiot, Clement; Schwier, Eike Fabian; Garnier, Michael Gunnar; Aebi, Philipp; Gaal-Nagy, Katalin; Onida, Giovanni

2009-01-01

Driven by the reduction of dangling bonds and the minimization of surface stress, reconstruction of silicon surfaces leads to a striking diversity of outcomes. Despite this variety even very elaborate structures are generally comprised of a small number of structural building blocks. We here identify important elementary building blocks and discuss their integration into the structural models as well as their impact on the electronic structure of the surface. (topical review)

From Virtual Creatures to Feasible Robots

DEFF Research Database (Denmark)

Faina, Andres; Souto, Daniel; Orjales, Félix

with the main objective of obtaining feasible and manufacturable robots. To this end, a modular architecture has been defined and implemented [2], which faces real hardware issues and promotes the evolvability of the robotic structures by considering heterogeneous modules with a large number of connection faces......This paper provides a brief description of the robots obtained using the evolutionary design system called EDHMoR (Evolutionary Designer of Heterogeneous Modular Robots) that are displayed in the corresponding video [1]. This system is based on the coevolution of morphology and control...... per module. These modules constitute the building blocks the EDHMoR system uses to design the robots. Moreover, an evaluation methodology is proposed as a key element of EDMHoR, which is based on modifications in the environment that can produce more useful and realistic robots without limiting...

Tops as building blocks for G 2 manifolds

Science.gov (United States)

Braun, Andreas P.

2017-10-01

A large number of examples of compact G 2 manifolds, relevant to supersymmetric compactifications of M-Theory to four dimensions, can be constructed by forming a twisted connected sum of two building blocks times a circle. These building blocks, which are appropriate K3-fibred threefolds, are shown to have a natural and elegant construction in terms of tops, which parallels the construction of Calabi-Yau manifolds via reflexive polytopes. In particular, this enables us to prove combinatorial formulas for the Hodge numbers and other relevant topological data.

Two innovative solutions based on fibre concrete blocks designed for building substructure

Science.gov (United States)

Pazderka, J.; Hájek, P.

2017-09-01

Using of fibers in a high-strength concrete allows reduction of the dimensions of small precast concrete elements, which opens up new ways of solution for traditional construction details in buildings. The paper presents two innovative technical solutions for building substructure: The special shaped plinth block from fibre concrete and the fibre concrete elements for new technical solution of ventilated floor. The main advantages of plinth block from fibre concrete blocks (compared with standard plinth solutions) is: easier and faster assembly, higher durability and thanks to the air cavity between the vertical part of the block, the building substructure reduced moisture level of structures under the waterproofing layer and a comprehensive solution to the final surface of building plinth as well as the surface of adjacent terrain. The ventilated floor based on fibre concrete precast blocks is an attractive structural alternative for tackling the problem of increased moisture in masonry in older buildings, lacking a functional waterproof layer in the substructure.

Essential Building Blocks of Human Nature

CERN Document Server

Frey, Ulrich J; Willführ, Kai P

2011-01-01

To understand why we humans are as we are, it is necessary to look at the essential building blocks that comprise our nature. The foundations of this structure are our evolutionary origins as primates and our social roots. Upon these rest features such as our emotions, language and aesthetic preferences, with our self-perceptions, self-deceptions and thirst for knowledge right at the top. The unifying force holding these blocks together is evolutionary theory. Evolution provides a deeper understanding of human nature and, in particular, of the common roots of these different perspectives. To build a reliable and coherent model of man, leading authors from fields as diverse as primatology, anthropology, neurobiology and philosophy have joined forces to present essays  each describing their own expert perspective. Together they provide a convincing and complete picture of our own human nature.

A cargo-sorting DNA robot.

Science.gov (United States)

Thubagere, Anupama J; Li, Wei; Johnson, Robert F; Chen, Zibo; Doroudi, Shayan; Lee, Yae Lim; Izatt, Gregory; Wittman, Sarah; Srinivas, Niranjan; Woods, Damien; Winfree, Erik; Qian, Lulu

2017-09-15

Two critical challenges in the design and synthesis of molecular robots are modularity and algorithm simplicity. We demonstrate three modular building blocks for a DNA robot that performs cargo sorting at the molecular level. A simple algorithm encoding recognition between cargos and their destinations allows for a simple robot design: a single-stranded DNA with one leg and two foot domains for walking, and one arm and one hand domain for picking up and dropping off cargos. The robot explores a two-dimensional testing ground on the surface of DNA origami, picks up multiple cargos of two types that are initially at unordered locations, and delivers them to specified destinations until all molecules are sorted into two distinct piles. The robot is designed to perform a random walk without any energy supply. Exploiting this feature, a single robot can repeatedly sort multiple cargos. Localization on DNA origami allows for distinct cargo-sorting tasks to take place simultaneously in one test tube or for multiple robots to collectively perform the same task. Copyright © 2017, American Association for the Advancement of Science.

Decontamination and concrete core sampling by teleoperated robot at Fukushima Daiichi reactor buildings

International Nuclear Information System (INIS)

Watanabe, Masaru; Onitsuka, Hironori; Shimonabe, Noriaki; Fujita, Jun; Matsumura, Takumi; Okumura, Atsushi

2015-01-01

For decommissioning of Fukushima daiichi nuclear power station, reduction of the dose equivalent rates inside the reactor buildings is an important issue. Concrete core sampling from the buildings to investigate the contamination is necessary for study about effective decontamination. However, dose rate inside the reactor buildings is very high. For example, dose rate of 1st floor on the Unit 1 is 1.2 - 1820 [mSv / h], the Unit 2 is 2.5 - 220 [mSv / h] and Unit 3 is 2.2 - 4780 [mSv / h]. So it is difficult for workers to work long hours. Therefore, a teleoperated robot, named 'MHI-MEISTeR (Mitsubishi Heavy Industries - Maintenance Equipment Integrated System of Telecontrol Robot)', has been developed to conduct operations like concrete core samples from the reactor buildings. Actually, some concrete core samples from Fukushima daiichi were taken by MHI-MEISTeR. In addition, MHI-MEISTeR is designed as a versatile robot, and so it can conduct suction / blast decontamination works as well as concrete core sampling. The above operations were performed by MHI-MEISTeR in Fukushima daiichi nuclear power station. (author)

Optically controlled three-dimensional assembly of microfabricated building blocks

DEFF Research Database (Denmark)

Rodrigo, Peter John; Kelemen, Lorand; Palima, Darwin

2009-01-01

We demonstrate a system for constructing reconfigurable microstructures using multiple, real-time configurable counterpropagating-beam traps. We optically assemble geometrically complementary microstructures with complex three-dimensional (3D) topologies produced by two-photon polymerization....... This demonstrates utilization of controllable 3D optical traps for building hierarchical structures from microfabricated building blocks. Optical microassembly with translational and tip-tilt control in 3D achieved by dynamic multiple CB traps can potentially facilitate the construction of functional microdevices...... and may also lead to the future realization of optically actuated micromachines. Fabricating morphologically complex microstructures and then optically manipulating these archetypal building blocks can also be used to construct reconfigurable microenvironments that can aid in understanding cellular...

Demand Response Technology Readiness Levels for Energy Management in Blocks of Buildings

Directory of Open Access Journals (Sweden)

Tracey Crosbie

2018-01-01

Full Text Available Fossil fuels deliver most of the flexibility in contemporary electricity systems. The pressing need to reduce CO2 emissions requires new methods to provide this flexibility. Demand response (DR offers consumers a significant role in the delivery of flexibility by reducing or shifting their electricity usage during periods of stress or constraint. Blocks of buildings offer more flexibility in the timing and use of energy than single buildings, however, and a lack of relevant scalable ICT tools hampers DR in blocks of buildings. To ameliorate this problem, a current innovation project called “Demand Response in Blocks of Buildings” (DR-BoB: www.dr-bob.eu has integrated existing technologies into a scalable cloud-based solution for DR in blocks of buildings. The degree to which the DR-BoB energy management solution can increase the ability of any given site to participate in DR is dependent upon its current energy systems, i.e., the energy metering, the telemetry and control technologies in building management systems, and the existence/capacity of local power generation and storage plants. To encourage the owners and managers of blocks of buildings to participate in DR, a method of assessing and validating the technological readiness to participate in DR energy management solutions at any given site is required. This paper describes the DR-BoB energy management solution and outlines what we have called the demand response technology readiness levels (DRTRLs for the implementation of such a solution in blocks of buildings.

Building Blocks for Sustainable Communities: Assistance from Grantees

Science.gov (United States)

EPA awarded Building Blocks for Sustainable Communities grants to four nonprofit organizations with extensive expertise in community sustainability. These organizations deliver technical assistance to communities.

Synthesis of homo- and heteromultivalent carbohydrate-functionalized oligo(amidoamines using novel glyco-building blocks

Directory of Open Access Journals (Sweden)

Felix Wojcik

2013-11-01

Full Text Available We present the solid phase synthesis of carbohydrate-functionalized oligo(amidoamines with different functionalization patterns utilizing a novel alphabet of six differently glycosylated building blocks. Highly efficient in flow conjugation of thioglycosides to a double-bond presenting diethylentriamine precursor is the key step to prepare these building blocks suitable for fully automated solid-phase synthesis. Introduction of the sugar ligands via functionalized building blocks rather than postfunctionalization of the oligomeric backbone allows for the straightforward synthesis of multivalent glycoligands with full control over monomer sequence and functionalization pattern. We demonstrate the potential of this building-block approach by synthesizing oligomers with different numbers and spacing of carbohydrates and also show the feasibility of heteromultivalent glycosylation patterns by combining building blocks presenting different mono- and disaccharides.

Block assembly for global registration of building scans

KAUST Repository

Yan, Feilong; Nan, Liangliang; Wonka, Peter

2016-01-01

We propose a framework for global registration of building scans. The first contribution of our work is to detect and use portals (e.g., doors and windows) to improve the local registration between two scans. Our second contribution is an optimization based on a linear integer programming formulation. We abstract each scan as a block and model the blocks registration as an optimization problem that aims at maximizing the overall matching score of the entire scene. We propose an efficient solution to this optimization problem by iteratively detecting and adding local constraints. We demonstrate the effectiveness of the proposed method on buildings of various styles and that our approach is superior to the current state of the art.

Block assembly for global registration of building scans

KAUST Repository

Yan, Feilong

2016-11-11

We propose a framework for global registration of building scans. The first contribution of our work is to detect and use portals (e.g., doors and windows) to improve the local registration between two scans. Our second contribution is an optimization based on a linear integer programming formulation. We abstract each scan as a block and model the blocks registration as an optimization problem that aims at maximizing the overall matching score of the entire scene. We propose an efficient solution to this optimization problem by iteratively detecting and adding local constraints. We demonstrate the effectiveness of the proposed method on buildings of various styles and that our approach is superior to the current state of the art.

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

Science.gov (United States)

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-03-14

defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team.

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

Directory of Open Access Journals (Sweden)

Michael Mortimer

2017-03-01

using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team.

THE USAGE OF FACEBOOK FUNCTIONAL BUILDING BLOCKS IN UNISEL

Directory of Open Access Journals (Sweden)

Latifah Abd Latib

2015-08-01

Full Text Available The emergence of Internet-based social media has made it possible for a personto communicate with thousands of other people to increase the communicationeffectiveness, collaboration among internal organization and knowledge sharing.By engaging employees through social media such as Facebook as a two-waycommunications tool, employers can reach a larger audience and build credibilitywith techno-savvy workers. Although it is clear that Facebook is a very powerfultool for communication, many employers are unable to identify the functionalityof Facebook in terms of developing strategies and to allocate the resourceseffectively. Taking this into account this study sought to identify the usage ofFacebook Functionality building blocks. This survey involved 55 academic staffsfrom the Faculty of Computer Science and Information Technology, Unisel. Theseven functional building blocks identified were Identity (M=3.39, Relationships(M=3.39, Groups (M=3.6, Presence (M=3.28, Sharing (M=3.06, andConversations (M=2.90, Reputation (M=2.05. This study suggests that theability to identify the functional building blocks itself is very important in anorganization in terms of developing their communication strategies. It is hopedthat the results of the study will be applicable to the instituition, current users,and potential users of Facebook.

Building blocks for modular data acquisition systems

Energy Technology Data Exchange (ETDEWEB)

Hoffmann, B

1996-12-31

The principles of building blocks for modular data acquisition systems by means of the VIC bus are discussed. Real time operating systems based on the VME environment for program development drastically reducing the time needed to develop a working system. 4 figs.

Building blocks of Collagen based biomaterial devices

Indian Academy of Sciences (India)

First page Back Continue Last page Overview Graphics. Building blocks of Collagen based biomaterial devices. Collagen as a protein. Collagen in tissues and organs. Stabilizing and cross linking agents. Immunogenicity. Hosts (drugs). Controlled release mechanisms of hosts. Biodegradability, workability into devices ...

Hydration effects on the electronic properties of eumelanin building blocks

International Nuclear Information System (INIS)

Assis Oliveira, Leonardo Bruno; Fonseca, Tertius L.; Costa Cabral, Benedito J.; Coutinho, Kaline; Canuto, Sylvio

2016-01-01

Theoretical results for the electronic properties of eumelanin building blocks in the gas phase and water are presented. The building blocks presently investigated include the monomeric species DHI (5,6-dihydroxyindole) or hydroquinone (HQ), DHICA (5,6-dihydroxyindole-2-carboxylic acid), indolequinone (IQ), quinone methide (MQ), two covalently bonded dimers [HM ≡ HQ + MQ and IM ≡ IQ + MQ], and two tetramers [HMIM ≡ HQ + IM, IMIM ≡ IM + IM]. The electronic properties in water were determined by carrying out sequential Monte Carlo/time dependent density functional theory calculations. The results illustrate the role played by hydrogen bonding and electrostatic interactions in the electronic properties of eumelanin building blocks in a polar environment. In water, the dipole moments of monomeric species are significantly increased ([54–79]%) relative to their gas phase values. Recently, it has been proposed that the observed enhancement of the higher-energy absorption intensity in eumelanin can be explained by excitonic coupling among eumelanin protomolecules [C.-T. Chen et al., Nat. Commun. 5, 3859 (2014)]. Here, we are providing evidence that for DHICA, IQ, and HMIM, the electronic absorption toward the higher-energy end of the spectrum ([180–220] nm) is enhanced by long-range Coulombic interactions with the water environment. It was verified that by superposing the absorption spectra of different eumelanin building blocks corresponding to the monomers, dimers, and tetramers in liquid water, the behaviour of the experimental spectrum, which is characterised by a nearly monotonic decay from the ultraviolet to the infrared, is qualitatively reproduced. This result is in keeping with a “chemical disorder model,” where the broadband absorption of eumelanin pigments is determined by the superposition of the spectra associated with the monomeric and oligomeric building blocks.

Hydration effects on the electronic properties of eumelanin building blocks

Energy Technology Data Exchange (ETDEWEB)

Assis Oliveira, Leonardo Bruno [Instituto de Física da Universidade Federal de Goiás, 74690-900 Goiânia, GO (Brazil); Departamento de Física - CEPAE, Universidade Federal de Goiás, 74690-900 Goiânia, GO (Brazil); Escola de Ciências Exatas e da Computação, Pontifícia Universidade Católica de Goiás, 74605-010 Goiânia, GO (Brazil); Fonseca, Tertius L. [Instituto de Física da Universidade Federal de Goiás, 74690-900 Goiânia, GO (Brazil); Costa Cabral, Benedito J., E-mail: ben@cii.fc.ul.pt [Grupo de Física Matemática da Universidade de Lisboa and Departamento de Química e Bioquímica, Faculdade de Ciências, Universidade de Lisboa, 1749-016 Lisboa (Portugal); Coutinho, Kaline; Canuto, Sylvio [Instituto de Física da Universidade de São Paulo, CP 66318, 05314-970 São Paulo, SP (Brazil)

2016-08-28

Theoretical results for the electronic properties of eumelanin building blocks in the gas phase and water are presented. The building blocks presently investigated include the monomeric species DHI (5,6-dihydroxyindole) or hydroquinone (HQ), DHICA (5,6-dihydroxyindole-2-carboxylic acid), indolequinone (IQ), quinone methide (MQ), two covalently bonded dimers [HM ≡ HQ + MQ and IM ≡ IQ + MQ], and two tetramers [HMIM ≡ HQ + IM, IMIM ≡ IM + IM]. The electronic properties in water were determined by carrying out sequential Monte Carlo/time dependent density functional theory calculations. The results illustrate the role played by hydrogen bonding and electrostatic interactions in the electronic properties of eumelanin building blocks in a polar environment. In water, the dipole moments of monomeric species are significantly increased ([54–79]%) relative to their gas phase values. Recently, it has been proposed that the observed enhancement of the higher-energy absorption intensity in eumelanin can be explained by excitonic coupling among eumelanin protomolecules [C.-T. Chen et al., Nat. Commun. 5, 3859 (2014)]. Here, we are providing evidence that for DHICA, IQ, and HMIM, the electronic absorption toward the higher-energy end of the spectrum ([180–220] nm) is enhanced by long-range Coulombic interactions with the water environment. It was verified that by superposing the absorption spectra of different eumelanin building blocks corresponding to the monomers, dimers, and tetramers in liquid water, the behaviour of the experimental spectrum, which is characterised by a nearly monotonic decay from the ultraviolet to the infrared, is qualitatively reproduced. This result is in keeping with a “chemical disorder model,” where the broadband absorption of eumelanin pigments is determined by the superposition of the spectra associated with the monomeric and oligomeric building blocks.

Molecular Clusters: Nanoscale Building Blocks for Solid-State Materials.

Science.gov (United States)

Pinkard, Andrew; Champsaur, Anouck M; Roy, Xavier

2018-04-17

The programmed assembly of nanoscale building blocks into multicomponent hierarchical structures is a powerful strategy for the bottom-up construction of functional materials. To develop this concept, our team has explored the use of molecular clusters as superatomic building blocks to fabricate new classes of materials. The library of molecular clusters is rich with exciting properties, including diverse functionalization, redox activity, and magnetic ordering, so the resulting cluster-assembled solids, which we term superatomic crystals (SACs), hold the promise of high tunability, atomic precision, and robust architectures among a diverse range of other material properties. Molecular clusters have only seldom been used as precursors for functional materials. Our team has been at the forefront of new developments in this exciting research area, and this Account focuses on our progress toward designing materials from cluster-based precursors. In particular, this Account discusses (1) the design and synthesis of molecular cluster superatomic building blocks, (2) their self-assembly into SACs, and (3) their resulting collective properties. The set of molecular clusters discussed herein is diverse, with different cluster cores and ligand arrangements to create an impressive array of solids. The cluster cores include octahedral M 6 E 8 and cubane M 4 E 4 (M = metal; E = chalcogen), which are typically passivated by a shell of supporting ligands, a feature upon which we have expanded upon by designing and synthesizing more exotic ligands that can be used to direct solid-state assembly. Building from this library, we have designed whole families of binary SACs where the building blocks are held together through electrostatic, covalent, or van der Waals interactions. Using single-crystal X-ray diffraction (SCXRD) to determine the atomic structure, a remarkable range of compositional variability is accessible. We can also use this technique, in tandem with vibrational

Analog Organic Electronics Building Blocks for Organic Smart Sensor Systems on Foil

CERN Document Server

Marien, Hagen; Heremans, Paul

2013-01-01

 This book provides insight into organic electronics technology and in analog circuit techniques that can be used to increase the performance of both analog and digital organic circuits. It explores the domain of organic electronics technology for analog circuit applications, specifically smart sensor systems.  It focuses on all the building blocks in the data path of an organic sensor system between the sensor and the digital processing block. Sensors, amplifiers, analog-to-digital converters and DC-DC converters are discussed in detail. Coverage includes circuit techniques, circuit implementation, design decisions and measurement results of the building blocks described. Offers readers the first book to focus on analog organic circuit design; Discusses organic electronics technology for analog circuit applications in the context of smart sensor systems; Describes all building blocks necessary for an organic sensor system between the sensor and the digital processing block; Includes circuit techniques, cir...

Optical assembly of bio-hybrid micro-robots.

Science.gov (United States)

Barroso, Álvaro; Landwerth, Shirin; Woerdemann, Mike; Alpmann, Christina; Buscher, Tim; Becker, Maike; Studer, Armido; Denz, Cornelia

2015-04-01

The combination of micro synthetic structures with bacterial flagella motors represents an actual trend for the construction of self-propelled micro-robots. The development of methods for fabrication of these bacteria-based robots is a first crucial step towards the realization of functional miniature and autonomous moving robots. We present a novel scheme based on optical trapping to fabricate living micro-robots. By using holographic optical tweezers that allow three-dimensional manipulation in real time, we are able to arrange the building blocks that constitute the micro-robot in a defined way. We demonstrate exemplarily that our method enables the controlled assembly of living micro-robots consisting of a rod-shaped prokaryotic bacterium and a single elongated zeolite L crystal, which are used as model of the biological and abiotic components, respectively. We present different proof-of-principle approaches for the site-selective attachment of the bacteria on the particle surface. The propulsion of the optically assembled micro-robot demonstrates the potential of the proposed method as a powerful strategy for the fabrication of bio-hybrid micro-robots.

Automate Your Physical Plant Using the Building Block Approach.

Science.gov (United States)

Michaelson, Matt

1998-01-01

Illustrates how Mount Saint Vincent University (Halifax), by upgrading the control and monitoring of one building or section of the school at a time, could produce savings in energy and operating costs and improve the environment. Explains a gradual, "building block" approach to facility automation that provides flexibility without a…

Functional polymers as nanoscopic building blocks

International Nuclear Information System (INIS)

Hernandez-Lopez, J.L.; Bauer, R.E.; Chang, W.-S.; Glasser, G.; Grebel-Koehler, D.; Klapper, M.; Kreiter, M.; Leclaire, J.; Majoral, J.-P.; Mittler, S.; Muellen, K.; Vasilev, K.; Weil, T.; Wu, J.; Zhu, T.; Knoll, W.

2003-01-01

Polyphenylene dendrimers are introduced as polymeric building blocks--with a strictly monodisperse particle size distribution within the nanometer range--for the construction of nanostructured materials and devices. The possibility for the introduction of different functionalities in the core, the scaffold or the periphery of the dendrimers offer their use as interesting modules for photonic, electronic or bioactive structures and supramolecular functional assemblies. Thus, dendrimers complement the available set of nanoscopic building blocks made from metals, e.g., Au nanoclusters and semiconductors, e.g., luminescent quantum dots. In a first set of experiments, we describe the fabrication of multilayer architectures using dendrimers with chargeable groups at the surface. This way, the polyelectrolyte deposition technique can be applied for the construction of hybrid layered assemblies with a control of the internal supramolecular structure at the nanometer level. Surface plasmon field-enhanced fluorescence spectroscopy is used to monitor the luminescent properties of dendrimers with a phthalocyanine core integrated into such a multilayer assembly. AFM and SEM micrographs demonstrate the use of surface-functionalized dendrimers (exposing sulfur groups at the periphery) in combination with Au nanoparticles for the controlled assembly of hybrid aggregates as nanoscopic functional devices

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

International Nuclear Information System (INIS)

Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

2016-01-01

To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

Control technologies for quadruped walking robot to facilitate carrying operations in reactor buildings

International Nuclear Information System (INIS)

Suganuma, Naotaka; Uehara, Takuya; Nakamura, Norihito

2014-01-01

At the Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Co., Inc., which was seriously damaged by the Great East Japan Earthquake of March 11, 2011, it has been difficult for workers to approach the reactor buildings due to the hazardous surrounding environment. The need has therefore arsen for remote-controlled robots to facilitate inspection and restoration work on behalf of workers in such a high-level radiation environment. Toshiba has developed a quadruped walking robot that can carry various tools for decommissioning work. This robot is capable of maintaining its balance while walking on uneven surfaces, slopes, and stairs due to the adoption of control technologies to not only autonomously determine the leg trajectories and center of gravity, but also to correct the leg landing positions and posture with operator intervention according to the walking situation. It also offers high mobility and workability through a manipulation function that allows it to unload tools carried on its back storage area by using two of its legs like arms. This quadruped walking robot was applied to the investigation of suspected water leakage areas in the reactor building of Fukushima Daiichi Nuclear Power Station Unit 2 in December 2012. (author)

Kite-powered design-to-robotic-production for affordable building on demand

NARCIS (Netherlands)

Bier, H.H.; Schmehl, R.; Mostafavi, S.S.; Anton, A.M.; Bodea, I.S.B.

2017-01-01

Building technologies employed today in 2nd and 3rd world countries are imported, expensive, outdated and unsustainable. Highly developed countries, on the other hand, rapidly advance in developing affordable, numerically controlled and robotically supported material- and energy-efficient methods

Origami-inspired building block and parametric design for mechanical metamaterials

Science.gov (United States)

Jiang, Wei; Ma, Hua; Feng, Mingde; Yan, Leilei; Wang, Jiafu; Wang, Jun; Qu, Shaobo

2016-08-01

An origami-based building block of mechanical metamaterials is proposed and explained by introducing a mechanism model based on its geometry. According to our model, this origami mechanism supports response to uniaxial tension that depends on structure parameters. Hence, its mechanical properties can be tunable by adjusting the structure parameters. Experiments for poly lactic acid (PLA) samples were carried out, and the results are in good agreement with those of finite element analysis (FEA). This work may be useful for designing building blocks of mechanical metamaterials or other complex mechanical structures.

Origami-inspired building block and parametric design for mechanical metamaterials

International Nuclear Information System (INIS)

Jiang, Wei; Ma, Hua; Feng, Mingde; Yan, Leilei; Wang, Jiafu; Wang, Jun; Qu, Shaobo

2016-01-01

An origami-based building block of mechanical metamaterials is proposed and explained by introducing a mechanism model based on its geometry. According to our model, this origami mechanism supports response to uniaxial tension that depends on structure parameters. Hence, its mechanical properties can be tunable by adjusting the structure parameters. Experiments for poly lactic acid (PLA) samples were carried out, and the results are in good agreement with those of finite element analysis (FEA). This work may be useful for designing building blocks of mechanical metamaterials or other complex mechanical structures. (paper)

Ninety-six hours to build a prototype robot showing human emotions

CERN Multimedia

Stefania Pandolfi

2016-01-01

Thirty-five Master's students in the fields of business, design and engineering participated in an intensive five-day project-based introduction to programming and advanced electronics. The goal of the initiative was to build a fully functional prototype robot able to communicate and show at least four basic human emotions.    A group of students is presenting a prototype robot showing human emotions at IdeaSquare. With no previous experience in electronics or coding, groups of students from Portugal, Italy, Norway and Estonia were introduced to the basics of sensors, integrated circuits and actuators, and after just 96 hours they presented their functioning robots at IdeaSquare on Friday, 15 January. These robots, mostly built around Arduino boards and recycled materials, were able to display different human emotions as a response to external environmental inputs. The five-day workshop, called öBot, was organised by the IdeaSquare te...

Nano matters: building blocks for a precautionary approach

NARCIS (Netherlands)

van Broekhuizen, J.C.

2012-01-01

‘Nano matters’ studies the positioning of civil society organisations (CSOs) regarding the responsible development of nanotechnologies and formulates building blocks for a precautionary approach, as to express the CSOs’ demands towards industry and governmental authorities. The study assesses the

An Approach for On-Board Software Building Blocks Cooperation and Interfaces Definition

Science.gov (United States)

Pascucci, Dario; Campolo, Giovanni; Candia, Sante; Lisio, Giovanni

2010-08-01

This paper provides an insight on the Avionic SW architecture developed by Thales Alenia Space Italy (TAS-I) to achieve structuring of the OBSW as a set of self-standing and re-usable building blocks. It is initially described the underlying framework for building blocks cooperation, which is based on ECSSE-70 packets forwarding (for services request to a building block) and standard parameters exchange for data communication. Subsequently it is discussed the high level of flexibility and scalability of the resulting architecture, reporting as example an implementation of the Failure Detection, Isolation and Recovery (FDIR) function which exploits the proposed architecture. The presented approach evolves from avionic SW architecture developed in the scope of the project PRIMA (Mult-Purpose Italian Re-configurable Platform) and has been adopted for the Sentinel-1 Avionic Software (ASW).

Photovoltaic building blocks

DEFF Research Database (Denmark)

Hanberg, Peter Jesper; Jørgensen, Anders Michael

2014-01-01

efficiency of about 15% for commercial Silicon solar cells there is still much to gain. DTU Danchip provides research facilities, equipment and expertise for the building blocks that comprises fabricating the efficient solar cell. In order to get more of the sun light into the device we provide thin film......Photovoltaics (PV), better known as solar cells, are now a common day sight on many rooftops in Denmark.The installed capacity of PV systems worldwide is growing exponentially1 and is the third most importantrenewable energy source today. The cost of PV is decreasing fast with ~10%/year but to make...... it directcompetitive with fossil energy sources a further reduction is needed. By increasing the efficiency of the solar cells one gain an advantage through the whole chain of cost. So that per produced Watt of power less material is spent, installation costs are lower, less area is used etc. With an average...

Building Blocks for the Development of Electronics Employees ...

African Journals Online (AJOL)

Building Blocks for the Development of Electronics Employees Performance Management System. ... West African Journal of Industrial and Academic Research ... Our approach is to determine the extent of effectiveness of the operational Performance Management System (PMS) in the NPS, which the literature identifies as ...

Homeostasis control of building environment using sensor agent robot

Science.gov (United States)

Nagahama, Eri; Mita, Akira

2012-04-01

A human centered system for building is demanded to meet variety of needs due to the diversification and maturation of society. Smart buildings and smart houses have been studied to satisfy this demand. However, it is difficult for such systems to respond flexibly to unexpected events and needs that are caused by aging and complicate emotion changes. With this regards, we suggest "Biofied Buildings". The goal for this research is to realize buildings that are safer, more comfortable and more energy-efficient by embedding adaptive functions of life into buildings. In this paper, we propose a new control system for building environments, focused on physiological adaptation, particularly homeostasis, endocrine system and immune system. Residents are used as living sensors and controllers in the control loop. A sensor agent robot is used to acquire resident's discomfort feeling, and to output hormone-like signals to activate devices to control the environments. The proposed system could control many devices without establishing complicated scenarios. Results obtained from some simulations and the demonstration experiments using an LED lighting system showed that the proposed system were able to achieve robust and stable control of environments without complicated scenarios.

Making fingers and words count in a cognitive robot

Directory of Open Access Journals (Sweden)

Vivian Milagros De La Cruz

2014-02-01

Full Text Available Evidence from developmental as well as neuroscientific studies suggest that finger counting activity plays an important role in the acquisition of numerical skills in children. It has been claimed that this skill helps in building motor-based representations of number that continue to influence number processing well into adulthood, facilitating the emergence of number concepts from sensorimotor experience through a bottom-up process. The act of counting also involves the acquisition and use of a verbal number system of which number words are the basic building blocks. Using a Cognitive Developmental Robotics paradigm we present results of a modeling experiment on whether finger counting and the association of number words (or tags to fingers, could serve to bootstrap the representation of number in a cognitive robot, enabling it to perform basic numerical operations such as addition. The cognitive architecture of the robot is based on artificial neural networks, which enable the robot to learn both sensorimotor skills (finger counting and linguistic skills (using number words. The results obtained in our experiments show that learning the number words in sequence along with finger configurations helps the fast building of the initial representation of number in the robot. Number knowledge, is instead, not as efficiently developed when number words are learned out of sequence without finger counting. Furthermore, the internal representations of the finger configurations themselves, developed by the robot as a result of the experiments, sustain the execution of basic arithmetic operations, something consistent with evidence coming from developmental research with children. The model and experiments demonstrate the importance of sensorimotor skill learning in robots for the acquisition of abstract knowledge such as numbers.

Quantitative NMR Approach to Optimize the Formation of Chemical Building Blocks from Abundant Carbohydrates

DEFF Research Database (Denmark)

Elliot, Samuel Gilbert; Tolborg, Søren; Sádaba, Irantzu

2017-01-01

-containing catalysts such as Sn-Beta. These compounds are potential building blocks for polyesters with additional olefin and alcohol functionalities. We employ an NMR approach to identify, quantify and optimize the formation these building blocks in the chemocatalytic transformation of abundant carbohydrates by Sn...

Development of building blocks using vegetable oil and recycled aggregate

Directory of Open Access Journals (Sweden)

Attia Mohamed I.

2017-01-01

Full Text Available The primary objective of this research was to contribute towards greater sustainability of the construction industry in the Qatar by proposing methods to reduce its dependency on primary imported materials. In this investigation, recycled and secondary aggregates (RSA were combined with non-traditional binders to develop a unique method of manufacturing construction and building blocks. Following an extensive phase of laboratory trials and experimentation, it was realised that many types of graded mineral aggregates, when mixed with vegetable oils (virgin or waste at optimal proportions, then compacted and thermally cured at elevated temperatures can readily generate hardened composites that have the mechanical characteristics of conventional building blocks. The resultant blocks have been named “Vegeblocks” and are viewed as viable alternatives to conventional concrete blocks. Furthermore, the research has demonstrated the feasibility of producing Vegeblocks composed of 100% recycled aggregate and discarded waste cooking oil. Based on physical and mineralogical properties, each type of aggregate has an optimum oil content for maximum compressive strength, beyond which, any additional oil will result in reduction in mechanical properties. Acceptable compressive strength values were achieved by thermally curing Vegeblocks at of 170 °C for 24 hours.

Amphiphilic building blocks for self-assembly: from amphiphiles to supra-amphiphiles.

Science.gov (United States)

Wang, Chao; Wang, Zhiqiang; Zhang, Xi

2012-04-17

The process of self-assembly spontaneously creates well-defined structures from various chemical building blocks. Self-assembly can include different levels of complexity: it can be as simple as the dimerization of two small building blocks driven by hydrogen bonding or as complicated as a cell membrane, a remarkable supramolecular architecture created by a bilayer of phospholipids embedded with functional proteins. The study of self-assembly in simple systems provides a fundamental understanding of the driving forces and cooperativity behind these processes. Once the rules are understood, these guidelines can facilitate the research of highly complex self-assembly processes. Among the various components for self-assembly, an amphiphilic molecule, which contains both hydrophilic and hydrophobic parts, forms one of the most powerful building blocks. When amphiphiles are dispersed in water, the hydrophilic component of the amphiphile preferentially interacts with the aqueous phase while the hydrophobic portion tends to reside in the air or in the nonpolar solvent. Therefore, the amphiphiles aggregate to form different molecular assemblies based on the repelling and coordinating forces between the hydrophilic and hydrophobic parts of the component molecules and the surrounding medium. In contrast to conventional amphiphiles, supra-amphiphiles are constructed on the basis of noncovalent interactions or dynamic covalent bonds. In supra-amphiphiles, the functional groups can be attached to the amphiphiles by noncovalent synthesis, greatly speeding their construction. The building blocks for supra-amphiphiles can be either small organic molecules or polymers. Advances in the development of supra-amphiphiles will not only enrich the family of conventional amphiphiles that are based on covalent bonds but will also provide a new kind of building block for the preparation of complex self-assemblies. When polymers are used to construct supra-amphiphiles, the resulting

Fundamental Autopoietic Building Blocks in 4.0 Organization as a Challenge to Humane Organization

Directory of Open Access Journals (Sweden)

Tanja Balažic Peček

2017-12-01

Full Text Available Research question (RQ: The area of a human, organizations and Organizations is complex and with new aspects of 4.0 organization even more complex. We did an autopoietic outline with horizontal and vertical view of a researcher who sticks to humanity of an individual and organizations. The research question stems from the central study: Which are building blocks of autopoises in a modern and which in 4.0 organization? Purpose: To detect, recognize, research principles of autopoiesis and setting building blocks of autopoiesis in organizations. We are interested in a human in organization, in interpersonal co-dependance on micro and macro level. Inside this more and more virtual organization we are studying a human, humanity and human potential as a creative potential of humane organization. Method: Action research with mixed methods for comprehensive study of autopoietic principle and methodology of setting the autopoietic building blocks. We used Atlas.ti software and methodological informational software »Informational graph of Autopoiesis - IGA«. Validation was carried out with double triangulaton (static and dynamic view. Results: We formed and validated four directional building blocks and 36 process building blocks, which are shown in a human as: emotions, thinking, directing and activity. Significant difference in two process building blocks of autopoiesis in modern and 4.0 organization confirms the set thesis statement that the building blocks of modern and 4.0 organization are different. We detected that in 4.0 organization the process building blocks of self-/co-feeling and self-/co-referencing aregetting weaker. With results we claim that 4.0 organization is oriented mostly towards action and is getting stronger in improved communication. However, it decreases in emotions and thinking of a human in an organization. Organization: Results can serve as a guideline and challenge to humane organizations. We present the challenge how – by

SU-G-JeP3-03: Effect of Robot Pose On Beam Blocking for Ultrasound Guided SBRT of the Prostate

Energy Technology Data Exchange (ETDEWEB)

Gerlach, S; Schlaefer, A [Hamburg University of Technology, Hamburg (Germany); Kuhlemann, I; Ernst, F [Universitaet zu Luebeck, Luebeck (Germany); Fuerweger, C [European Cyberknife Center Munich, Munich (Germany)

2016-06-15

Purpose: Ultrasound presents a fast, volumetric image modality for real-time tracking of abdominal organ motion. How-ever, ultrasound transducer placement during radiation therapy is challenging. Recently, approaches using robotic arms for intra-treatment ultrasound imaging have been proposed. Good and reliable imaging requires placing the transducer close to the PTV. We studied the effect of a seven degrees of freedom robot on the fea-sible beam directions. Methods: For five CyberKnife prostate treatment plans we established viewports for the transducer, i.e., points on the patient surface with a soft tissue view towards the PTV. Choosing a feasible transducer pose and using the kinematic redundancy of the KUKA LBR iiwa robot, we considered three robot poses. Poses 1 to 3 had the elbow point anterior, superior, and inferior, respectively. For each pose and each beam starting point, the pro-jections of robot and PTV were computed. We added a 20 mm margin accounting for organ / beam motion. The number of nodes for which the PTV was partially of fully blocked were established. Moreover, the cumula-tive overlap for each of the poses and the minimum overlap over all poses were computed. Results: The fully and partially blocked nodes ranged from 12% to 20% and 13% to 27%, respectively. Typically, pose 3 caused the fewest blocked nodes. The cumulative overlap ranged from 19% to 29%. Taking the minimum overlap, i.e., considering moving the robot’s elbow while maintaining the transducer pose, the cumulative over-lap was reduced to 16% to 18% and was 3% to 6% lower than for the best individual pose. Conclusion: Our results indicate that it is possible to identify feasible ultrasound transducer poses and to use the kinematic redundancy of a 7 DOF robot to minimize the impact of the imaging subsystem on the feasible beam directions for ultrasound guided and motion compensated SBRT. Research partially funded by DFG grants ER 817/1-1 and SCHL 1844/3-1.

SU-G-JeP3-03: Effect of Robot Pose On Beam Blocking for Ultrasound Guided SBRT of the Prostate

International Nuclear Information System (INIS)

Gerlach, S; Schlaefer, A; Kuhlemann, I; Ernst, F; Fuerweger, C

2016-01-01

Purpose: Ultrasound presents a fast, volumetric image modality for real-time tracking of abdominal organ motion. How-ever, ultrasound transducer placement during radiation therapy is challenging. Recently, approaches using robotic arms for intra-treatment ultrasound imaging have been proposed. Good and reliable imaging requires placing the transducer close to the PTV. We studied the effect of a seven degrees of freedom robot on the fea-sible beam directions. Methods: For five CyberKnife prostate treatment plans we established viewports for the transducer, i.e., points on the patient surface with a soft tissue view towards the PTV. Choosing a feasible transducer pose and using the kinematic redundancy of the KUKA LBR iiwa robot, we considered three robot poses. Poses 1 to 3 had the elbow point anterior, superior, and inferior, respectively. For each pose and each beam starting point, the pro-jections of robot and PTV were computed. We added a 20 mm margin accounting for organ / beam motion. The number of nodes for which the PTV was partially of fully blocked were established. Moreover, the cumula-tive overlap for each of the poses and the minimum overlap over all poses were computed. Results: The fully and partially blocked nodes ranged from 12% to 20% and 13% to 27%, respectively. Typically, pose 3 caused the fewest blocked nodes. The cumulative overlap ranged from 19% to 29%. Taking the minimum overlap, i.e., considering moving the robot’s elbow while maintaining the transducer pose, the cumulative over-lap was reduced to 16% to 18% and was 3% to 6% lower than for the best individual pose. Conclusion: Our results indicate that it is possible to identify feasible ultrasound transducer poses and to use the kinematic redundancy of a 7 DOF robot to minimize the impact of the imaging subsystem on the feasible beam directions for ultrasound guided and motion compensated SBRT. Research partially funded by DFG grants ER 817/1-1 and SCHL 1844/3-1.

Building Blocks of Psychology: on Remaking the Unkept Promises of Early Schools.

Science.gov (United States)

Gozli, Davood G; Deng, Wei Sophia

2018-03-01

The appeal and popularity of "building blocks", i.e., simple and dissociable elements of behavior and experience, persists in psychological research. We begin our assessment of this research strategy with an historical review of structuralism (as espoused by E. B. Titchener) and behaviorism (espoused by J. B. Watson and B. F. Skinner), two movements that held the assumption in their attempts to provide a systematic and unified discipline. We point out the ways in which the elementism of the two schools selected, framed, and excluded topics of study. After the historical review, we turn to contemporary literature and highlight the persistence of research into building blocks and the associated framing and exclusions in psychological research. The assumption that complex categories of human psychology can be understood in terms of their elementary components and simplest forms seems indefensible. In specific cases, therefore, reliance on the assumption requires justification. Finally, we review alternative strategies that bypass the commitment to building blocks.

Molecular Building Blocks for Nanotechnology From Diamondoids to Nanoscale Materials and Applications

CERN Document Server

Mansoori, G. Ali; Assoufid, Lahsen; Zhang, Guoping

2007-01-01

This book is a result of the research and educational activities of a group of outstanding scientists worldwide who have authored the chapters of this book dealing with the behavior of nanoscale building blocks. It contains a variety of subjects covering computational, dry and wet nanotechnology. The state-of-the-art subject matters presented here provide the reader with the latest developments on ongoing nanoscience and nanotechnology research from the bottom-up approach, which starts with with atoms and molecules as molecular building blocks.

The Impact of Individual Differences, Types of Model and Social Settings on Block Building Performance among Chinese Preschoolers.

Science.gov (United States)

Tian, Mi; Deng, Zhu; Meng, Zhaokun; Li, Rui; Zhang, Zhiyi; Qi, Wenhui; Wang, Rui; Yin, Tingting; Ji, Menghui

2018-01-01

Children's block building performances are used as indicators of other abilities in multiple domains. In the current study, we examined individual differences, types of model and social settings as influences on children's block building performance. Chinese preschoolers ( N = 180) participated in a block building activity in a natural setting, and performance was assessed with multiple measures in order to identify a range of specific skills. Using scores generated across these measures, three dependent variables were analyzed: block building skills, structural balance and structural features. An overall MANOVA showed that there were significant main effects of gender and grade level across most measures. Types of model showed no significant effect in children's block building. There was a significant main effect of social settings on structural features, with the best performance in the 5-member group, followed by individual and then the 10-member block building. These findings suggest that boys performed better than girls in block building activity. Block building performance increased significantly from 1st to 2nd year of preschool, but not from second to third. The preschoolers created more representational constructions when presented with a model made of wooden rather than with a picture. There was partial evidence that children performed better when working with peers in a small group than when working alone or working in a large group. It is suggested that future study should examine other modalities rather than the visual one, diversify the samples and adopt a longitudinal investigation.

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

Science.gov (United States)

Groome, Meghan; Rodríguez, Linda M.

2014-01-01

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

A locomotive inspection robot for turbine building interior inspection in nuclear power plants

International Nuclear Information System (INIS)

Obama, M.; Ozaki, F.; Asano, K.

1985-01-01

A locomotive inspection robot, named Turbine Building Inspection System (TBIS), has been developed for turbine building interior inspections in nuclear power plants. This robot is made up of a vehicle, a telescopic support, turning head and a multijoint arm which has dual TV cameras and a diagnostic rod on its tip. The multijoint arm has 17 degrees of freedom and its length is 243 cm. Minimum and maximum heights for the multijoint arm shoulder are 1.5 meter and 4 meters respectively. The total degree of freedom in the combination of the multijoint arm, turning head and telescopic support is 19 and the area, it is capable of inspecting, is equal to the cylindrical dome whose height and diameter are 6.4 meters and 4.8 meters respectively. The design philosophy, hardware structure and operation method of the TBIS are described. 2 refs.; 10 figs

The Impact of Individual Differences, Types of Model and Social Settings on Block Building Performance among Chinese Preschoolers

Directory of Open Access Journals (Sweden)

Mi Tian

2018-01-01

Full Text Available Children’s block building performances are used as indicators of other abilities in multiple domains. In the current study, we examined individual differences, types of model and social settings as influences on children’s block building performance. Chinese preschoolers (N = 180 participated in a block building activity in a natural setting, and performance was assessed with multiple measures in order to identify a range of specific skills. Using scores generated across these measures, three dependent variables were analyzed: block building skills, structural balance and structural features. An overall MANOVA showed that there were significant main effects of gender and grade level across most measures. Types of model showed no significant effect in children’s block building. There was a significant main effect of social settings on structural features, with the best performance in the 5-member group, followed by individual and then the 10-member block building. These findings suggest that boys performed better than girls in block building activity. Block building performance increased significantly from 1st to 2nd year of preschool, but not from second to third. The preschoolers created more representational constructions when presented with a model made of wooden rather than with a picture. There was partial evidence that children performed better when working with peers in a small group than when working alone or working in a large group. It is suggested that future study should examine other modalities rather than the visual one, diversify the samples and adopt a longitudinal investigation.

Oligomers and Polymers Based on Pentacene Building Blocks

Science.gov (United States)

Lehnherr, Dan; Tykwinski, Rik R.

2010-01-01

Functionalized pentacene derivatives continue to provide unique materials for organic semiconductor applications. Although oligomers and polymers based on pentacene building blocks remain quite rare, recent synthetic achievements have provided a number of examples with varied structural motifs. This review highlights recent work in this area and, when possible, contrasts the properties of defined-length pentacene oligomers to those of mono- and polymeric systems.

The Building Blocks of Life Move from Ground to Tree to Animal and Back to Ground

Science.gov (United States)

Davidson, E. A.

2015-12-01

I generally use combinations of big words to describe my science, such as biogeochemistry, ecosystem ecology, nutrient cycling, stoichiometry, tropical deforestation, land-use change, agricultural intensification, eutrophication, greenhouse gas emissions, and sustainable development. I didn't expect to use any of these words, but I was surprised that I couldn't use some others that seem simple enough to me, such as farm, plant, soil, and forest. I landed on "building blocks" as my metaphor for the forms of carbon, nitrogen, phosphorus, and other elements that I study as they cycle through and among ecosystems. I study what makes trees and other kinds of life grow. We all know that they need the sun and that they take up water from the ground, but what else do trees need from the ground? What do animals that eat leaves and wood get from the trees? Just as we need building blocks to grow our bodies, trees and animals also need building blocks for growing their bodies. Trees get part of their building blocks from the ground and animals get theirs from what they eat. When animals poop and when leaves fall, some of their building blocks return to the ground. When they die, their building blocks also go back to the ground. I also study what happens to the ground, the water, and the air when we cut down trees, kill or shoo away the animals, and make fields to grow our food. Can we grow enough food and still keep the ground, water, and air clean? I think the answer is yes, but it will take better understanding of how all of those building blocks fit together and move around, from ground to tree to animal and back to ground.

Silicene Flowers: A Dual Stabilized Silicon Building Block for High-Performance Lithium Battery Anodes.

Science.gov (United States)

Zhang, Xinghao; Qiu, Xiongying; Kong, Debin; Zhou, Lu; Li, Zihao; Li, Xianglong; Zhi, Linjie

2017-07-25

Nanostructuring is a transformative way to improve the structure stability of high capacity silicon for lithium batteries. Yet, the interface instability issue remains and even propagates in the existing nanostructured silicon building blocks. Here we demonstrate an intrinsically dual stabilized silicon building block, namely silicene flowers, to simultaneously address the structure and interface stability issues. These original Si building blocks as lithium battery anodes exhibit extraordinary combined performance including high gravimetric capacity (2000 mAh g -1 at 800 mA g -1 ), high volumetric capacity (1799 mAh cm -3 ), remarkable rate capability (950 mAh g -1 at 8 A g -1 ), and excellent cycling stability (1100 mA h g -1 at 2000 mA g -1 over 600 cycles). Paired with a conventional cathode, the fabricated full cells deliver extraordinarily high specific energy and energy density (543 Wh kg ca -1 and 1257 Wh L ca -1 , respectively) based on the cathode and anode, which are 152% and 239% of their commercial counterparts using graphite anodes. Coupled with a simple, cost-effective, scalable synthesis approach, this silicon building block offers a horizon for the development of high-performance batteries.

Dialkoxybithiazole: a new building block for head-to-head polymer semiconductors.

Science.gov (United States)

Guo, Xugang; Quinn, Jordan; Chen, Zhihua; Usta, Hakan; Zheng, Yan; Xia, Yu; Hennek, Jonathan W; Ortiz, Rocío Ponce; Marks, Tobin J; Facchetti, Antonio

2013-02-06

Polymer semiconductors have received great attention for organic electronics due to the low fabrication cost offered by solution-based printing techniques. To enable the desired solubility/processability and carrier mobility, polymers are functionalized with hydrocarbon chains by strategically manipulating the alkylation patterns. Note that head-to-head (HH) linkages have traditionally been avoided because the induced backbone torsion leads to poor π-π overlap and amorphous film microstructures, and hence to low carrier mobilities. We report here the synthesis of a new building block for HH linkages, 4,4'-dialkoxy-5,5'-bithiazole (BTzOR), and its incorporation into polymers for high performance organic thin-film transistors. The small oxygen van der Waals radius and intramolecular S(thiazolyl)···O(alkoxy) attraction promote HH macromolecular architectures with extensive π-conjugation, low bandgaps (1.40-1.63 eV), and high crystallinity. In comparison to previously reported 3,3'-dialkoxy-2,2'-bithiophene (BTOR), BTzOR is a promising building block in view of thiazole geometric and electronic properties: (a) replacing (thiophene)C-H with (thiazole)N reduces steric encumbrance in -BTzOR-Ar- dyads by eliminating repulsive C-H···H-C interactions with neighboring arene units, thereby enhancing π-π overlap and film crystallinity; and (b) thiazole electron-deficiency compensates alkoxy electron-donating characteristics, thereby lowering the BTzOR polymer HOMO versus that of the BTOR analogues. Thus, the new BTzOR polymers show substantial hole mobilities (0.06-0.25 cm(2)/(V s)) in organic thin-film transistors, as well as enhanced I(on):I(off) ratios and greater ambient stability than the BTOR analogues. These geometric and electronic properties make BTzOR a promising building block for new classes of polymer semiconductors, and the synthetic route to BTzOR reported here should be adaptable to many other bithiazole-based building blocks.

Building Blocks Of Innovation Within A State-Owned Enterprise (Part Two

Directory of Open Access Journals (Sweden)

Betsie van Zyl

2005-11-01

Full Text Available In this article (the second part of a two-part study the focus is on establishing a theoretical framework of state owned enterprise (SOE managers’ espoused theory of building blocks of innovation. A qualitative approach, namely Grounded Theory, supported by Theoretical Sampling, was applied in generating the primary data for the study from different management levels in the SOE. The managers’ espoused theory, based on empirical evidence, shows that innovation consisted of five important building blocks, namely contextual setting; strategic enablers; business enablers; foundational enablers; and human resources; each with its own categories and sub-categories. The study also identified barriers to innovation. An innovation diffusion framework, specifically for implementation in a government context, was proposed.

Alq3 nanorods: promising building blocks for optical devices.

Science.gov (United States)

Chen, Wei; Peng, Qing; Li, Yadong

2008-07-17

Monodisperse Alq3 nanorods with hexagonal-prism-like morphology are produced via a facile, emulsion based synthesis route. The photoluminescence of individual nanorods differs from the bulk material. These nanorods are promising building blocks for novel optical devices. Copyright © 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Oligomers and Polymers Based on Pentacene Building Blocks

Directory of Open Access Journals (Sweden)

Dan Lehnherr

2010-04-01

Full Text Available Functionalized pentacene derivatives continue to provide unique materials for organic semiconductor applications. Although oligomers and polymers based on pentacene building blocks remain quite rare, recent synthetic achievements have provided a number of examples with varied structural motifs. This review highlights recent work in this area and, when possible, contrasts the properties of defined-length pentacene oligomers to those of mono- and polymeric systems.

The scientific building blocks for business coaching: A literature review

Directory of Open Access Journals (Sweden)

Flip Schutte

2015-03-01

Contribution: The building blocks for business coaching as a relatively new and emerging science within the field of business leadership have been defined. This will contribute to the articulation of concepts within this discipline by future researchers and practitioners.

Effects of different building blocks designs on the statistical ...

African Journals Online (AJOL)

Tholang T. Mokhele

Enumeration Areas (EAs), Small Area Layers (SALs) and SubPlaces) from the 2001 census data were used as building blocks for the generation of census output areas with AZTool program in both rural and urban areas of South Africa. One way-Analysis of Variance (ANOVA) was also performed to determine statistical ...

Computational strategies for the automated design of RNA nanoscale structures from building blocks using NanoTiler.

Science.gov (United States)

Bindewald, Eckart; Grunewald, Calvin; Boyle, Brett; O'Connor, Mary; Shapiro, Bruce A

2008-10-01

One approach to designing RNA nanoscale structures is to use known RNA structural motifs such as junctions, kissing loops or bulges and to construct a molecular model by connecting these building blocks with helical struts. We previously developed an algorithm for detecting internal loops, junctions and kissing loops in RNA structures. Here we present algorithms for automating or assisting many of the steps that are involved in creating RNA structures from building blocks: (1) assembling building blocks into nanostructures using either a combinatorial search or constraint satisfaction; (2) optimizing RNA 3D ring structures to improve ring closure; (3) sequence optimisation; (4) creating a unique non-degenerate RNA topology descriptor. This effectively creates a computational pipeline for generating molecular models of RNA nanostructures and more specifically RNA ring structures with optimized sequences from RNA building blocks. We show several examples of how the algorithms can be utilized to generate RNA tecto-shapes.

Computational strategies for the automated design of RNA nanoscale structures from building blocks using NanoTiler☆

Science.gov (United States)

Bindewald, Eckart; Grunewald, Calvin; Boyle, Brett; O’Connor, Mary; Shapiro, Bruce A.

2013-01-01

One approach to designing RNA nanoscale structures is to use known RNA structural motifs such as junctions, kissing loops or bulges and to construct a molecular model by connecting these building blocks with helical struts. We previously developed an algorithm for detecting internal loops, junctions and kissing loops in RNA structures. Here we present algorithms for automating or assisting many of the steps that are involved in creating RNA structures from building blocks: (1) assembling building blocks into nanostructures using either a combinatorial search or constraint satisfaction; (2) optimizing RNA 3D ring structures to improve ring closure; (3) sequence optimisation; (4) creating a unique non-degenerate RNA topology descriptor. This effectively creates a computational pipeline for generating molecular models of RNA nanostructures and more specifically RNA ring structures with optimized sequences from RNA building blocks. We show several examples of how the algorithms can be utilized to generate RNA tecto-shapes. PMID:18838281

Synthesis of most polyene natural product motifs using just twelve building blocks and one coupling reaction

Science.gov (United States)

Woerly, Eric M.; Roy, Jahnabi; Burke, Martin D.

2014-01-01

The inherent modularity of polypeptides, oligonucleotides, and oligosaccharides has been harnessed to achieve generalized building block-based synthesis platforms. Importantly, like these other targets, most small molecule natural products are biosynthesized via iterative coupling of bifunctional building blocks. This suggests that many small molecules also possess inherent modularity commensurate with systematic building block-based construction. Supporting this hypothesis, here we report that the polyene motifs found in >75% of all known polyene natural products can be synthesized using just 12 building blocks and one coupling reaction. Using the same general retrosynthetic algorithm and reaction conditions, this platform enabled the synthesis of a wide range of polyene frameworks covering all of this natural product chemical space, and first total syntheses of the polyene natural products asnipyrone B, physarigin A, and neurosporaxanthin β-D-glucopyranoside. Collectively, these results suggest the potential for a more generalized approach for making small molecules in the laboratory. PMID:24848233

Preons - yet smaller building blocks of matter

International Nuclear Information System (INIS)

Schrempp, B.; Schrempp, F.

1985-01-01

Are quarks and leptons the elementary building blocks of matter or do they have again a substructure in the form of common constituents, the preons. Is the force which is responsible for the binding of preons in quarks and leptons, arranged in our consisting picture of forces or is a revision required. The background of such questions and possible answers are presented. Two specific preon models serve for the illustration of characteristic signals for substructure which can possibly already soon be detected in the experiment. (orig.) [de

Interlocking Toy Building Blocks as Hands-On Learning Modules for Blind and Visually Impaired Chemistry Students

Science.gov (United States)

Melaku, Samuel; Schreck, James O.; Griffin, Kameron; Dabke, Rajeev B.

2016-01-01

Interlocking toy building blocks (e.g., Lego) as chemistry learning modules for blind and visually impaired (BVI) students in high school and undergraduate introductory or general chemistry courses are presented. Building blocks were assembled on a baseplate to depict the relative changes in the periodic properties of elements. Modules depicting…

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 ...

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…

RoBlock: a prototype autonomous manufacturing cell

Science.gov (United States)

Baekdal, Lars K.; Balslev, Ivar; Eriksen, Rene D.; Jensen, Soren P.; Jorgensen, Bo N.; Kirstein, Brian; Kristensen, Bent B.; Olsen, Martin M.; Perram, John W.; Petersen, Henrik G.; Petersen, Morten L.; Ruhoff, Peter T.; Skjolstrup, Carl E.; Sorensen, Anders S.; Wagenaar, Jeroen M.

2000-10-01

RoBlock is the first phase of an internally financed project at the Institute aimed at building a system in which two industrial robots suspended from a gantry, as shown below, cooperate to perform a task specified by an external user, in this case, assembling an unstructured collection of colored wooden blocks into a specified 3D pattern. The blocks are identified and localized using computer vision and grasped with a suction cup mechanism. Future phases of the project will involve other processes such as grasping and lifting, as well as other types of robot such as autonomous vehicles or variable geometry trusses. Innovative features of the control software system include: The use of an advanced trajectory planning system which ensures collision avoidance based on a generalization of the method of artificial potential fields, the use of a generic model-based controller which learns the values of parameters, including static and kinetic friction, of a detailed mechanical model of itself by comparing actual with planned movements, the use of fast, flexible, and robust pattern recognition and 3D-interpretation strategies, integration of trajectory planning and control with the sensor systems in a distributed Java application running on a network of PC's attached to the individual physical components. In designing this first stage, the aim was to build in the minimum complexity necessary to make the system non-trivially autonomous and to minimize the technological risks. The aims of this project, which is planned to be operational during 2000, are as follows: To provide a platform for carrying out experimental research in multi-agent systems and autonomous manufacturing systems, to test the interdisciplinary cooperation architecture of the Maersk Institute, in which researchers in the fields of applied mathematics (modeling the physical world), software engineering (modeling the system) and sensor/actuator technology (relating the virtual and real worlds) could

Spatial temporal patterns for action-oriented perception in roving robots

CERN Document Server

Patanè, Luca

2014-01-01

This book presents the result of a joint effort from different European Institutions within the framework of the EU funded project called SPARK II, devoted to device an insect brain computational model, useful to be embedded into autonomous robotic agents.  Part I reports the biological background on Drosophila melanogaster with particular attention to the main centers which are used as building blocks for the implementation of the insect brain computational model.  Part II  reports the mathematical approach to model the Central Pattern Generator used for the gait generation in a six-legged robot. Also the Reaction-diffusion principles in non-linear lattices are exploited to develop a compact internal representation of a dynamically changing environment for behavioral planning. In Part III  a software/hardware framework, developed to integrate the insect brain computational model in a simulated/real robotic platform, is illustrated. The different robots used for the experiments are also described.  Moreo...

BUILDING BLOCKS: ENMESHING TECHNOLOGY AND CREATIVITY WITH ARTISTIC PEDAGOGICAL TECHNOLOGIES

Directory of Open Access Journals (Sweden)

Katherine J.JANZEN

2017-01-01

Full Text Available Using the analogy of children’s building blocks, the reader is guided through the results of a research study that explored the use of three Artistic Pedagogical Technologies (APTs. ‘Building blocks’ was the major theme that emerged from the data. Sub-themes included developing community, enhancing creativity, and risk taking. The discourse of the paper centers on how selected APTs stimulate interaction, create social presence, and help develop community in the online post-secondary classroom. Additional findings are discussed and implications are presented.

π-Extended Isoindigo-Based Derivative: A Promising Electron-Deficient Building Block for Polymer Semiconductors.

Science.gov (United States)

Xu, Long; Zhao, Zhiyuan; Xiao, Mingchao; Yang, Jie; Xiao, Jian; Yi, Zhengran; Wang, Shuai; Liu, Yunqi

2017-11-22

The exploration of novel electron-deficient building blocks is a key task for developing high-performance polymer semiconductors in organic thin-film transistors. In view of the situation of the lack of strong electron-deficient building blocks, we designed two novel π-extended isoindigo-based electron-deficient building blocks, IVI and F 4 IVI. Owing to the strong electron-deficient nature and the extended π-conjugated system of the two acceptor units, their copolymers, PIVI2T and PF 4 IVI2T, containing 2,2'-bithiophene donor units, are endowed with deep-lying highest occupied molecular orbital (HOMO)/lowest unoccupied molecular orbital (LUMO) energy levels and strong intermolecular interactions. In comparison to PIVI2T, the fluorinated PF 4 IVI2T exhibits stronger intra- and intermolecular interactions, lower HOMO/LUMO energy levels up to -5.74/-4.17 eV, and more ordered molecular packing with a smaller π-π stacking distance of up to 3.53 Å, resulting in an excellent ambipolar transporting behavior and a promising application in logic circuits for PF 4 IVI2T in ambient with hole and electron mobilities of up to 1.03 and 1.82 cm 2 V -1 s -1 , respectively. The results reveal that F 4 IVI is a promising and strong electron-deficient building unit to construct high-performance semiconducting polymers, which provides an insight into the structure-property relationships for the exploration and molecular engineering of excellent electron-deficient building blocks in the field of organic electronics.

Fragmented Agrarian Space: Building Blocks and Modernisation Trajectories. The Case of Slovenia

Directory of Open Access Journals (Sweden)

Slavič Irma Potočnik

2017-06-01

Full Text Available Production, processing and consumption within Slovenian agrarian space are fragmented due to physical constraints (72.4% of the territory categorised as ANC and socio-geographic factors. Based on available data, five essential building blocks of contemporary Slovenian agrarian space (available land, change management, integrated circular economy, adjustable policies, and flexibility of institutions are discussed. Interrelations among the building blocks shape the modernisation trajectories of approx. 70,000 agricultural holdings in Slovenia. The coexistence of three modernisation trajectories, i.e. practised autarky, various forms of pluri-activity, and small-scale intensive and innovative modernisation, creates a complex mosaic. The governance of multifunctional and multi-structured agrarian space is becoming more demanding.

Building Blocks for Transport-Class Hybrid and Turboelectric Vehicles

Science.gov (United States)

Jankovsky, Amy; Bowman, Cheryl; Jansen, Ralph

2016-01-01

NASA has been investing in research efforts to define potential vehicles that use hybrid and turboelectric propulsion to enable savings in fuel burn and carbon usage. This paper overviews the fundamental building blocks that have been derived from those studies and details what key performance parameters have been defined, what key ground and flight tests need to occur, and highlights progress toward each.

Recent advances in synthesis of bacterial rare sugar building blocks and their applications.

Science.gov (United States)

Emmadi, Madhu; Kulkarni, Suvarn S

2014-07-01

Covering: 1964 to 2013. Bacteria have unusual glycans on their surfaces which distinguish them from the host cells. These unique structures offer avenues for targeting bacteria with specific therapeutics and vaccine. However, these rare sugars are not accessible in acceptable purity and amounts by isolation from natural sources. Thus, procurement of orthogonally protected rare sugar building blocks through efficient chemical synthesis is regarded as a crucial step towards the development of glycoconjugate vaccines. This Highlight focuses on recent advances in the synthesis of the bacterial deoxy amino hexopyranoside building blocks and their application in constructing various biologically important bacterial O-glycans.

Avoiding object by robot using neural network

International Nuclear Information System (INIS)

Prasetijo, D.W.

1997-01-01

A Self controlling robot is necessary in the robot application in which operator control is difficult. Serial method such as process on the computer of van newman is difficult to be applied for self controlling robot. In this research, Neural network system for robotic control system was developed by performance expanding at the SCARA. In this research, it was shown that SCARA with application at Neural network system can avoid blocking objects without influence by number and density of the blocking objects, also departure and destination paint. robot developed by this study also can control its moving by self

Engineering multifunctional protein nanoparticles by in vitro disassembling and reassembling of heterologous building blocks

Science.gov (United States)

Unzueta, Ugutz; Serna, Naroa; Sánchez-García, Laura; Roldán, Mónica; Sánchez-Chardi, Alejandro; Mangues, Ramón; Villaverde, Antonio; Vázquez, Esther

2017-12-01

The engineering of protein self-assembling at the nanoscale allows the generation of functional and biocompatible materials, which can be produced by easy biological fabrication. The combination of cationic and histidine-rich stretches in fusion proteins promotes oligomerization as stable protein-only regular nanoparticles that are composed by a moderate number of building blocks. Among other applications, these materials are highly appealing as tools in targeted drug delivery once empowered with peptidic ligands of cell surface receptors. In this context, we have dissected here this simple technological platform regarding the controlled disassembling and reassembling of the composing building blocks. By applying high salt and imidazole in combination, nanoparticles are disassembled in a process that is fully reversible upon removal of the disrupting agents. By taking this approach, we accomplish here the in vitro generation of hybrid nanoparticles formed by heterologous building blocks. This fact demonstrates the capability to generate multifunctional and/or multiparatopic or multispecific materials usable in nanomedical applications.

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.

Building block method: a bottom-up modular synthesis methodology for distributed compliant mechanisms

Directory of Open Access Journals (Sweden)

G. Krishnan

2012-03-01

Full Text Available Synthesizing topologies of compliant mechanisms are based on rigid-link kinematic designs or completely automated optimization techniques. These designs yield mechanisms that match the kinematic specifications as a whole, but seldom yield user insight on how each constituent member contributes towards the overall mechanism performance. This paper reviews recent developments in building block based design of compliant mechanisms. A key aspect of such a methodology is formulating a representation of compliance at a (i single unique point of interest in terms of geometric quantities such as ellipses and vectors, and (ii relative compliance between distinct input(s and output(s in terms of load flow. This geometric representation provides a direct mapping between the mechanism geometry and their behavior, and is used to characterize simple deformable members that form a library of building blocks. The design space spanned by the building block library guides the decomposition of a given problem specification into tractable sub-problems that can be each solved from an entry in the library. The effectiveness of this geometric representation aids user insight in design, and enables discovery of trends and guidelines to obtain practical conceptual designs.

Resources for Underwater Robotics Education

Science.gov (United States)

Wallace, Michael L.; Freitas, William M.

2016-01-01

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

Transportable Payload Operations Control Center reusable software: Building blocks for quality ground data systems

Science.gov (United States)

Mahmot, Ron; Koslosky, John T.; Beach, Edward; Schwarz, Barbara

1994-01-01

The Mission Operations Division (MOD) at Goddard Space Flight Center builds Mission Operations Centers which are used by Flight Operations Teams to monitor and control satellites. Reducing system life cycle costs through software reuse has always been a priority of the MOD. The MOD's Transportable Payload Operations Control Center development team established an extensive library of 14 subsystems with over 100,000 delivered source instructions of reusable, generic software components. Nine TPOCC-based control centers to date support 11 satellites and achieved an average software reuse level of more than 75 percent. This paper shares experiences of how the TPOCC building blocks were developed and how building block developer's, mission development teams, and users are all part of the process.

Sinusoidal oscillators and waveform generators using modern electronic circuit building blocks

CERN Document Server

Senani, Raj; Singh, V K; Sharma, R K

2016-01-01

This book serves as a single-source reference to sinusoidal oscillators and waveform generators, using classical as well as a variety of modern electronic circuit building blocks. It provides a state-of-the-art review of a large variety of sinusoidal oscillators and waveform generators and includes a catalogue of over 600 configurations of oscillators and waveform generators, describing their relevant design details and salient performance features/limitations. The authors discuss a number of interesting, open research problems and include a comprehensive collection of over 1500 references on oscillators and non-sinusoidal waveform generators/relaxation oscillators. Offers readers a single-source reference to everything connected to sinusoidal oscillators and waveform generators, using classical as well as modern electronic circuit building blocks; Provides a state-of-the-art review of a large variety of sinusoidal oscillators and waveform generators; Includes a catalog of over 600 configurations of oscillato...

Building Teen Futures with Underwater Robotics

Science.gov (United States)

Wallace, Michael L.; Freitas, William M.

2016-01-01

Preparing young Americans with science and technology skills has been on the forefront of educational reform for several years, and Extension has responded. Robotics projects have become a natural fit for 4-H clubs, with members' experiences ranging from using Lego® Mindstorms® and other "purchase and assemble" robotics kits to building…

Topology Optimization of Building Blocks for Photonic Integrated Circuits

DEFF Research Database (Denmark)

Jensen, Jakob Søndergaard; Sigmund, Ole

2005-01-01

Photonic integrated circuits are likely candidates as high speed replacements for the standard electrical integrated circuits of today. However, in order to obtain a satisfactorily performance many design prob- lems that up until now have resulted in too high losses must be resolved. In this work...... we demonstrate how the method of topology optimization can be used to design a variety of high performance building blocks for the future circuits....

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...

Linked supramolecular building blocks for enhanced cluster formation

DEFF Research Database (Denmark)

McLellan, Ross; Palacios, Maria A.; Beavers, Christine M.

2015-01-01

the complex assembly process. The ability to covalently link calix[4]arenes at the methylene bridge provides significantly improved control over the introduction of different metal centres to resulting cluster motifs. Clusters assembled from bis-calix[4]-arenes and transition metal ions or 3d-4 f combinations......(Figure Presented). Methylene-bridged calix[4]arenes have emerged as extremely versatile ligand supports in the formation of new polymetallic clusters possessing fascinating magnetic properties. Metal ion binding rules established for this building block allow one to partially rationalise...

Fluorinated building blocks for next-generation polymer electrolyte membrane fuel cells

NARCIS (Netherlands)

Wadekar, M.N.

2012-01-01

The purpose of this thesis is to design, create and study basic building blocks for the construction of self-assembled nanostructured electrodes and membranes for PEMFC. The research described deals with the synthesis of polymerizable fluorosurfactant (1) and its non-polymerizable analogue (2) and

Robot Task Commander with Extensible Programming Environment

Science.gov (United States)

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

2014-01-01

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

Raven surgical robot training in preparation for da vinci.

Science.gov (United States)

Glassman, Deanna; White, Lee; Lewis, Andrew; King, Hawkeye; Clarke, Alicia; Glassman, Thomas; Comstock, Bryan; Hannaford, Blake; Lendvay, Thomas S

2014-01-01

The rapid adoption of robotic assisted surgery challenges the pace at which adequate robotic training can occur due to access limitations to the da Vinci robot. Thirty medical students completed a randomized controlled trial evaluating whether the Raven robot could be used as an alternative training tool for the Fundamentals of Laparoscopic Surgery (FLS) block transfer task on the da Vinci robot. Two groups, one trained on the da Vinci and one trained on the Raven, were tested on a criterion FLS block transfer task on the da Vinci. After robotic FLS block transfer proficiency training there was no statistically significant difference between path length (p=0.39) and economy of motion scores (p=0.06) between the two groups, but those trained on the da Vinci did have faster task times (p=0.01). These results provide evidence for the value of using the Raven robot for training prior to using the da Vinci surgical system for similar tasks.

Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment

Directory of Open Access Journals (Sweden)

Aleksandar Rodić

2015-04-01

Full Text Available The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope, stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions

Total synthesis of TMG-chitotriomycin based on an automated electrochemical assembly of a disaccharide building block.

Science.gov (United States)

Isoda, Yuta; Sasaki, Norihiko; Kitamura, Kei; Takahashi, Shuji; Manmode, Sujit; Takeda-Okuda, Naoko; Tamura, Jun-Ichi; Nokami, Toshiki; Itoh, Toshiyuki

2017-01-01

The total synthesis of TMG-chitotriomycin using an automated electrochemical synthesizer for the assembly of carbohydrate building blocks is demonstrated. We have successfully prepared a precursor of TMG-chitotriomycin, which is a structurally-pure tetrasaccharide with typical protecting groups, through the methodology of automated electrochemical solution-phase synthesis developed by us. The synthesis of structurally well-defined TMG-chitotriomycin has been accomplished in 10-steps from a disaccharide building block.

Enantiopure heterobimetallic single-chain magnets from the chiral Ru(III) building block.

Science.gov (United States)

Ru, Jing; Gao, Feng; Wu, Tao; Yao, Min-Xia; Li, Yi-Zhi; Zuo, Jing-Lin

2014-01-21

A pair of one-dimensional enantiomers based on the versatile chiral dicyanoruthenate(III) building block have been synthesized and they are chiral single-chain magnets with the effective spin-reversal barrier of 28.2 K.

Measuring the health systems impact of disease control programmes: a critical reflection on the WHO building blocks framework.

Science.gov (United States)

Mounier-Jack, Sandra; Griffiths, Ulla K; Closser, Svea; Burchett, Helen; Marchal, Bruno

2014-03-25

The WHO health systems Building Blocks framework has become ubiquitous in health systems research. However, it was not developed as a research instrument, but rather to facilitate investments of resources in health systems. In this paper, we reflect on the advantages and limitations of using the framework in applied research, as experienced in three empirical vaccine studies we have undertaken. We argue that while the Building Blocks framework is valuable because of its simplicity and ability to provide a common language for researchers, it is not suitable for analysing dynamic, complex and inter-linked systems impacts. In our three studies, we found that the mechanical segmentation of effects by the WHO building blocks, without recognition of their interactions, hindered the understanding of impacts on systems as a whole. Other important limitations were the artificial equal weight given to each building block and the challenge in capturing longer term effects and opportunity costs. Another criticism is not of the framework per se, but rather how it is typically used, with a focus on the six building blocks to the neglect of the dynamic process and outcome aspects of health systems.We believe the framework would be improved by making three amendments: integrating the missing "demand" component; incorporating an overarching, holistic health systems viewpoint and including scope for interactions between components. If researchers choose to use the Building Blocks framework, we recommend that it be adapted to the specific study question and context, with formative research and piloting conducted in order to inform this adaptation. As with frameworks in general, the WHO Building Blocks framework is valuable because it creates a common language and shared understanding. However, for applied research, it falls short of what is needed to holistically evaluate the impact of specific interventions on health systems. We propose that if researchers use the framework, it

Modeling the building blocks of biodiversity.

Directory of Open Access Journals (Sweden)

Lucas N Joppa

Full Text Available BACKGROUND: Networks of single interaction types, such as plant-pollinator mutualisms, are biodiversity's "building blocks". Yet, the structure of mutualistic and antagonistic networks differs, leaving no unified modeling framework across biodiversity's component pieces. METHODS/PRINCIPAL FINDINGS: We use a one-dimensional "niche model" to predict antagonistic and mutualistic species interactions, finding that accuracy decreases with the size of the network. We show that properties of the modeled network structure closely approximate empirical properties even where individual interactions are poorly predicted. Further, some aspects of the structure of the niche space were consistently different between network classes. CONCLUSIONS/SIGNIFICANCE: These novel results reveal fundamental differences between the ability to predict ecologically important features of the overall structure of a network and the ability to predict pair-wise species interactions.

Technological characteristics of compressed earth blocks for its use as a building material

Science.gov (United States)

Gomez-Villalba, Luz Stella; Camacho-Perez, Nancy; Alvarez de Buergo, Monica; Becerra-Becerra, Javier; Esmeralda Corredor-Pulido, Dery; Fort, Rafael

2013-04-01

We present here an innovative building technique, which uses ecological, inexpensive and environmentally friendly materials. These compressed earth blocks seem to be very good for building purposes and that is why we have characterized three types of compressed earth blocks (CEB, named by their color as yellow, grey and red) mineralogically by means of X ray diffraction XRD and scanning electron microscopy SEM (both blocks and raw materials), petrographically by polarizing optical light microscopy POLM, and SEM, and, mainly, petrophysically: their hydric, physical and physico-mechanical properties by means of determining their capillary water absorption, porosity (open or accessible to water, pore size distribution and micro/macroporosity), and densities, color and ultrasound velocity (together with anisotropy). The particularities of these analyzed materials show that some varieties are more durable than others, and that all of them can be used as building materials with some restrictions related to their appropriate placing in the structures and the exposure to water. Acknowledgements: This work is supported by the GEOMATERIALES (S2009/MAT-1629) and CONSOLIDER-TCP (CSD2007-0058) programmes. Thanks also to the UCM (Complutense University of Madrid) Research Group "Alteración y conservación de los materiales pétreos del patrimonio" / Alteration and conservation of heritage stone materials (ref. 921349).

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...

A Customizable Quantum-Dot Cellular Automata Building Block for the Synthesis of Classical and Reversible Circuits.

Science.gov (United States)

Moustafa, Ahmed; Younes, Ahmed; Hassan, Yasser F

2015-01-01

Quantum-dot cellular automata (QCA) are nanoscale digital logic constructs that use electrons in arrays of quantum dots to carry out binary operations. In this paper, a basic building block for QCA will be proposed. The proposed basic building block can be customized to implement classical gates, such as XOR and XNOR gates, and reversible gates, such as CNOT and Toffoli gates, with less cell count and/or better latency than other proposed designs.

Total synthesis of TMG-chitotriomycin based on an automated electrochemical assembly of a disaccharide building block

Directory of Open Access Journals (Sweden)

Yuta Isoda

2017-05-01

Full Text Available The total synthesis of TMG-chitotriomycin using an automated electrochemical synthesizer for the assembly of carbohydrate building blocks is demonstrated. We have successfully prepared a precursor of TMG-chitotriomycin, which is a structurally-pure tetrasaccharide with typical protecting groups, through the methodology of automated electrochemical solution-phase synthesis developed by us. The synthesis of structurally well-defined TMG-chitotriomycin has been accomplished in 10-steps from a disaccharide building block.

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.

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.

Strategies for human-driven robot comprehension of spatial descriptions by older adults in a robot fetch task.

Science.gov (United States)

Carlson, Laura; Skubic, Marjorie; Miller, Jared; Huo, Zhiyu; Alexenko, Tatiana

2014-07-01

This contribution presents a corpus of spatial descriptions and describes the development of a human-driven spatial language robot system for their comprehension. The domain of application is an eldercare setting in which an assistive robot is asked to "fetch" an object for an elderly resident based on a natural language spatial description given by the resident. In Part One, we describe a corpus of naturally occurring descriptions elicited from a group of older adults within a virtual 3D home that simulates the eldercare setting. We contrast descriptions elicited when participants offered descriptions to a human versus robot avatar, and under instructions to tell the addressee how to find the target versus where the target is. We summarize the key features of the spatial descriptions, including their dynamic versus static nature and the perspective adopted by the speaker. In Part Two, we discuss critical cognitive and perceptual processing capabilities necessary for the robot to establish a common ground with the human user and perform the "fetch" task. Based on the collected corpus, we focus here on resolving the perspective ambiguity and recognizing furniture items used as landmarks in the descriptions. Taken together, the work presented here offers the key building blocks of a robust system that takes as input natural spatial language descriptions and produces commands that drive the robot to successfully fetch objects within our eldercare scenario. Copyright © 2014 Cognitive Science Society, Inc.

Image Chunking: Defining Spatial Building Blocks for Scene Analysis.

Science.gov (United States)

1987-04-01

mumgs0.USmusa 7.AUWOJO 4. CIUTAC Rm6ANT Wuugme*j James V/. Mlahoney DACA? 6-85-C-00 10 NOQ 1 4-85-K-O 124 Artificial Inteligence Laboratory US USS 545...0197 672 IMAGE CHUWING: DEINING SPATIAL UILDING PLOCKS FOR 142 SCENE ANRLYSIS(U) MASSACHUSETTS INST OF TECH CAIIAIDGE ARTIFICIAL INTELLIGENCE LAO J...Technical Report 980 F-Image Chunking: Defining Spatial Building Blocks for Scene DTm -Analysis S ELECTED James V. Mahoney’ MIT Artificial Intelligence

Building blocks toward contemporary trauma theory: Ferenczi 's paradigm shift.

Science.gov (United States)

Mészáros, Judit

2010-12-01

In laying down the building blocks of contemporary trauma theory, Ferenczi asserted that trauma is founded on real events and that it occurs in the interpersonal and intersubjective dynamics of object relations. He stressed the significance of the presence or lack of a trusted person in the post-traumatic situation. After the trauma, the loneliness and later the isolation of the victim represent a serious pathogenic source. In the traumatic situation, the victim and the persecutor/aggressor operate differing ego defense mechanisms. Ferenczi was the first to describe the ego defense mechanism of identification with the aggressor. Ferenczi pointed out the characteristic features of the role of analyst/therapist with which (s)he may assist the patient in working through the trauma, among them being the development of a therapeutic atmosphere based on trust, so that the traumatic experiences can be relived, without which effective therapeutic change cannot be achieved. For the analyst, countertransference, as part of authentic communication, is incorporated into the therapeutic process. These are the key building blocks that are laid down by Ferenczi in his writings and appear in later works on trauma theory.

Synthesis of most polyene natural product motifs using just 12 building blocks and one coupling reaction.

Science.gov (United States)

Woerly, Eric M; Roy, Jahnabi; Burke, Martin D

2014-06-01

The inherent modularity of polypeptides, oligonucleotides and oligosaccharides has been harnessed to achieve generalized synthesis platforms. Importantly, like these other targets, most small-molecule natural products are biosynthesized via iterative coupling of bifunctional building blocks. This suggests that many small molecules also possess inherent modularity commensurate with systematic building block-based construction. Supporting this hypothesis, here we report that the polyene motifs found in >75% of all known polyene natural products can be synthesized using just 12 building blocks and one coupling reaction. Using the same general retrosynthetic algorithm and reaction conditions, this platform enabled both the synthesis of a wide range of polyene frameworks that covered all of this natural-product chemical space and the first total syntheses of the polyene natural products asnipyrone B, physarigin A and neurosporaxanthin b-D-glucopyranoside. Collectively, these results suggest the potential for a more generalized approach to making small molecules in the laboratory.

NOSC/ONR Robotics Bibliography (1961-1981).

Science.gov (United States)

1982-09-01

28, 6 Dec., 1979 @, p4 "DEFENSE EQUIPMENT FIRM TRAINS ROBOT TO PERFORM CRAFTSMAN-SKILLED TASK", Industrial Engineering, vol 13, no 5, May 1981 @, p90...1974 @, pCI-I-8 Gupton, J. A. Jr., "BUILD THIS UNICORN -i ROBOT PART I", Radio-Electronics, vol 51, no 8, 1980 @, p 3 7 ,4 1 ,76 Gupton, J. A. Jr...34BUILD THIS UNICORN -i ROBOT PART II", Radio-Electronics, vol 51, no 9, Sept. 1980 @, p55-8 Gupton, J. A., Jr., "TALK TO A TURTLE; BUILD A COMPUTER

Block Play and Mathematics Learning in Preschool: The Effects of Building Complexity, Peer and Teacher Interactions in the Block Area, and Replica Play Materials

Science.gov (United States)

Trawick-Smith, Jeffrey; Swaminathan, Sudha; Baton, Brooke; Danieluk, Courtney; Marsh, Samantha; Szarwacki, Monika

2017-01-01

Block play has been included in early childhood classrooms for over a century, yet few studies have examined its effects on learning. Several previous investigations indicate that the complexity of block building is associated with math ability, but these studies were often conducted in adult-guided, laboratory settings. In the present…

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.

Quantitative NMR Approach to Optimize the Formation of Chemical Building Blocks from Abundant Carbohydrates.

Science.gov (United States)

Elliot, Samuel G; Tolborg, Søren; Sádaba, Irantzu; Taarning, Esben; Meier, Sebastian

2017-07-21

The future role of biomass-derived chemicals relies on the formation of diverse functional monomers in high yields from carbohydrates. Recently, it has become clear that a series of α-hydroxy acids, esters, and lactones can be formed from carbohydrates in alcohol and water solvents using tin-containing catalysts such as Sn-Beta. These compounds are potential building blocks for polyesters bearing additional olefin and alcohol functionalities. An NMR approach was used to identify, quantify, and optimize the formation of these building blocks in the Sn-Beta-catalyzed transformation of abundant carbohydrates. Record yields of the target molecules can be achieved by obstructing competing reactions through solvent selection. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

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

Science.gov (United States)

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

2014-01-01

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

Anisotropy Spectra for Enantiomeric Differentiation of Biomolecular Building Blocks

DEFF Research Database (Denmark)

Evans, Amanda C.; Meinert, Cornelia; Bredehoft, Jan H.

2013-01-01

All biopolymers are composed of homochiral building blocks, and both D-sugars and L-amino acids uniquely constitute life on Earth. These monomers were originally enantiomerically differentiated under prebiotic conditions. Particular progress has recently been made in support of the photochemical...... light. This chapter will: (1) present the theory and configuration of anisotropy spectroscopy; (2) explain experimentally recorded anisotropy spectra of selected chiral biomolecules such as amino acids; and (3) discuss the relevance of these spectra for the investigation of the origin of the molecular...

Silicon-Carbide (SIC) Multichip Power Modules (MCPMS) For Power Building Block Applications, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — This Small Business Innovation Research Phase I project seeks to prove the feasibility of developing high power density modular power electronic building blocks...

Stereoselective total synthesis of Oxylipin from open chain gluco-configured building block.

Science.gov (United States)

Borkar, Santosh Ramdas; Aidhen, Indrapal Singh

2017-04-18

Total synthesis of naturally occurring Oxylipin has been achieved from open chain gluco-configured building block which is readily assembled from inexpensive and commercially available D-(+)-gluconolactone. Grignard reaction and Wittig olefination reactions are key steps for the requisite CC bond formation. Copyright © 2017. Published by Elsevier Ltd.

Preparing a Safety Analysis Report using the building block approach

International Nuclear Information System (INIS)

Herrington, C.C.

1990-01-01

The credibility of the applicant in a licensing proceeding is severely impacted by the quality of the license application, particularly the Safety Analysis Report. To ensure the highest possible credibility, the building block approach was devised to support the development of a quality Safety Analysis Report. The approach incorporates a comprehensive planning scheme that logically ties together all levels of the investigation and provides the direction necessary to prepare a superior Safety Analysis Report

Benzoylated Uronic Acid Building Blocks and Synthesis of N-Uronate Conjugates of Lamotrigine

Directory of Open Access Journals (Sweden)

Bård Helge Hoff

2012-01-01

Full Text Available A chemoenzymatic approach towards benzoylated uronic acid building blocks has been investigated starting with benzoylated hexapyranosides using regioselective C-6 enzymatic hydrolysis as the key step. Two of the building blocks were reacted with the antiepileptic drug lamotrigine. Glucuronidation of lamotrigine using methyl (2,3,4-tri-O-benzoyl-α-D-glycopyranosyl bromideuronate proceeded to give the N2-conjugate. However, lamotrigine-N2-glucuronide was most efficiently synthesised from methyl (2,3,4-tri-O-acetyl-α-D-glucopyranosyl bromideuronate. Employing nitromethane as solvent with CdCO3 as a base lamotrigine-N2 glucuronide was prepared in a high yield (41%. Also methyl (2,3-di-O-benzoyl-4-deoxy-4-fluoro-α-D-glucosyl bromideuronate underwent N-glucuronidation, but the product was unstable, eliminating hydrogen fluoride to give the corresponding enoate conjugate.

MECs: "Building Blocks" for Creating Biological and Chemical Instruments.

Directory of Open Access Journals (Sweden)

Douglas A Hill

Full Text Available The development of new biological and chemical instruments for research and diagnostic applications is often slowed by the cost, specialization, and custom nature of these instruments. New instruments are built from components that are drawn from a host of different disciplines and not designed to integrate together, and once built, an instrument typically performs a limited number of tasks and cannot be easily adapted for new applications. Consequently, the process of inventing new instruments is very inefficient, especially for researchers or clinicians in resource-limited settings. To improve this situation, we propose that a family of standardized multidisciplinary components is needed, a set of "building blocks" that perform a wide array of different tasks and are designed to integrate together. Using these components, scientists, engineers, and clinicians would be able to build custom instruments for their own unique needs quickly and easily. In this work we present the foundation of this set of components, a system we call Multifluidic Evolutionary Components (MECs. "Multifluidic" conveys the wide range of fluid volumes MECs operate upon (from nanoliters to milliliters and beyond; "multi" also reflects the multiple disciplines supported by the system (not only fluidics but also electronics, optics, and mechanics. "Evolutionary" refers to the design principles that enable the library of MEC parts to easily grow and adapt to new applications. Each MEC "building block" performs a fundamental function that is commonly found in biological or chemical instruments, functions like valving, pumping, mixing, controlling, and sensing. Each MEC also has a unique symbol linked to a physical definition, which enables instruments to be designed rapidly and efficiently using schematics. As a proof-of-concept, we use MECs to build a variety of instruments, including a fluidic routing and mixing system capable of manipulating fluid volumes over five orders

Robotic fabrication in architecture, art, and design

CERN Document Server

Braumann, Johannes

2013-01-01

Architects, artists, and designers have been fascinated by robots for many decades, from Villemard’s utopian vision of an architect building a house with robotic labor in 1910, to the design of buildings that are robots themselves, such as Archigram’s Walking City. Today, they are again approaching the topic of robotic fabrication but this time employing a different strategy: instead of utopian proposals like Archigram’s or the highly specialized robots that were used by Japan’s construction industry in the 1990s, the current focus of architectural robotics is on industrial robots. These robotic arms have six degrees of freedom and are widely used in industry, especially for automotive production lines. What makes robotic arms so interesting for the creative industry is their multi-functionality: instead of having to develop specialized machines, a multifunctional robot arm can be equipped with a wide range of end-effectors, similar to a human hand using various tools. Therefore, architectural researc...

Soft electronics for soft robotics

Science.gov (United States)

Kramer, Rebecca K.

2015-05-01

As advanced as modern machines are, the building blocks have changed little since the industrial revolution, leading to rigid, bulky, and complex devices. Future machines will include electromechanical systems that are soft and elastically deformable, lending them to applications such as soft robotics, wearable/implantable devices, sensory skins, and energy storage and transport systems. One key step toward the realization of soft systems is the development of stretchable electronics that remain functional even when subject to high strains. Liquid-metal traces embedded in elastic polymers present a unique opportunity to retain the function of rigid metal conductors while leveraging the deformable properties of liquid-elastomer composites. However, in order to achieve the potential benefits of liquid-metal, scalable processing and manufacturing methods must be identified.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

Energy Technology Data Exchange (ETDEWEB)

Noble, Robert; /SLAC; Sykes, Mark V.; /PSI, Tucson

2012-02-15

The scientific activities undertaken to explore our Solar System will be the same as required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

Dimeric Building Blocks for Solid-Phase Synthesis of α-Peptide-β-Peptoid Chimeras

DEFF Research Database (Denmark)

Seigan, Gitte Bonke; Vedel, Line; Matthias, Witt,

2008-01-01

Recently, a novel type of antimicrobial and proteolytically stable peptidomimetic oligomers having an α-peptide-β-peptoid chimeric backbone was reported. The present paper describes efficient protocols for the preparation of a wide range of dimeric building blocks, displaying different types of s...

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...

From synthesis to function via iterative assembly of N-methyliminodiacetic acid boronate building blocks.

Science.gov (United States)

Li, Junqi; Grillo, Anthony S; Burke, Martin D

2015-08-18

The study and optimization of small molecule function is often impeded by the time-intensive and specialist-dependent process that is typically used to make such compounds. In contrast, general and automated platforms have been developed for making peptides, oligonucleotides, and increasingly oligosaccharides, where synthesis is simplified to iterative applications of the same reactions. Inspired by the way natural products are biosynthesized via the iterative assembly of a defined set of building blocks, we developed a platform for small molecule synthesis involving the iterative coupling of haloboronic acids protected as the corresponding N-methyliminodiacetic acid (MIDA) boronates. Here we summarize our efforts thus far to develop this platform into a generalized and automated approach for small molecule synthesis. We and others have employed this approach to access many polyene-based compounds, including the polyene motifs found in >75% of all polyene natural products. This platform further allowed us to derivatize amphotericin B, the powerful and resistance-evasive but also highly toxic last line of defense in treating systemic fungal infections, and thereby understand its mechanism of action. This synthesis-enabled mechanistic understanding has led us to develop less toxic derivatives currently under evaluation as improved antifungal agents. To access more Csp(3)-containing small molecules, we gained a stereocontrolled entry into chiral, non-racemic α-boryl aldehydes through the discovery of a chiral derivative of MIDA. These α-boryl aldehydes are versatile intermediates for the synthesis of many Csp(3) boronate building blocks that are otherwise difficult to access. In addition, we demonstrated the utility of these types of building blocks in accessing pharmaceutically relevant targets via an iterative Csp(3) cross-coupling cycle. We have further expanded the scope of the platform to include stereochemically complex macrocyclic and polycyclic molecules

Hierarchical coassembly of DNA–triptycene hybrid molecular building blocks and zinc protoporphyrin IX

Directory of Open Access Journals (Sweden)

Rina Kumari

2016-05-01

Full Text Available Herein, we describe the successful construction of composite DNA nanostructures by the self-assembly of complementary symmetrical 2,6,14-triptycenetripropiolic acid (TPA–DNA building blocks and zinc protoporphyrin IX (Zn PpIX. DNA–organic molecule scaffolds for the composite DNA nanostructure were constructed through covalent conjugation of TPA with 5′-C12-amine-terminated modified single strand DNA (ssDNA and its complementary strand. The repeated covalent conjugation of TPA with DNA was confirmed by using denaturing polyacrylamide gel electrophoresis (PAGE, reverse-phase high-performance liquid chromatography (RP-HPLC and matrix-assisted laser desorption/ionization time-of-flight (MALDI-TOF. The biologically relevant photosensitizer Zn PpIX was used to direct the hybridization-mediated self-assembly of DNA–TPA molecular building blocks as well as a model guest molecule within the DNA–TPA supramolecular self-assembly. The formation of fiber-like composite DNA nanostructures was observed. Native PAGE, circular dichroism (CD and atomic force microscopy (AFM have been utilized for analyzing the formation of DNA nanofibers after the coassembly. Computational methods were applied to discern the theoretical dimension of the DNA–TPA molecular building block of the nanofibers. A notable change in photocatalytic efficiency of Zn PpIX was observed when it was inside the TPA–DNA scaffold. The significant increase in ROS generation by Zn PpIX when trapped in this biocompatible DNA–TPA hybrid nanofiber may be an effective tool to explore photodynamic therapy (PDT applications as well as photocatalytic reactions.

Synthesis of orthogonally protected bacterial, rare-sugar and D-glycosamine building blocks.

Science.gov (United States)

Emmadi, Madhu; Kulkarni, Suvarn S

2013-10-01

Bacterial glycoconjugates comprise atypical deoxy amino sugars that are not present on the human cell surface, making them good targets for drug discovery and carbohydrate-based vaccine development. Unfortunately, they cannot be isolated with sufficient purity in acceptable amounts, and therefore chemical synthesis is a crucial step toward the development of these products. Here we describe a detailed protocol for the synthesis of orthogonally protected bacterial deoxy amino hexopyranoside (2,4-diacetamido-2,4,6-trideoxyhexose (DATDH), D-bacillosamine, D-fucosamine, and 2-acetamido-4-amino-2,4,6-trideoxy-D-galactose (AAT)), D-glucosamine and D-galactosamine building blocks starting from β-D-thiophenylmannoside. Readily available β-D-thiophenylmannoside was first converted into the corresponding 2,4-diols via deoxygenation or silylation at C6, followed by O3 acylation. The 2,4-diols were converted into 2,4-bis-trifluoromethanesulfonates, which underwent highly regioselective, one-pot, double-serial and double-parallel displacements by azide, phthalimide, acetate and nitrite ions as nucleophiles. Thus, D-rhamnosyl- and D-mannosyl 2,4-diols can be efficiently transformed into various rare sugars and D-galactosamine, respectively, as orthogonally protected thioglycoside building blocks on a gram scale in 1-2 d, in 54-85% overall yields, after a single chromatographic purification. This would otherwise take 1-2 weeks. D-Glucosamine building blocks can be prepared from β-D-thiophenylmannoside in four steps via C2 displacement of triflates by azide in 2 d and in 66-70% overall yields. These procedures have been applied to the synthesis of L-serine-linked trisaccharide of Neisseria meningitidis and a rare disaccharide fragment of the zwitterionic polysaccharide (ZPS) A1 (ZPS A1) of Bacteroides fragilis.

LEGO® bricks as building blocks for centimeter-scale biological environments: the case of plants.

Science.gov (United States)

Lind, Kara R; Sizmur, Tom; Benomar, Saida; Miller, Anthony; Cademartiri, Ludovico

2014-01-01

LEGO bricks are commercially available interlocking pieces of plastic that are conventionally used as toys. We describe their use to build engineered environments for cm-scale biological systems, in particular plant roots. Specifically, we take advantage of the unique modularity of these building blocks to create inexpensive, transparent, reconfigurable, and highly scalable environments for plant growth in which structural obstacles and chemical gradients can be precisely engineered to mimic soil.

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)

Engineering cell factories for producing building block chemicals for bio-polymer synthesis.

Science.gov (United States)

Tsuge, Yota; Kawaguchi, Hideo; Sasaki, Kengo; Kondo, Akihiko

2016-01-21

Synthetic polymers are widely used in daily life. Due to increasing environmental concerns related to global warming and the depletion of oil reserves, the development of microbial-based fermentation processes for the production of polymer building block chemicals from renewable resources is desirable to replace current petroleum-based methods. To this end, strains that efficiently produce the target chemicals at high yields and productivity are needed. Recent advances in metabolic engineering have enabled the biosynthesis of polymer compounds at high yield and productivities by governing the carbon flux towards the target chemicals. Using these methods, microbial strains have been engineered to produce monomer chemicals for replacing traditional petroleum-derived aliphatic polymers. These developments also raise the possibility of microbial production of aromatic chemicals for synthesizing high-performance polymers with desirable properties, such as ultraviolet absorbance, high thermal resistance, and mechanical strength. In the present review, we summarize recent progress in metabolic engineering approaches to optimize microbial strains for producing building blocks to synthesize aliphatic and high-performance aromatic polymers.

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.

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.

The KCLBOT: Exploiting RGB-D Sensor Inputs for Navigation Environment Building and Mobile Robot Localization

Directory of Open Access Journals (Sweden)

Evangelos Georgiou

2011-09-01

Full Text Available This paper presents an alternative approach to implementing a stereo camera configuration for SLAM. The approach suggested implements a simplified method using a single RGB-D camera sensor mounted on a maneuverable non-holonomic mobile robot, the KCLBOT, used for extracting image feature depth information while maneuvering. Using a defined quadratic equation, based on the calibration of the camera, a depth computation model is derived base on the HSV color space map. Using this methodology it is possible to build navigation environment maps and carry out autonomous mobile robot path following and obstacle avoidance. This paper presents a calculation model which enables the distance estimation using the RGB-D sensor from Microsoft .NET micro framework device. Experimental results are presented to validate the distance estimation methodology.

Raspberry Pi robotics projects

CERN Document Server

Grimmett, Richard

2015-01-01

This book is for enthusiasts who want to use the Raspberry Pi to build complex robotics projects. With the aid of the step-by-step instructions in this book, you can construct complex robotics projects that can move, talk, listen, see, swim, or fly. No previous Raspberry Pi robotics experience is assumed, but even experts will find unexpected and interesting information in this invaluable guide.

Dendrimers and Dendrons as Versatile Building Blocks for the Fabrication of Functional Hydrogels

Directory of Open Access Journals (Sweden)

Sadik Kaga

2016-04-01

Full Text Available Hydrogels have emerged as a versatile class of polymeric materials with a wide range of applications in biomedical sciences. The judicious choice of hydrogel precursors allows one to introduce the necessary attributes to these materials that dictate their performance towards intended applications. Traditionally, hydrogels were fabricated using either polymerization of monomers or through crosslinking of polymers. In recent years, dendrimers and dendrons have been employed as well-defined building blocks in these materials. The multivalent and multifunctional nature of dendritic constructs offers advantages in either formulation or the physical and chemical properties of the obtained hydrogels. This review highlights various approaches utilized for the fabrication of hydrogels using well-defined dendrimers, dendrons and their polymeric conjugates. Examples from recent literature are chosen to illustrate the wide variety of hydrogels that have been designed using dendrimer- and dendron-based building blocks for applications, such as sensing, drug delivery and tissue engineering.

LEGO® bricks as building blocks for centimeter-scale biological environments: the case of plants.

Directory of Open Access Journals (Sweden)

Kara R Lind

Full Text Available LEGO bricks are commercially available interlocking pieces of plastic that are conventionally used as toys. We describe their use to build engineered environments for cm-scale biological systems, in particular plant roots. Specifically, we take advantage of the unique modularity of these building blocks to create inexpensive, transparent, reconfigurable, and highly scalable environments for plant growth in which structural obstacles and chemical gradients can be precisely engineered to mimic soil.

Design of fundamental building blocks for fast binary readout CMOS sensors used in high-energy physics experiments

Energy Technology Data Exchange (ETDEWEB)

Degerli, Yavuz [CEA Saclay, IRFU/SEDI, 91191 Gif-sur-Yvette Cedex (France)], E-mail: degerli@cea.fr

2009-04-21

In this paper, design details of key building blocks for fast binary readout CMOS monolithic active pixel sensors developed for charged particle detection are presented. Firstly, an all-NMOS pixel architecture with in-pixel amplification and reset noise suppression which allows fast readout is presented. This pixel achieves high charge-to-voltage conversion factors (CVF) using a few number of transistors inside the pixel. It uses a pre-amplifying stage close to the detector and a simple double sampling (DS) circuitry to store the reset level of the detector. The DS removes the offset mismatches of amplifiers and the reset noise of the detector. Offset mismatches of the source follower are also corrected by a second column-level DS stage. The second important building block of these sensors, a low-power auto-zeroed column-level discriminator, is also presented. These two blocks transform the charge of the impinging particle into binary data. Finally, some experimental results obtained on CMOS chips designed using these blocks are presented.

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....

Data management for biofied building

Science.gov (United States)

Matsuura, Kohta; Mita, Akira

2015-03-01

Recently, Smart houses have been studied by many researchers to satisfy individual demands of residents. However, they are not feasible yet as they are very costly and require many sensors to be embedded into houses. Therefore, we suggest "Biofied Building". In Biofied Building, sensor agent robots conduct sensing, actuation, and control in their house. The robots monitor many parameters of human lives such as walking postures and emotion continuously. In this paper, a prototype network system and a data model for practical application for Biofied Building is pro-posed. In the system, functions of robots and servers are divided according to service flows in Biofield Buildings. The data model is designed to accumulate both the building data and the residents' data. Data sent from the robots and data analyzed in the servers are automatically registered into the database. Lastly, feasibility of this system is verified through lighting control simulation performed in an office space.

Multifunctional Nanoparticles Self-Assembled from Small Organic Building Blocks for Biomedicine.

Science.gov (United States)

Xing, Pengyao; Zhao, Yanli

2016-09-01

Supramolecular self-assembly shows significant potential to construct responsive materials. By tailoring the structural parameters of organic building blocks, nanosystems can be fabricated, whose performance in catalysis, energy storage and conversion, and biomedicine has been explored. Since small organic building blocks are structurally simple, easily modified, and reproducible, they are frequently employed in supramolecular self-assembly and materials science. The dynamic and adaptive nature of self-assembled nanoarchitectures affords an enhanced sensitivity to the changes in environmental conditions, favoring their applications in controllable drug release and bioimaging. Here, recent significant research advancements of small-organic-molecule self-assembled nanoarchitectures toward biomedical applications are highlighted. Functionalized assemblies, mainly including vesicles, nanoparticles, and micelles are categorized according to their topological morphologies and functions. These nanoarchitectures with different topologies possess distinguishing advantages in biological applications, well incarnating the structure-property relationship. By presenting some important discoveries, three domains of these nanoarchitectures in biomedical research are covered, including biosensors, bioimaging, and controlled release/therapy. The strategies regarding how to design and characterize organic assemblies to exhibit biomedical applications are also discussed. Up-to-date research developments in the field are provided and research challenges to be overcome in future studies are revealed. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Sensory Robot Gripper

DEFF Research Database (Denmark)

Drimus, Alin

The project researches and proposes a tactile sensor system for equipping robotic grippers, thus giving them a sense of touch. We start by reviewing work that covers the building of tactile sensors and we focus on the flexible sensors with multiple sensing elements. As the piezoresistive, capacit......The project researches and proposes a tactile sensor system for equipping robotic grippers, thus giving them a sense of touch. We start by reviewing work that covers the building of tactile sensors and we focus on the flexible sensors with multiple sensing elements. As the piezoresistive......, such as establishing of contact, release of contact or slip. The proposed applications are just a few examples of the advantages of equipping robotic grippers with such a tactile sensor system, that is robust, fast, affordable, adaptable to any kind of gripper and has properties similar to the human sense of touch....... Based on experimental validation, we are confident that our proposed tactile sensor solution can be successfully employed in other application areas like reactive grasping, exploration of unknown objects, slip avoidance, dexterous manipulation or service robotics....

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.

Building blocks for a polarimeter-on-a-chip

International Nuclear Information System (INIS)

Stevenson, Thomas R.; Hsieh, W.-T.; Schneider, Gideon; Travers, Douglas; Cao, Nga; Wollack, Edward; Limon, Michele; Kogut, Alan

2006-01-01

For the 'Primordial Anisotropy Polarization Pathfinder Array (PAPPA)' balloon flight project, we have designed and made thin-film niobium microstrip circuits as building blocks for a 'polarimeter-on-a-chip' in which superconducting transmission lines are used to couple millimeter wave signals from planar antennas to superconducting transition edge sensor (TES) detectors. Our goal is to demonstrate technology for precision measurements of the polarization of the cosmic microwave background. To enable characterization and verification of our microstrip components, we have incorporated waveguide probes on each chip that can bring millimeter wave signals from a room temperature vector network analyzer to the superconducting circuits on the chip and back again for S-parameter measurements. We have designed a planar antenna and RF choke on the probes to efficiently couple radiation between waveguide and thin-film microstrip. To support the probe antennas in waveguides, we sculpted thin silicon cantilevers that extend from an edge of each silicon chip into a pair of waveguides within a specially designed split-block mount. This technique will allow us to make calibrated measurements at low temperatures of the velocity, impedance, and loss properties of our niobium transmission lines, the frequency response of microstrip filters, hybrid couplers, or terminations, and the performance of integrated detectors

Key Building Blocks via Enzyme-Mediated Synthesis

Science.gov (United States)

Fischer, Thomas; Pietruszka, Jörg

Biocatalytic approaches to valuable building blocks in organic synthesis have emerged as an important tool in the last few years. While first applications were mainly based on hydrolases, other enzyme classes such as oxidoreductases or lyases moved into the focus of research. Nowadays, a vast number of biotransformations can be found in the chemical and pharmaceutical industries delivering fine chemicals or drugs. The mild reaction conditions, high stereo-, regio-, and chemoselectivities, and the often shortened reaction pathways lead to economical and ecological advantages of enzymatic conversions. Due to the enormous number of enzyme-mediated syntheses, the present chapter is not meant to be a complete review, but to deliver comprehensive insights into well established enzymatic systems and recent advances in the application of enzymes in natural product synthesis. Furthermore, it is focused on the most frequently used enzymes or enzyme classes not covered elsewhere in the present volume.

Automated electrochemical assembly of the protected potential TMG-chitotriomycin precursor based on rational optimization of the carbohydrate building block.

Science.gov (United States)

Nokami, Toshiki; Isoda, Yuta; Sasaki, Norihiko; Takaiso, Aki; Hayase, Shuichi; Itoh, Toshiyuki; Hayashi, Ryutaro; Shimizu, Akihiro; Yoshida, Jun-ichi

2015-03-20

The anomeric arylthio group and the hydroxyl-protecting groups of thioglycosides were optimized to construct carbohydrate building blocks for automated electrochemical solution-phase synthesis of oligoglucosamines having 1,4-β-glycosidic linkages. The optimization study included density functional theory calculations, measurements of the oxidation potentials, and the trial synthesis of the chitotriose trisaccharide. The automated synthesis of the protected potential N,N,N-trimethyl-d-glucosaminylchitotriomycin precursor was accomplished by using the optimized building block.

Rapid and annealing-free self-assembly of DNA building blocks for 3D hydrogel chaperoned by cationic comb-type copolymers.

Science.gov (United States)

Zhang, Zheng; Wu, Yuyang; Yu, Feng; Niu, Chaoqun; Du, Zhi; Chen, Yong; Du, Jie

2017-10-01

The construction and self-assembly of DNA building blocks are the foundation of bottom-up development of three-dimensional DNA nanostructures or hydrogels. However, most self-assembly from DNA components is impeded by the mishybridized intermediates or the thermodynamic instability. To enable rapid production of complicated DNA objects with high yields no need for annealing process, herein different DNA building blocks (Y-shaped, L- and L'-shaped units) were assembled in presence of a cationic comb-type copolymer, poly (L-lysine)-graft-dextran (PLL-g-Dex), under physiological conditions. The results demonstrated that PLL-g-Dex not only significantly promoted the self-assembly of DNA blocks with high efficiency, but also stabilized the assembled multi-level structures especially for promoting the complicated 3D DNA hydrogel formation. This study develops a novel strategy for rapid and high-yield production of DNA hydrogel even derived from instable building blocks at relatively low DNA concentrations, which would endow DNA nanotechnology for more practical applications.

Synthesis of N-protected Galactosamine Building Blocks from D-Tagatose via the Heyns Rearrangement

DEFF Research Database (Denmark)

Wrodnigg, Tanja M.; Lundt, Inge; Stütz, Arnold E.

2006-01-01

N-Acetyl-D-galactosamine (11), a very important naturally occurring building block of oligosaccharides, is easily accessible via the Heyns rearrangement of D-tagatose (3) with benzylamine. The short and efficient synthesis of various differently N-protected D-galactosamine derivatives is reported....

The Human-Robot Interaction Operating System

Science.gov (United States)

Fong, Terrence; Kunz, Clayton; Hiatt, Laura M.; Bugajska, Magda

2006-01-01

In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.

Mission Reliability Estimation for Repairable Robot Teams

Science.gov (United States)

Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen

2010-01-01

A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the

From an Idea to a Working Robot Prototype: Distributing Knowledge of Robotics through Science Museum Workshops

Science.gov (United States)

Polishuk, Alexander; Verner, Igor; Mir, Ronen

This paper presents our experience of teaching robotics to primary and middle school students at the Gelfand Center for Model Building, Robotics & Communication which is part of the Israel National Museum of Science, Technology and Space (MadaTech). The educational study examines the value and characteristics of students’ teamwork in the museum robotics workshops.

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.)

Building blocks of the universe

International Nuclear Information System (INIS)

Malamud, E.; O'Connor, C.; Cooper, A.

1990-01-01

COSI [Ohio's Center for Science and Industry], a well established science center, and SciTech, an emerging one, have formed a collaboration to develop a group of original interactive exhibits conveying to a wide audience the nature of the most fundamental features of the Universe, as revealed in the fascinating world of nuclear and particle science. These new exhibits will add to, and be supported by, the basic science exhibits which have already attracted large numbers of visitors to both centers. The new project, called Building Blocks of the Universe, aims to foster an appreciation of the way all features of the Universe arise from simple, basic rules and to lead the visitor from the perceived complexities of our surroundings, to the unperceived, but simpler features of the sub-nuclear world. It has already become apparent from individual prototypes that these simple but immensely far-reaching ideas can indeed be conveyed by hands-on exhibits. These exhibits will be linked and enhanced by an effective museum environment, using pictorial diagrams, accurate non-technical text, and artistic displays to create an atmosphere in which visitors can learn about phenomena beyond the range of direct perception. This paper describes the goals, content and organization of the exhibition. The authors also outline their experience with prototype exhibits, and thereby invite additional input into the development process

Metal-Organic Frameworks: Building Block Design Strategies for the Synthesis of MOFs.

KAUST Repository

Luebke, Ryan

2014-09-01

A significant and ongoing challenge in materials chemistry and furthermore solid state chemistry is to design materials with the desired properties and characteristics. The field of Metal-Organic Frameworks (MOFs) offers several strategies to address this challenge and has proven fruitful at allowing some degree of control over the resultant materials synthesized. Several methodologies for synthesis of MOFs have been developed which rely on use of predetermined building blocks. The work presented herein is focused on the utilization of two of these design principles, namely the use of molecular building blocks (MBBs) and supermolecular building blocks (SBBs) to target MOF materials having desired connectivities (topologies). These design strategies also permit the introduction of specific chemical moieties, allowing for modification of the MOFs properties. This research is predominantly focused on two platforms (rht-MOFs and ftw-MOFs) which topologically speaking are edge transitive binodal nets; ftw being a (4,12)-connected net and rht being a (3,24)-connected net. These highly connected nets (at least one node having connectivity greater than eight) have been purposefully targeted to increase the predictability of structural outcome. A general trend in topology is that there is an inverse relationship between the connectivity of the node(s) and the number of topological outcomes. Therefore the key to this research (and to effective use of the SBB and MBB approaches) is identification of conditions which allow for reliable formation of the targeted MBBs and SBBs. In the case of the research presented herein: a 12-connected Group IV or Rare Earth based hexanuclear MBB and a 24-connected transition metal based SBB were successfully targeted and synthesized. These two synthetic platforms will be presented and used as examples of how these design methods have been (and can be further) utilized to modify existing materials or develop new materials for gas storage and

Methods for estimating wake flow and effluent dispersion near simple block-like buildings

International Nuclear Information System (INIS)

Hosker, R.P. Jr.

1981-05-01

This report is intended as an interim guide for those who routinely face air quality problems associated with near-building exhaust stack placement and height, and the resulting concentration patterns. Available data and methods for estimating wake flow and effluent dispersion near isolated block-like structures are consolidated. The near-building and wake flows are described, and quantitative estimates for frontal eddy size, height and extent of roof and wake cavities, and far wake behavior are provided. Concentration calculation methods for upwind, near-building, and downwind pollutant sources are given. For an upwind source, it is possible to estimate the required stack height, and to place upper limits on the likely near-building concentration. The influences of near-building source location and characteristics relative to the building geometry and orientation are considered. Methods to estimate effective stack height, upper limits for concentration due to flush roof vents, and the effect of changes in rooftop stack height are summarized. Current wake and wake cavity models are presented. Numerous graphs of important expressions have been prepared to facilitate computations and quick estimates of flow patterns and concentration levels for specific simple buildings. Detailed recommendations for additional work are given

Odico Formwork Robotics

DEFF Research Database (Denmark)

Søndergaard, Asbjørn

2014-01-01

In the next decade or so, the widespread adoption of robotics is set to transform the construction industry: building techniques will become increasingly automated both on– and off–site, dispensing with manual labour and enabling greater cost and operational efficiencies. What unique opportunities......, however, does robotics afford beyond operational effectiveness explicitly for the practice of architecture? What is the potential for the serial production of non–standard elements as well as for varied construction processes? In order to scale up and advance the application of robotics, for both...

Towards Simulation of Custom Industrial Robots

OpenAIRE

Marcu, Cosmin; Robotin, Radu

2008-01-01

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

Membrane InP saturable absorbers on silicon as building blocks for transparent optical networks

NARCIS (Netherlands)

Raz, O.; Tassaert, M.; Roelkens, G.C.; Dorren, H.J.S.

2013-01-01

As silicon photonics continues to gain research and industrial relevance, some of the building blocks in this technology such as modulators and switches still suffer from limitation when it comes to insertion losses and/or extinction ratio. In the past two years we have been investigating a

Pick-up, transport and release of a molecular cargo using a small-molecule robotic arm

Science.gov (United States)

Kassem, Salma; Lee, Alan T. L.; Leigh, David A.; Markevicius, Augustinas; Solà, Jordi

2016-02-01

Modern-day factory assembly lines often feature robots that pick up, reposition and connect components in a programmed manner. The idea of manipulating molecular fragments in a similar way has to date only been explored using biological building blocks (specifically DNA). Here, we report on a wholly artificial small-molecule robotic arm capable of selectively transporting a molecular cargo in either direction between two spatially distinct, chemically similar, sites on a molecular platform. The arm picks up/releases a 3-mercaptopropanehydrazide cargo by formation/breakage of a disulfide bond, while dynamic hydrazone chemistry controls the cargo binding to the platform. Transport is controlled by selectively inducing conformational and configurational changes within an embedded hydrazone rotary switch that steers the robotic arm. In a three-stage operation, 79-85% of 3-mercaptopropanehydrazide molecules are transported in either (chosen) direction between the two platform sites, without the cargo at any time fully dissociating from the machine nor exchanging with other molecules in the bulk.

Robotics-assisted mass spectrometry assay platform enabled by open-source electronics.

Science.gov (United States)

Chiu, Shih-Hao; Urban, Pawel L

2015-02-15

Mass spectrometry (MS) is an important analytical technique with numerous applications in clinical analysis, biochemistry, environmental analysis, geology and physics. Its success builds on the ability of MS to determine molecular weights of analytes, and elucidate their structures. However, sample handling prior to MS requires a lot of attention and labor. In this work we were aiming to automate processing samples for MS so that analyses could be conducted without much supervision of experienced analysts. The goal of this study was to develop a robotics and information technology-oriented platform that could control the whole analysis process including sample delivery, reaction-based assay, data acquisition, and interaction with the analyst. The proposed platform incorporates a robotic arm for handling sample vials delivered to the laboratory, and several auxiliary devices which facilitate and secure the analysis process. They include: multi-relay board, infrared sensors, photo-interrupters, gyroscopes, force sensors, fingerprint scanner, barcode scanner, touch screen panel, and internet interface. The control of all the building blocks is achieved through implementation of open-source electronics (Arduino), and enabled by custom-written programs in C language. The advantages of the proposed system include: low cost, simplicity, small size, as well as facile automation of sample delivery and processing without the intervention of the analyst. It is envisaged that this simple robotic system may be the forerunner of automated laboratories dedicated to mass spectrometric analysis of biological samples. Copyright © 2014 Elsevier B.V. All rights reserved.

α-Haloaldehydes: versatile building blocks for natural product synthesis.

Science.gov (United States)

Britton, Robert; Kang, Baldip

2013-02-01

The diastereoselective addition of organometallic reagents to α-chloroaldehydes was first reported in 1959 and occupies a historically significant role as the prototypical reaction for Cornforth's model of stereoinduction. Despite clear synthetic potential for these reagents, difficulties associated with producing enantiomerically enriched α-haloaldehydes limited their use in natural product synthesis through the latter half of the 20th century. In recent years, however, a variety of robust, organocatalytic processes have been reported that now provide direct access to optically enriched α-haloaldehydes and have motivated renewed interest in their use as building blocks for natural product synthesis. This Highlight summarizes the methods available for the enantioselective preparation of α-haloaldehydes and their stereoselective conversion into natural products.

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

Engineering cell factories for producing building block chemicals for bio-polymer synthesis

OpenAIRE

Tsuge, Yota; Kawaguchi, Hideo; Sasaki, Kengo; Kondo, Akihiko

2016-01-01

Synthetic polymers are widely used in daily life. Due to increasing environmental concerns related to global warming and the depletion of oil reserves, the development of microbial-based fermentation processes for the production of polymer building block chemicals from renewable resources is desirable to replace current petroleum-based methods. To this end, strains that efficiently produce the target chemicals at high yields and productivity are needed. Recent advances in metabolic engineerin...

Robots Are Taking Over--Who Does What.

Science.gov (United States)

Garrison, H. Don

Robots are machines designed to replace human labor. A fear of vast unemployment due to robots seems unfounded, however, since industrialization creates many more jobs and automation requires technologists to build, program, maintain, and operate sophisticated equipment. Robots possess an intelligence unit, a manipulator, and an end effector.…

Catalytic allylic oxidation of internal alkenes to a multifunctional chiral building block

Science.gov (United States)

Bayeh, Liela; Le, Phong Q.; Tambar, Uttam K.

2017-07-01

The stereoselective oxidation of hydrocarbons is one of the most notable advances in synthetic chemistry over the past fifty years. Inspired by nature, enantioselective dihydroxylations, epoxidations and other oxidations of unsaturated hydrocarbons have been developed. More recently, the catalytic enantioselective allylic carbon-hydrogen oxidation of alkenes has streamlined the production of pharmaceuticals, natural products, fine chemicals and other functional materials. Allylic functionalization provides a direct path to chiral building blocks with a newly formed stereocentre from petrochemical feedstocks while preserving the olefin functionality as a handle for further chemical elaboration. Various metal-based catalysts have been discovered for the enantioselective allylic carbon-hydrogen oxidation of simple alkenes with cyclic or terminal double bonds. However, a general and selective allylic oxidation using the more common internal alkenes remains elusive. Here we report the enantioselective, regioselective and E/Z-selective allylic oxidation of unactivated internal alkenes via a catalytic hetero-ene reaction with a chalcogen-based oxidant. Our method enables non-symmetric internal alkenes to be selectively converted into allylic functionalized products with high stereoselectivity and regioselectivity. Stereospecific transformations of the resulting multifunctional chiral building blocks highlight the potential for rapidly converting internal alkenes into a broad range of enantioenriched structures that can be used in the synthesis of complex target molecules.

Microbial production of building block chemicals and polymers.

Science.gov (United States)

Lee, Jeong Wook; Kim, Hyun Uk; Choi, Sol; Yi, Jongho; Lee, Sang Yup

2011-12-01

Owing to our increasing concerns on the environment, climate change, and limited natural resources, there has recently been considerable effort exerted to produce chemicals and materials from renewable biomass. Polymers we use everyday can also be produced either by direct fermentation or by polymerization of monomers that are produced by fermentation. Recent advances in metabolic engineering combined with systems biology and synthetic biology are allowing us to more systematically develop superior strains and bioprocesses for the efficient production of polymers and monomers. Here, we review recent trends in microbial production of building block chemicals that can be subsequently used for the synthesis of polymers. Also, recent successful cases of direct one-step production of polymers are reviewed. General strategies for the production of natural and unnatural platform chemicals are described together with representative examples. Copyright © 2011 Elsevier Ltd. All rights reserved.

Perancangan Lengan Robot 5 Derajat Kebebasan Dengan Pendekatan Kinematika

Directory of Open Access Journals (Sweden)

- Firmansyah

2014-10-01

Full Text Available This study discusses the design of arm robot model with 5 degree of freedom that is designed to be a small-scale model of the articulated robot industry to simulate the movement of the robots industry. The objective of this research is to build a real arm robot based on kinematic aspects with the movement of waist, shoulder, elbow, wrist pitch, wrist roll and gripper, and to analyze the robot movement. The design includes building the real arm robot based on Arduino Uno board controller and the movement of the robot using servo motor DC. The robot  can be controlled automatically from the computer with the RS-232 or USB port interface and it learns about the kinematic of the robot’s arm when an experiment on the forward kinematic is accomplished. The robot was running well, with the maximum distance that can be reached by the robot on the coordinate axis  x = 425 mm, y = 425 mm and  z = 480 mm.

Stepwise transformation of the molecular building blocks in a porphyrin-encapsulating metal-organic material

KAUST Repository

Zhang, ZhenJie; Wojtas, Łukasz; Eddaoudi, Mohamed; Zaworotko, Michael J.

2013-01-01

When immersed in solutions containing Cu(II) cations, the microporous metal-organic material P11 ([Cd4(BPT)4]·[Cd(C 44H36N8)(S)]·[S], BPT = biphenyl-3,4′,5-tricarboxylate) undergoes a transformation of its [Cd 2(COO)6]2- molecular building blocks

Advances in metabolic pathway and strain engineering paving the way for sustainable production of chemical building blocks.

Science.gov (United States)

Chen, Yun; Nielsen, Jens

2013-12-01

Bio-based production of chemical building blocks from renewable resources is an attractive alternative to petroleum-based platform chemicals. Metabolic pathway and strain engineering is the key element in constructing robust microbial chemical factories within the constraints of cost effective production. Here we discuss how the development of computational algorithms, novel modules and methods, omics-based techniques combined with modeling refinement are enabling reduction in development time and thus advance the field of industrial biotechnology. We further discuss how recent technological developments contribute to the development of novel cell factories for the production of the building block chemicals: adipic acid, succinic acid and 3-hydroxypropionic acid. Copyright © 2013 Elsevier Ltd. All rights reserved.

Vision-based mapping with cooperative robots

Science.gov (United States)

Little, James J.; Jennings, Cullen; Murray, Don

1998-10-01

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

Solution scattering studies on a virus capsid protein as a building block for nanoscale assemblies

NARCIS (Netherlands)

Comellas Aragones, M.; Comellas-Aragones, Marta; Sikkema, Friso D.; Delaittre, Guillaume; Terry, Ann E.; King, Stephen M.; Visser, Dirk; Heenan, Richard K.; Nolte, Roeland J.M.; Cornelissen, Jeroen Johannes Lambertus Maria; Feiters, Martin C.

2011-01-01

Self-assembled protein cages are versatile building blocks in the construction of biomolecular nanostructures. Because of the defined assembly behaviour the cowpea chlorotic mottle virus (CCMV) protein is often used for such applications. Here we report a detailed solution scattering study of the

A chemical platform approach on cardanol oil: from the synthesis of building blocks to polymer synthesis

Directory of Open Access Journals (Sweden)

Jaillet Fanny

2016-09-01

Full Text Available This review proposes a platform approach for the synthesis of various building blocks from cardanol oil in one or two-steps synthesis. Cardanol is a natural phenol issued from Cashew nutshell liquid (CNSL. CNSL is a non-edible renewable resource, co-produced from cashew industry in large commercial volumes. Cardanol is non-toxic and particularly suitable as an aromatic renewable resource for polymers and materials. Various routes were used for the synthesis of di- and poly-functional building blocks used thereafter in polymer syntheses. Phenolation was used to dimerize/oligomerize cardanol to propose increase functionality of cardanol. Thio-ene was used to synthesize new reactive amines. Epoxidation and (methacrylation were also used to insert oxirane or (methacrylate groups in order to synthesize polymers and materials.

Swarming Robot Design, Construction and Software Implementation

Science.gov (United States)

Stolleis, Karl A.

2014-01-01

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

Soft Robotics: from scientific challenges to technological applications

Science.gov (United States)

Laschi, C.

2016-05-01

Soft robotics is a recent and rapidly growing field of research, which aims at unveiling the principles for building robots that include soft materials and compliance in the interaction with the environment, so as to exploit so-called embodied intelligence and negotiate natural environment more effectively. Using soft materials for building robots poses new technological challenges: the technologies for actuating soft materials, for embedding sensors into soft robot parts, for controlling soft robots are among the main ones. This is stimulating research in many disciplines and many countries, such that a wide community is gathering around initiatives like the IEEE TAS TC on Soft Robotics and the RoboSoft CA - A Coordination Action for Soft Robotics, funded by the European Commission. Though still in its early stages of development, soft robotics is finding its way in a variety of applications, where safe contact is a main issue, in the biomedical field, as well as in exploration tasks and in the manufacturing industry. And though the development of the enabling technologies is still a priority, a fruitful loop is growing between basic research and application-oriented research in soft robotics.

Prototypic implementations of the building block for component based open Hypermedia systems (BB/CB-OHSs)

DEFF Research Database (Denmark)

Mohamed, Omer I. Eldai

2005-01-01

In this paper we describe the prototypic implementations of the BuildingBlock (BB/CB-OHSs) that proposed to address some of the Component-based Open Hypermedia Systems (CB-OHSs) issues, including distribution and interoperability [4, 11, 12]. Four service implementations were described below. The...

Theoretical and technological building blocks for an innovation accelerator

Science.gov (United States)

van Harmelen, F.; Kampis, G.; Börner, K.; van den Besselaar, P.; Schultes, E.; Goble, C.; Groth, P.; Mons, B.; Anderson, S.; Decker, S.; Hayes, C.; Buecheler, T.; Helbing, D.

2012-11-01

Modern science is a main driver of technological innovation. The efficiency of the scientific system is of key importance to ensure the competitiveness of a nation or region. However, the scientific system that we use today was devised centuries ago and is inadequate for our current ICT-based society: the peer review system encourages conservatism, journal publications are monolithic and slow, data is often not available to other scientists, and the independent validation of results is limited. The resulting scientific process is hence slow and sloppy. Building on the Innovation Accelerator paper by Helbing and Balietti [1], this paper takes the initial global vision and reviews the theoretical and technological building blocks that can be used for implementing an innovation (in first place: science) accelerator platform driven by re-imagining the science system. The envisioned platform would rest on four pillars: (i) Redesign the incentive scheme to reduce behavior such as conservatism, herding and hyping; (ii) Advance scientific publications by breaking up the monolithic paper unit and introducing other building blocks such as data, tools, experiment workflows, resources; (iii) Use machine readable semantics for publications, debate structures, provenance etc. in order to include the computer as a partner in the scientific process, and (iv) Build an online platform for collaboration, including a network of trust and reputation among the different types of stakeholders in the scientific system: scientists, educators, funding agencies, policy makers, students and industrial innovators among others. Any such improvements to the scientific system must support the entire scientific process (unlike current tools that chop up the scientific process into disconnected pieces), must facilitate and encourage collaboration and interdisciplinarity (again unlike current tools), must facilitate the inclusion of intelligent computing in the scientific process, must facilitate

Real Time Mapping and Dynamic Navigation for Mobile Robots

Directory of Open Access Journals (Sweden)

Maki K. Habib

2008-11-01

Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.

RNA and RNP as Building Blocks for Nanotechnology and Synthetic Biology.

Science.gov (United States)

Ohno, Hirohisa; Saito, Hirohide

2016-01-01

Recent technologies that aimed to elucidate cellular function have revealed essential roles for RNA molecules in living systems. Our knowledge concerning functional and structural information of naturally occurring RNA and RNA-protein (RNP) complexes is increasing rapidly. RNA and RNP interaction motifs are structural units that function as building blocks to constitute variety of complex structures. RNA-central synthetic biology and nanotechnology are constructive approaches that employ the accumulated information and build synthetic RNA (RNP)-based circuits and nanostructures. Here, we describe how to design and construct synthetic RNA (RNP)-based devices and structures at the nanometer-scale for biological and future therapeutic applications. RNA/RNP nanostructures can also be utilized as the molecular scaffold to control the localization or interactions of target molecule(s). Moreover, RNA motifs recognized by RNA-binding proteins can be applied to make protein-responsive translational "switches" that can turn gene expression "on" or "off" depending on the intracellular environment. This "synthetic RNA and RNP world" will expand tools for nanotechnology and synthetic biology. In addition, these reconstructive approaches would lead to a greater understanding of building principle in naturally occurring RNA/RNP molecules and systems. Copyright © 2016 Elsevier Inc. All rights reserved.

Culture's building blocks: investigating cultural evolution in a LEGO construction task.

Science.gov (United States)

McGraw, John J; Wallot, Sebastian; Mitkidis, Panagiotis; Roepstorff, Andreas

2014-01-01

ONE OF THE MOST ESSENTIAL BUT THEORETICALLY VEXING ISSUES REGARDING THE NOTION OF CULTURE IS THAT OF CULTURAL EVOLUTION AND TRANSMISSION: how a group's accumulated solutions to invariant challenges develop and persevere over time. But at the moment, the notion of applying evolutionary theory to culture remains little more than a suggestive trope. Whereas the modern synthesis of evolutionary theory has provided an encompassing scientific framework for the selection and transmission of biological adaptations, a convincing theory of cultural evolution has yet to emerge. One of the greatest challenges for theorists is identifying the appropriate time scales and units of analysis in order to reduce the intractably large and complex phenomenon of "culture" into its component "building blocks." In this paper, we present a model for scientifically investigating cultural processes by analyzing the ways people develop conventions in a series of LEGO construction tasks. The data revealed a surprising pattern in the selection of building bricks as well as features of car design across consecutive building sessions. Our findings support a novel methodology for studying the development and transmission of culture through the microcosm of interactive LEGO design and assembly.

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...

Multi-Robot FastSLAM for Large Domains

National Research Council Canada - National Science Library

Koperski, Choyong G

2007-01-01

For a robot to build a map of its surrounding area, it must have accurate position information within the area, and to obtain accurate position information within the area, the robot needs to have an...

Energy Efficiency of Robot Locomotion Increases Proportional to Weight

DEFF Research Database (Denmark)

Larsen, Jørgen Christian; Støy, Kasper

2011-01-01

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...

Energy Efficiency of Robot Locomotion Increases Proportional to Weight

DEFF Research Database (Denmark)

Larsen, J. C.; Stoy, K.

2011-01-01

The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...

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.

Cross-Cultural Understanding of Robotics

DEFF Research Database (Denmark)

Peronard, Jean-Paul

2013-01-01

This article aims to improve our understanding of how people in a healthcare context adopt robot technology and, in particular, the importance of culture in this process. The adoption of technology can be problematic when transferring technology from one culture to another. Differences in values...... and beliefs about robotics can affect the motivation for as well as the practice of using robotics in healthcare. Therefore, this paper seeks to develop a deeper theoretical understanding of the cultural impact on robotics adoption by using a cross-cultural perspective to explain variation in priorities...... and discuss possible guidelines to help build a strategy for introducing robotics into a culture’s healthcare sector and broaden the current agenda in international technology marketing....

Tactile Sensing for Dexterous Robotic Hands

Science.gov (United States)

Martin, Toby B.

2000-01-01

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

Determination of lead equivalent thickness to building blocks used in shielding of diagnostic x-ray rooms in Syria

International Nuclear Information System (INIS)

Kawash, A.; Khedr, M.; Wannus, K.; Souliman, J.; Al-Oudat, M.

1998-06-01

Lead equivalent thicknesses of various kinds of blocks (Hollow core, solid, filled, roof) with different thicknesses were determined. These blocks are widely used for building the diagnostic X-rya departments in Syria. Different applied voltages at X-ray tube (65, 85, 100, 125, 150 KVp) were examined. The results showed that the highest lead equivalent thicknesses for hollow core blocks were at 100 KVp. These equivalent thicknesses were 0.4372, 0.7008 and 0.928 mm for block thicknesses of 10, 15 and 20 cm, respectively. it was also found that, the lead equivalent thicknesses for filled, solid and concrete block were 3.5 to 4 times higher than that of the hollow core block for the same thicknesses and the applied KVp. Values obtained for roof blocks were similar to that of hollow core for the same conditions and geometry. (Author)

Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

Directory of Open Access Journals (Sweden)

Guanghua Zong

2008-11-01

Full Text Available A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.

Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

Directory of Open Access Journals (Sweden)

Houxiang Zhang

2006-06-01

Full Text Available A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.

Development of Universal Controller Architecture for SiC Based Power Electronic Building Blocks

Science.gov (United States)

2017-10-30

SiC Based Power Electronic Building Blocks Award Number Title of Research 30 October 2017 SUBMITTED BY D R. HERBERT L. G INN, Pl DEPT. OF...Naval Research , Philadelphia PA, Aug. 2017. • Ginn, H.L. Bakos J., "Development of Universal Controller Architecture for SiC Based Power Electronic...Controller Implementation for MMC Converters", Workshop on Control Architectures for Modular Power Conversion Systems, Office of Naval Research , Arlington VA

A Service-Oriented Framework for the Development of Home Robots

Directory of Open Access Journals (Sweden)

Tsung-Hsien Yang

2013-02-01

Full Text Available In recent years, researchers have been building home robots able to interact and work with people. Yet, because of the complicated and independent robot development environments, it is not always easy to share and reuse robot code created by different providers. In this work, we present an ontology-based framework that integrates service-oriented computing environments with the standard web interface to develop reusable robotic services. In addition to the service discovery, selection, and composition processes often performed by traditional web services, our work also includes an adaptive mechanism through which the user can iteratively modify composite robotic services to suit his or her needs. The proposed methodology has been implemented and evaluated, and the results show that our framework can be used to build robotic services successfully.

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.

Robonaut 2 - Building a Robot on the International Space Station

Science.gov (United States)

Diftler, Myron; Badger, Julia; Joyce, Charles; Potter, Elliott; Pike, Leah

2015-01-01

In 2010, the Robonaut Project embarked on a multi-phase mission to perform technology demonstrations on-board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra-Vehicular Activity (IVA) Mobility, that utilizes a set of zero-g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot

Studying social robots in practiced places

DEFF Research Database (Denmark)

Hasse, Cathrine; Bruun, Maja Hojer; Hanghøj, Signe

2015-01-01

values, social relations and materialities. Though substantial funding has been invested in developing health service robots, few studies have been undertaken that explore human-robot interactions as they play out in everyday practice. We argue that the complex learning processes involve not only so...... of technologies in use, e.g., technologies as multistable ontologies. The argument builds on an empirical study of robots at a Danish rehabilitation centre. Ethnographic methods combined with anthropological learning processes open up new way for exploring how robots enter into professional practices and change...

Robots Spur Software That Lends a Hand

Science.gov (United States)

2014-01-01

While building a robot to assist astronauts in space, Johnson Space Center worked with partners to develop robot reasoning and interaction technology. The partners created Robonaut 1, which led to Robonaut 2, and the work also led to patents now held by Universal Robotics in Nashville, Tennessee. The NASA-derived technology is available for use in warehousing, mining, and more.

The Development of Logico-Mathematical Knowledge in a Block-Building Activity at Ages 1-4

Science.gov (United States)

Kamii, Constance; Miyakawa, Yoko; Kato, Yasuhiko

2004-01-01

To study the developmental interrelationships among various aspects of logico-mathematical knowledge, 80 one- to 4-year-olds were individually asked to build "something tall" with 20 blocks. Percentages of new and significant behaviors increased with age and were analyzed in terms of the development of logico-mathematical relationships. It was…

Chiral building blocks from biomass: 2,5-Diamino-2,5-dideoxy-1,4-3,6-dianhydroiditol

NARCIS (Netherlands)

Thiyagarajan, S.; Gootjes, L.; Vogelzang, W.; Wu, J.; Haveren, van J.; Es, van D.S.

2011-01-01

Isohexides (isomannide (endo-endo), isosorbide (endo-exo), and isoidide (exo-exo) are a group of renewable bio-based building blocks that received considerable attention among the polymer industries because these rigid bicyclic diols have several interesting properties in polymer applications.1 We

E-Block: A Tangible Programming Tool with Graphical Blocks

OpenAIRE

Danli Wang; Yang Zhang; Shengyong Chen

2013-01-01

This paper designs a tangible programming tool, E-Block, for children aged 5 to 9 to experience the preliminary understanding of programming by building blocks. With embedded artificial intelligence, the tool defines the programming blocks with the sensors as the input and enables children to write programs to complete the tasks in the computer. The symbol on the programming block's surface is used to help children understanding the function of each block. The sequence information is transfer...

Building blocks for protein interaction devices

Science.gov (United States)

Grünberg, Raik; Ferrar, Tony S.; van der Sloot, Almer M.; Constante, Marco; Serrano, Luis

2010-01-01

Here, we propose a framework for the design of synthetic protein networks from modular protein–protein or protein–peptide interactions and provide a starter toolkit of protein building blocks. Our proof of concept experiments outline a general work flow for part–based protein systems engineering. We streamlined the iterative BioBrick cloning protocol and assembled 25 synthetic multidomain proteins each from seven standardized DNA fragments. A systematic screen revealed two main factors controlling protein expression in Escherichia coli: obstruction of translation initiation by mRNA secondary structure or toxicity of individual domains. Eventually, 13 proteins were purified for further characterization. Starting from well-established biotechnological tools, two general–purpose interaction input and two readout devices were built and characterized in vitro. Constitutive interaction input was achieved with a pair of synthetic leucine zippers. The second interaction was drug-controlled utilizing the rapamycin-induced binding of FRB(T2098L) to FKBP12. The interaction kinetics of both devices were analyzed by surface plasmon resonance. Readout was based on Förster resonance energy transfer between fluorescent proteins and was quantified for various combinations of input and output devices. Our results demonstrate the feasibility of parts-based protein synthetic biology. Additionally, we identify future challenges and limitations of modular design along with approaches to address them. PMID:20215443

Elfin: An algorithm for the computational design of custom three-dimensional structures from modular repeat protein building blocks.

Science.gov (United States)

Yeh, Chun-Ting; Brunette, T J; Baker, David; McIntosh-Smith, Simon; Parmeggiani, Fabio

2018-02-01

Computational protein design methods have enabled the design of novel protein structures, but they are often still limited to small proteins and symmetric systems. To expand the size of designable proteins while controlling the overall structure, we developed Elfin, a genetic algorithm for the design of novel proteins with custom shapes using structural building blocks derived from experimentally verified repeat proteins. By combining building blocks with compatible interfaces, it is possible to rapidly build non-symmetric large structures (>1000 amino acids) that match three-dimensional geometric descriptions provided by the user. A run time of about 20min on a laptop computer for a 3000 amino acid structure makes Elfin accessible to users with limited computational resources. Protein structures with controlled geometry will allow the systematic study of the effect of spatial arrangement of enzymes and signaling molecules, and provide new scaffolds for functional nanomaterials. Copyright © 2017 Elsevier Inc. All rights reserved.

A polynomial-chaos-expansion-based building block approach for stochastic analysis of photonic circuits

Science.gov (United States)

Waqas, Abi; Melati, Daniele; Manfredi, Paolo; Grassi, Flavia; Melloni, Andrea

2018-02-01

The Building Block (BB) approach has recently emerged in photonic as a suitable strategy for the analysis and design of complex circuits. Each BB can be foundry related and contains a mathematical macro-model of its functionality. As well known, statistical variations in fabrication processes can have a strong effect on their functionality and ultimately affect the yield. In order to predict the statistical behavior of the circuit, proper analysis of the uncertainties effects is crucial. This paper presents a method to build a novel class of Stochastic Process Design Kits for the analysis of photonic circuits. The proposed design kits directly store the information on the stochastic behavior of each building block in the form of a generalized-polynomial-chaos-based augmented macro-model obtained by properly exploiting stochastic collocation and Galerkin methods. Using this approach, we demonstrate that the augmented macro-models of the BBs can be calculated once and stored in a BB (foundry dependent) library and then used for the analysis of any desired circuit. The main advantage of this approach, shown here for the first time in photonics, is that the stochastic moments of an arbitrary photonic circuit can be evaluated by a single simulation only, without the need for repeated simulations. The accuracy and the significant speed-up with respect to the classical Monte Carlo analysis are verified by means of classical photonic circuit example with multiple uncertain variables.

Catalytic asymmetric synthesis of enantiopure isoprenoid building blocks : application in the synthesis of apple leafminer pheromones

NARCIS (Netherlands)

Summeren, Ruben P. van; Reijmer, Sven J.W.; Minnaard, Adriaan J.; Feringa, Bernard

2005-01-01

The first catalytic asymmetric procedure capable of preparing all 4 diastereoisomers (ee > 99%, de > 98%) of a versatile saturated isoprenoid building block was developed and the value of this new method was demonstrated in its application to the concise total synthesis of two pheromones.

An Infant Development-inspired Approach to Robot Hand-eye Coordination

Directory of Open Access Journals (Sweden)

Fei Chao

2014-02-01

Full Text Available This paper presents a novel developmental learning approach for hand-eye coordination in an autonomous robotic system. Robotic hand-eye coordination plays an important role in dealing with real-time environments. Under the approach, infant developmental patterns are introduced to build our robot's learning system. The method works by first constructing a brain-like computational structure to control the robot, and then by using infant behavioural patterns to build a hand-eye coordination learning algorithm. This work is supported by an experimental evaluation, which shows that the control system is implemented simply, and that the learning approach provides fast and incremental learning of behavioural competence.

Rapid formation of complexity in the total synthesis of natural products enabled by oxabicyclo[2.2.1]heptene building blocks.

Science.gov (United States)

Schindler, Corinna S; Carreira, Erick M

2009-11-01

This critical review showcases examples of rapid formation of complexity in total syntheses starting from 7-oxabicyclo[2.2.1]hept-5-ene derivatives. An overview of methods allowing synthetic access to these building blocks is provided and their application in recently developed synthetic transformations to structurally complex systems is illustrated. In addition, the facile access to a novel oxabicyclo[2.2.1]heptene derived building block is presented which significantly enlarges the possibilities of previously known chemical transformations and is highlighted in the enantioselective route to the core of the banyaside and suomilide natural products (107 references).

Concept analysis and the building blocks of theory: misconceptions regarding theory development.

Science.gov (United States)

Bergdahl, Elisabeth; Berterö, Carina M

2016-10-01

The purpose of this article is to discuss the attempts to justify concepts analysis as a way to construct theory - a notion often advocated in nursing. The notion that concepts are the building blocks or threads from which theory is constructed is often repeated. It can be found in many articles and well-known textbooks. However, this notion is seldom explained or defended. The notion of concepts as building blocks has also been questioned by several authors. However, most of these authors seem to agree to some degree that concepts are essential components from which theory is built. Discussion paper. Literature was reviewed to synthesize and debate current knowledge. Our point is that theory is not built by concepts analysis or clarification and we will show that this notion has its basis in some serious misunderstandings. We argue that concept analysis is not a part of sound scientific method and should be abandoned. The current methods of concept analysis in nursing have no foundation in philosophy of science or in language philosophy. The type of concept analysis performed in nursing is not a way to 'construct' theory. Rather, theories are formed by creative endeavour to propose a solution to a scientific and/or practical problem. The bottom line is that the current style and form of concept analysis in nursing should be abandoned in favour of methods in line with modern theory of science. © 2016 John Wiley & Sons Ltd.

Building a grid-semantic map for the navigation of service robots through human–robot interaction

Directory of Open Access Journals (Sweden)

Cheng Zhao

2015-11-01

Full Text Available This paper presents an interactive approach to the construction of a grid-semantic map for the navigation of service robots in an indoor environment. It is based on the Robot Operating System (ROS framework and contains four modules, namely Interactive Module, Control Module, Navigation Module and Mapping Module. Three challenging issues have been focused during its development: (i how human voice and robot visual information could be effectively deployed in the mapping and navigation process; (ii how semantic names could combine with coordinate data in an online Grid-Semantic map; and (iii how a localization–evaluate–relocalization method could be used in global localization based on modified maximum particle weight of the particle swarm. A number of experiments are carried out in both simulated and real environments such as corridors and offices to verify its feasibility and performance.

Experiences in Developing an Experimental Robotics Course Program for Undergraduate Education

Science.gov (United States)

Jung, Seul

2013-01-01

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

Network diversity through two-step crystal engineering of a decorated 6-connected primary molecular building block

KAUST Repository

Yang, Qing-Yuan

2016-10-04

[Cr3O(nicotinate)6]+ was isolated and then utilised as a new primary molecular building block, PMBB, linked by 2-, 3- and 4-connected metal centres. Five novel metal–organic materials (MOMs) with acs, stp, rtl, fsc and pcu topologies were thereby isolated and characterised.

Network diversity through two-step crystal engineering of a decorated 6-connected primary molecular building block

KAUST Repository

Yang, Qing-Yuan; Chen, Kai-Jie; Schoedel, Alexander; Wojtas, Lukasz; Perry IV, John J.; Zaworotko, Michael J.

2016-01-01

[Cr3O(nicotinate)6]+ was isolated and then utilised as a new primary molecular building block, PMBB, linked by 2-, 3- and 4-connected metal centres. Five novel metal–organic materials (MOMs) with acs, stp, rtl, fsc and pcu topologies were thereby isolated and characterised.

Trust me, I am Robot!

DEFF Research Database (Denmark)

Stoyanova, Angelina; Drefeld, Jonas; Tanev, Stoyan

of the emerging trust relationship is a key component of the use value of the robotic system and of the value proposition of the robotic system producers. The study is based on a qualitative research approach combining the phenomenological research paradigm with a grounded theory building approach based......The aim of this paper is to discuss some of the issues regarding the emergence of trust within the context of the interaction between human patients and medical rehabilitation technology based on robot system solutions. The starting assumption of the analysis is that the articulation...

SNUPPS power block engineering

Energy Technology Data Exchange (ETDEWEB)

Thompson, C A [Bechtel Power Corp., San Francisco, Calif. (USA)

1975-11-01

The Standard Power Block is based on a modular concept and consists of the following: turbine building, auxiliary building, fuel building, control building, radwaste building, diesel generators building, and outside storage tanks and transformers. Each power block unit includes a Westinghouse pressurized water reactor and has a thermal power rating of 3425 MW(t). The corresponding General Electric turbine generator net electrical output is 1188 MW(e). This standardization approach results in not only a reduction in the costs of engineering, licensing, procurement, and project planning, but should also result in additional savings by the application of experience gained in the construction of the first unit to the following units and early input of construction data to design.

Fuzzy Behaviors for Control of Mobile Robots

Directory of Open Access Journals (Sweden)

Saleh Zein-Sabatto

2003-02-01

Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

Exploring the building blocks of social cognition: spontaneous agency perception and visual perspective taking in autism.

Science.gov (United States)

Zwickel, Jan; White, Sarah J; Coniston, Devorah; Senju, Atsushi; Frith, Uta

2011-10-01

Individuals with autism spectrum disorders have highly characteristic impairments in social interaction and this is true also for those with high functioning autism or Asperger syndrome (AS). These social cognitive impairments are far from global and it seems likely that some of the building blocks of social cognition are intact. In our first experiment, we investigated whether high functioning adults who also had a diagnosis of AS would be similar to control participants in terms of their eye movements when watching animated triangles in short movies that normally evoke mentalizing. They were. Our second experiment using the same movies, tested whether both groups would spontaneously adopt the visuo-spatial perspective of a triangle protagonist. They did. At the same time autistic participants differed in their verbal accounts of the story line underlying the movies, confirming their specific difficulties in on-line mentalizing. In spite of this difficulty, two basic building blocks of social cognition appear to be intact: spontaneous agency perception and spontaneous visual perspective taking.

Autonomous Coordination and Online Motion Modeling for Mobile Robots

National Research Council Canada - National Science Library

Sjoberg, Eric J

2007-01-01

Robots are rapidly becoming more involved in everyday military operations. As robots become more capable, their tasks will increase to include such roles as exploring enemy controlled buildings and caves...

Optimum Compressive Strength of Hardened Sandcrete Building Blocks with Steel Chips

Directory of Open Access Journals (Sweden)

Alohan Omoregie

2013-02-01

Full Text Available The recycling of steel chips into an environmentally friendly, responsive, and profitable commodity in the manufacturing and construction industries is a huge and difficult challenge. Several strategies designed for the management and processing of this waste in developed countries have been largely unsuccessful in developing countries mainly due to its capital-intensive nature. To this end, this investigation attempts to provide an alternative solution to the recycling of this material by maximizing its utility value in the building construction industry. This is to establish their influence on the compressive strength of sandcrete hollow blocks and solid cubes with the aim of specifying the range percent of steel chips for the sandcrete optimum compressive strength value. This is particularly important for developing countries in sub-Saharan Africa, and even Latin America where most sandcrete blocks exhibit compressive strengths far below standard requirements. Percentages of steel chips relative to the weight of cement were varied and blended with the sand in an attempt to improve the sand grading parameters. The steel chips variations were one, two, three, four, five, ten and fifteen percent respectively. It was confirmed that the grading parameters were improved and there were significant increases in the compressive strength of the blocks and cube samples. The greatest improvement was noticed at four percent steel chips and sand combination. Using the plotted profile, the margin of steel chips additions for the optimum compressive strength was also established. It is recommended that steel chip sandcrete blocks are suitable for both internal load bearing, and non-load bearing walls, in areas where they are not subjected to moisture ingress. However, for external walls, and in areas where they are liable to moisture attack after laying, the surfaces should be well rendered. Below ground level, the surfaces should be coated with a water

Programming with the KIBO Robotics Kit in Preschool Classrooms

Science.gov (United States)

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

2016-01-01

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

Autonomously Self-Adhesive Hydrogels as Building Blocks for Additive Manufacturing.

Science.gov (United States)

Deng, Xudong; Attalla, Rana; Sadowski, Lukas P; Chen, Mengsu; Majcher, Michael J; Urosev, Ivan; Yin, Da-Chuan; Selvaganapathy, P Ravi; Filipe, Carlos D M; Hoare, Todd

2018-01-08

We report a simple method of preparing autonomous and rapid self-adhesive hydrogels and their use as building blocks for additive manufacturing of functional tissue scaffolds. Dynamic cross-linking between 2-aminophenylboronic acid-functionalized hyaluronic acid and poly(vinyl alcohol) yields hydrogels that recover their mechanical integrity within 1 min after cutting or shear under both neutral and acidic pH conditions. Incorporation of this hydrogel in an interpenetrating calcium-alginate network results in an interfacially stiffer but still rapidly self-adhesive hydrogel that can be assembled into hollow perfusion channels by simple contact additive manufacturing within minutes. Such channels withstand fluid perfusion while retaining their dimensions and support endothelial cell growth and proliferation, providing a simple and modular route to produce customized cell scaffolds.

Mobile Robot Designed with Autonomous Navigation System

Science.gov (United States)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Building Quality Report Cards for Geriatric Care in The Netherlands: Using Concept Mapping to Identify the Appropriate "Building Blocks" from the Consumer's Perspective

Science.gov (United States)

Groenewoud, A. Stef; van Exel, N. Job A.; Berg, Marc; Huijsman, Robbert

2008-01-01

Purpose: This article reports on a study to identify "building blocks" for quality report cards for geriatric care. Its aim is to present (a) the results of the study and (b) the innovative step-by-step approach that was developed to arrive at these results. Design and Methods: We used Concept Mapping/Structured Conceptualization to…

Culture’s building blocks: investigating cultural evolution in a LEGO construction task

Science.gov (United States)

McGraw, John J.; Wallot, Sebastian; Mitkidis, Panagiotis; Roepstorff, Andreas

2014-01-01

One of the most essential but theoretically vexing issues regarding the notion of culture is that of cultural evolution and transmission: how a group’s accumulated solutions to invariant challenges develop and persevere over time. But at the moment, the notion of applying evolutionary theory to culture remains little more than a suggestive trope. Whereas the modern synthesis of evolutionary theory has provided an encompassing scientific framework for the selection and transmission of biological adaptations, a convincing theory of cultural evolution has yet to emerge. One of the greatest challenges for theorists is identifying the appropriate time scales and units of analysis in order to reduce the intractably large and complex phenomenon of “culture” into its component “building blocks.” In this paper, we present a model for scientifically investigating cultural processes by analyzing the ways people develop conventions in a series of LEGO construction tasks. The data revealed a surprising pattern in the selection of building bricks as well as features of car design across consecutive building sessions. Our findings support a novel methodology for studying the development and transmission of culture through the microcosm of interactive LEGO design and assembly. PMID:25309482

Culture’s building blocks: investigating cultural evolution in a LEGO construction task

Directory of Open Access Journals (Sweden)

John Joseph Mcgraw

2014-09-01

Full Text Available One of the most essential but theoretically vexing issues regarding the notion of culture is that of cultural evolution and transmission: how a group’s accumulated solutions to invariant challenges develop and persevere over time. But at the moment, the notion of applying evolutionary theory to culture remains little more than a suggestive trope. Whereas the modern synthesis of evolutionary theory has provided an encompassing scientific framework for the selection and transmission of biological adaptations, a convincing theory of cultural evolution has yet to emerge. One of the greatest challenges for theorists is identifying the appropriate time scales and units of analysis in order to reduce the intractably large and complex phenomenon of culture into its component building blocks. In this paper, we present a model for scientifically investigating cultural processes by analyzing the ways people develop conventions in a series of LEGO construction tasks. The data revealed a surprising pattern in the selection of building bricks as well as features of car design across consecutive building sessions. Our findings support a novel methodology for studying the development and transmission of culture through the microcosm of interactive LEGO design and assembly.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

Science.gov (United States)

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

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

324 and 325 Building Hot Cell Cleanout Program: Air lock cover block refurbishment

International Nuclear Information System (INIS)

Katayama, Y.B.; Holton, L.K. Jr.; Gale, R.M.

1989-05-01

The high-density concrete cover blocks shielding the pipe trench in the hot-cell air lock of the 324 Building Radiochemical Engineering Cells had accumulated fixed radioactivity ranging from 1100 to 22, 000 mrad/hr. A corresponding increase in the radiation exposure to personnel entering the air lock, together with ALARA concerns, led to the removal of the contaminated concrete surface with a hydraulic spaller and the emplacement of a stainless steel covering over a layer of grout. The resultant saving in radiation exposure is estimated to be 7200 mrad for personnel completing burial box runs for the 324 and 325 Building Hot Cell Cleanout Program. Radiation exposure to all staff members entering the air lock is now at least 50% lower. 3 refs., 22 figs., 1 tab

RoboDB: an application of Semantic Web Technologies to robotics

NARCIS (Netherlands)

Juarez, Alex; Hu, J.; Feijs, L.M.G.

2011-01-01

RoboDB is a knowledge acquisition system that gathers information about robots. RoboDB uses Semantic Web technologies and tools to help the user in creating semantic descriptions of robot embodiments and their capabilities, as well as in building an ontology of robotics projects, research

An Ethical Evaluation of Human–Robot Relationships

NARCIS (Netherlands)

de Graaf, M.M.A.

2016-01-01

When people interact with socially interactive robots on a regular basis, it could be that people start developing some kind of relationship with such robots. People are able to get attached to several objects in our everyday world. However, the relationships we build with regular objects differ

Moral Appearances: Emotions, Robots, and Human Morality.

NARCIS (Netherlands)

Coeckelbergh, Mark

2010-01-01

Can we build ‘moral robots’? If morality depends on emotions, the answer seems negative. Current robots do not meet standard necessary conditions for having emotions: they lack consciousness, mental states, and feelings. Moreover, it is not even clear how we might ever establish whether robots

BioBlocks: Programming Protocols in Biology Made Easier.

Science.gov (United States)

Gupta, Vishal; Irimia, Jesús; Pau, Iván; Rodríguez-Patón, Alfonso

2017-07-21

The methods to execute biological experiments are evolving. Affordable fluid handling robots and on-demand biology enterprises are making automating entire experiments a reality. Automation offers the benefit of high-throughput experimentation, rapid prototyping, and improved reproducibility of results. However, learning to automate and codify experiments is a difficult task as it requires programming expertise. Here, we present a web-based visual development environment called BioBlocks for describing experimental protocols in biology. It is based on Google's Blockly and Scratch, and requires little or no experience in computer programming to automate the execution of experiments. The experiments can be specified, saved, modified, and shared between multiple users in an easy manner. BioBlocks is open-source and can be customized to execute protocols on local robotic platforms or remotely, that is, in the cloud. It aims to serve as a de facto open standard for programming protocols in Biology.

Self-assembling peptide-based building blocks in medical applications

Energy Technology Data Exchange (ETDEWEB)

Acar, Handan; Srivastava, Samanvaya; Chung, Eun Ji; Schnorenberg, Mathew R.; Barrett, John C.; LaBelle, James L.; Tirrell, Matthew

2017-02-01

Peptides and peptide-conjugates, comprising natural and synthetic building blocks, are an increasingly popular class of biomaterials. Self-assembled nanostructures based on peptides and peptide-conjugates offer advantages such as precise selectivity and multifunctionality that can address challenges and limitations in the clinic. In this review article, we discuss recent developments in the design and self-assembly of various nanomaterials based on peptides and peptide-conjugates for medical applications, and categorize them into two themes based on the driving forces of molecular self-assembly. First, we present the self-assembled nanostructures driven by the supramolecular interactions between the peptides, with or without the presence of conjugates. The studies where nanoassembly is driven by the interactions between the conjugates of peptide-conjugates are then presented. Particular emphasis is given to in vivo studies focusing on therapeutics, diagnostics, immune modulation and regenerative medicine. Finally, challenges and future perspectives are presented.

Origami building blocks: Generic and special four-vertices

Science.gov (United States)

Waitukaitis, Scott; van Hecke, Martin

2016-02-01

Four rigid panels connected by hinges that meet at a point form a four-vertex, the fundamental building block of origami metamaterials. Most materials designed so far are based on the same four-vertex geometry, and little is known regarding how different geometries affect folding behavior. Here we systematically categorize and analyze the geometries and resulting folding motions of Euclidean four-vertices. Comparing the relative sizes of sector angles, we identify three types of generic vertices and two accompanying subtypes. We determine which folds can fully close and the possible mountain-valley assignments. Next, we consider what occurs when sector angles or sums thereof are set equal, which results in 16 special vertex types. One of these, flat-foldable vertices, has been studied extensively, but we show that a wide variety of qualitatively different folding motions exist for the other 15 special and 3 generic types. Our work establishes a straightforward set of rules for understanding the folding motion of both generic and special four-vertices and serves as a roadmap for designing origami metamaterials.

Rough terrain motion planning for actively reconfigurable mobile robots

International Nuclear Information System (INIS)

Brunner, Michael

2015-01-01

In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

Rough terrain motion planning for actively reconfigurable mobile robots

Energy Technology Data Exchange (ETDEWEB)

Brunner, Michael

2015-02-05

In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

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.

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

Learning ROS for robotics programming

CERN Document Server

Martinez, Aaron

2013-01-01

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

Robots accelerate into new roles

International Nuclear Information System (INIS)

Meieran, H.B.

1993-01-01

Although robotics and remote controlled devices have been employed in the nuclear industry for more than 30 years, the rate of their application is beginning to increase rapidly. The largest group of prospective robotic activities will be those supporting Environmental Restoration and Waste Management (ER and WM) programmes to be conducted at several of the US DoE's national laboratories and facilities. Robots can assist in: transferring hazardous radioactive chemicals from older into newer storage tanks; decontaminating and decommissioning hundreds of obsolete facilities and buildings; and determining the specific locations of buried wastes before removal. (Author)

Design to Robotic Production for Informed Materialization Processes

Directory of Open Access Journals (Sweden)

Sina Mostafavi

2017-12-01

Full Text Available Design to Robotic Production (D2RP establishes links between digital design and production in order to achieve informed materialization at an architectural scale. D2RP research is being discussed under the computation, automation and materialization themes, by reference to customizable digital design means, robotic fabrication setups and informed materialization strategies implemented by the Robotic Building group at Hyperbody, TU Delft.

Fable II: Design of a Modular Robot for Creative Learning

DEFF Research Database (Denmark)

Pacheco, Moises; Fogh, Rune; Lund, Henrik Hautop

2015-01-01

Robotic systems have a high potential for creative learning if they are flexible, accessible and engaging for the user in the experimental process of building and programming robots. In this paper we describe the Fable modular robotic system for creative learning which we develop to enable and mo...

Use of Mixed Micelles for Presentation of Building Blocks in a New Combinatorial Discovery Methodology: Proof-of-Concept Studies

Directory of Open Access Journals (Sweden)

Istvan Toth

2013-03-01

Full Text Available We describe a new method of combinatorial screening in which building blocks, instead of being linked together chemically, are placed on the surface of nanoparticles. Two- or three-dimensional structures form on the surface of these particles through the close approach of different building blocks, with sufficient flexibility to be able to adapt and interact with putative binding sites in biological systems. The particles assemble without the need for formation of chemical bonds, so libraries comprised of many structures can be prepared rapidly, with large quantities of material available for testing. Screening methods can include solid and solution-phase binding assays, or tissue culture models, for example looking for structures which can change the behaviour of cells in a disease-modifying manner.

The assessment of professional competence: building blocks for theory development.

Science.gov (United States)

van der Vleuten, C P M; Schuwirth, L W T; Scheele, F; Driessen, E W; Hodges, B

2010-12-01

This article presents lessons learnt from experiences with assessment of professional competence. Based on Miller's pyramid, a distinction is made between established assessment technology for assessing 'knows', 'knowing how' and 'showing how' and more recent developments in the assessment of (clinical) performance at the 'does' level. Some general lessons are derived from research of and experiences with the established assessment technology. Here, many paradoxes are revealed and empirical outcomes are often counterintuitive. Instruments for assessing the 'does' level are classified and described, and additional general lessons for this area of performance assessment are derived. These lessons can also be read as general principles of assessment (programmes) and may provide theoretical building blocks to underpin appropriate and state-of-the-art assessment practices. Copyright © 2010 Elsevier Ltd. All rights reserved.

The Building Blocks for JWST I and T (Integrations and Test) to Operations - From Simulator to Flight Units

Science.gov (United States)

Fatig, Curtis; Ochs, William; Johns, Alan; Seaton, Bonita; Adams, Cynthia; Wasiak, Francis; Jones, Ronald; Jackson, Wallace

2012-01-01

The James Webb Space Telescope (JWST) Project has an extended integration and test (I&T) phase due to long procurement and development times of various components as well as recent launch delays. The JWST Ground Segment and Operations group has developed a roadmap of the various ground and flight elements and their use in the various JWST I&T test programs. The JWST Project s building block approach to the eventual operational systems, while not new, is complex and challenging; a large-scale mission like JWST involves international partners, many vendors across the United States, and competing needs for the same systems. One of the challenges is resource balancing so simulators and flight products for various elements congeal into integrated systems used for I&T and flight operations activities. This building block approach to an incremental buildup provides for early problem identification with simulators and exercises the flight operations systems, products, and interfaces during the JWST I&T test programs. The JWST Project has completed some early I&T with the simulators, engineering models and some components of the operational ground system. The JWST Project is testing the various flight units as they are delivered and will continue to do so for the entire flight and operational system. The JWST Project has already and will continue to reap the value of the building block approach on the road to launch and flight operations.

LEGO-based Robotics in Higher Education: 15 Years of Student Creativity

Directory of Open Access Journals (Sweden)

Ethan Danahy

2014-02-01

Full Text Available Our goal in this article is to reflect on the role LEGO robotics has played in college engineering education over the last 15 years, starting with the introduction of the RCX in 1998 and ending with the introduction of the EV3 in 2013. By combining a modular computer programming language with a modular building platform, LEGO Education has allowed students (of all ages to become active leaders in their own education as they build everything from animals for a robotic zoo to robots that play children's games. Most importantly, it allows all students to develop different solutions to the same problem to provide a learning community. We look first at how the recent developments in the learning sciences can help in promoting student learning in robotics. We then share four case studies of successful college-level implementations that build on these developments.

The cognitive nature of action - functional links between cognitive psychology, movement science, and robotics.

Science.gov (United States)

Schack, Thomas; Ritter, Helge

2009-01-01

This paper examines the cognitive architecture of human action, showing how it is organized over several levels and how it is built up. Basic action concepts (BACs) are identified as major building blocks on a representation level. These BACs are cognitive tools for mastering the functional demands of movement tasks. Results from different lines of research showed that not only the structure formation of mental representations in long-term memory but also chunk formation in working memory are built up on BACs and relate systematically to movement structures. It is concluded that such movement representations might provide the basis for action implementation and action control in skilled voluntary movements in the form of cognitive reference structures. To simulate action implementation we discuss challenges and issues that arise when we try to replicate complex movement abilities in robots. Among the key issues to be addressed is the question how structured representations can arise during skill acquisition and how the underlying processes can be understood sufficiently succinctly to replicate them on robot platforms. Working towards this goal, we translate our findings in studies of motor control in humans into models that can guide the implementation of cognitive robot architectures. Focusing on the issue of manual action control, we illustrate some results in the context of grasping with a five-fingered anthropomorphic robot hand.

Aminobenzoates as building blocks for natural product assembly lines.

Science.gov (United States)

Walsh, Christopher T; Haynes, Stuart W; Ames, Brian D

2012-01-01

The ortho-, meta-, and para- regioisomers of aminobenzoate are building blocks for a wide range of microbial natural products. Both the ortho-isomer (anthranilate) and PABA derive from the central shikimate pathway metabolite chorismate while the meta-isomer is not available by that route and starts from UDP-3-aminoglucose. PABA is largely funnelled into folate biosynthesis while anthranilate is the scaffold for biosynthetic elaboration into many natural heterocycles, most notably with its role in indole formation for tryptophan biosynthesis. Anthranilate is also converted to benzodiazepinones, fumiquinazolines, quinoxalines, phenoxazines, benzoxazolinates, quinolones, and phenazines, often with redox enzyme participation. The 5-hydroxy form of 3-aminobenzaote is the starter unit for ansa-bridged rifamycins, ansamitocins, and geldanamycins, whereas regioisomers 2-hydroxy, 4-hydroxy and 2,4-dihydroxy-3-aminobenzoate are key components of antimycin, grixazone, and platencin and platensimycin biosynthesis, respectively. The enzymatic mechanisms for generation of the aminobenzoate regioisomers and their subsequent utilization for diverse heterocycle and macrocycle construction are examined.

STRUCTURAL SOLUTIONS AND SPECIAL FEATURES OF THE THERMAL PROTECTION ANALYSIS OF EXTERIOR WALLS OF BUILDINGS MADE OF AUTOCLAVED GAS-CONCRETE BLOCKS

Directory of Open Access Journals (Sweden)

Bedov Anatolij Ivanovich

2012-10-01

Full Text Available Relevant structural solutions, physical and mechanical characteristics, coefficients of thermal conductivity for exterior masonry walls made of autoclaved gas-concrete blocks are provided in the article. If a single-layer wall is under consideration, an autoclaved gas-concrete block is capable of performing the two principal functions of a shell structure, including the function of thermal protection and the bearing function. The functions are performed simultaneously. Therefore, the application of the above masonry material means the design development and erection of exterior walls of residential buildings noteworthy for their thermal efficiency. In the event of frameless structures, the height of the residential building in question may be up to 5 stories, while the use of a monolithic or a ready-made frame makes it possible to build high-rise buildings, and the number of stories is not limited in this case. If the average block density is equal to 400…500 kilograms per cubic meter, the designed wall thickness is to be equal to 400 mm. Its thermal resistance may be lower than the one set in the event of the per-element design of the thermal protection (Rreq = 3.41 м2 C/Watt, in Ufa, although it will meet the requirements of the applicable regulations if per-unit power consumption rate is considered.

A crawling robot driven by multi-stable origami

Science.gov (United States)

Pagano, Alexander; Yan, Tongxi; Chien, Brian; Wissa, A.; Tawfick, S.

2017-09-01

Using origami folding to construct and actuate mechanisms and machines offers attractive opportunities from small, scalable, and cheap robots to deployable adaptive structures. This paper presents the design of a bio-inspired origami crawling robot constructed by folding sheets of paper. The origami building block structure is based on the Kresling crease pattern (CP), a chiral tower with a polygonal base, which expands and contracts through coupled longitudinal and rotational motion similar to a screw. We design the origami to have multi-stable structural equilibria which can be tuned by changing the folding CP. Kinematic analysis of these structures based on rigid-plates and hinges at fold lines precludes the shape transformation associated with the bistability of the physical models. To capture the kinematics of the bi-stable origami, the panels’ deformation behavior is modeled utilizing principles of virtual folds. Virtual folds approximate material bending by hinged, rigid panels, which facilitates the development of a kinematic solution via rigid-plate rotation analysis. As such, the kinetics and stability of folded structures are investigated by assigning suitable torsional spring constants to the fold lines. The results presented demonstrate the effect of fold-pattern geometries on the snapping behavior of the bi-stable origami structure based on the Kresling pattern. The crawling robot is presented as a case study for the use of this origami structure to mimic crawling locomotion. The robot is comprised of two origami towers nested inside a paper bellow, and connected by 3D printed end plates. DC motors are used to actuate the expansion and contraction of the internal origami structures to achieve forward locomotion and steering. Beyond locomotion, this simple design can find applications in manipulators, booms, and active structures.

Peer-to-Peer Human-Robot Interaction for Space Exploration

Science.gov (United States)

Fong, Terrence; Nourbakhsh, Illah

2004-01-01

NASA has embarked on a long-term program to develop human-robot systems for sustained, affordable space exploration. To support this mission, we are working to improve human-robot interaction and performance on planetary surfaces. Rather than building robots that function as glorified tools, our focus is to enable humans and robots to work as partners and peers. In this paper. we describe our approach, which includes contextual dialogue, cognitive modeling, and metrics-based field testing.

The asc trinodal platform: Two-step assembly of triangular, tetrahedral, and trigonal-prismatic molecular building blocks

KAUST Repository

Schoedel, Alexander; Cairns, Amy; Belmabkhout, Youssef; Wojtas, Łukasz; Mohamed, Mona Hassan; Zhang, ZhenJie; Proserpio, Davide Maria; Eddaoudi, Mohamed; Zaworotko, Michael J.

2013-01-01

The self-assembly of triangular, tetrahedral, and trigonal-prismatic molecular building blocks affords the first example of a trinodal family of metal-organic materials. Four examples of isoreticular expanded and functionalized frameworks are detailed. Gas adsorption experiments validated the permanent porosity of the parent structure. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

The asc trinodal platform: Two-step assembly of triangular, tetrahedral, and trigonal-prismatic molecular building blocks

KAUST Repository

Schoedel, Alexander

2013-02-10

The self-assembly of triangular, tetrahedral, and trigonal-prismatic molecular building blocks affords the first example of a trinodal family of metal-organic materials. Four examples of isoreticular expanded and functionalized frameworks are detailed. Gas adsorption experiments validated the permanent porosity of the parent structure. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Bottom-up nanoarchitecture of semiconductor nano-building blocks by controllable in situ SEM-FIB thermal soldering method

KAUST Repository

Zhang, Xuan; Zheng, Xiujun; Zhang, Hong; Zhang, Junli; Fu, Jiecai; Zhang, Qiang; Peng, Chaoyi; Bai, Feiming; Zhang, Xixiang; Peng, Yong

2017-01-01

Here we demonstrate that the building blocks of semiconductor WO3 nanowires can be controllably soldered together by a novel nano-soldering technique of in situ SEM-FIB thermal soldering, in which the soldering temperature can precisely remain in an optimal range to avoid a strong thermal diffusion.

Bottom-up nanoarchitecture of semiconductor nano-building blocks by controllable in situ SEM-FIB thermal soldering method

KAUST Repository

Zhang, Xuan

2017-08-10

Here we demonstrate that the building blocks of semiconductor WO3 nanowires can be controllably soldered together by a novel nano-soldering technique of in situ SEM-FIB thermal soldering, in which the soldering temperature can precisely remain in an optimal range to avoid a strong thermal diffusion.

Fundamentals of ergonomic exoskeleton robots

OpenAIRE

Schiele, A.

2008-01-01

This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a new theoretical framework for analyzing physical human robot interaction (pHRI) with exoskeletons, and (2) a clear set of design rules of how to build wearable, portable exoskeletons to easily and...

Systems thinking in practice: the current status of the six WHO building blocks for health system strengthening in three BHOMA intervention districts of Zambia: a baseline qualitative study.

Science.gov (United States)

Mutale, Wilbroad; Bond, Virginia; Mwanamwenge, Margaret Tembo; Mlewa, Susan; Balabanova, Dina; Spicer, Neil; Ayles, Helen

2013-08-01

The primary bottleneck to achieving the MDGs in low-income countries is health systems that are too fragile to deliver the volume and quality of services to those in need. Strong and effective health systems are increasingly considered a prerequisite to reducing the disease burden and to achieving the health MDGs. Zambia is one of the countries that are lagging behind in achieving millennium development targets. Several barriers have been identified as hindering the progress towards health related millennium development goals. Designing an intervention that addresses these barriers was crucial and so the Better Health Outcomes through Mentorship (BHOMA) project was designed to address the challenges in the Zambia's MOH using a system wide approach. We applied systems thinking approach to describe the baseline status of the Six WHO building blocks for health system strengthening. A qualitative study was conducted looking at the status of the Six WHO building blocks for health systems strengthening in three BHOMA districts. We conducted Focus group discussions with community members and In-depth Interviews with key informants. Data was analyzed using Nvivo version 9. The study showed that building block specific weaknesses had cross cutting effect in other health system building blocks which is an essential element of systems thinking. Challenges noted in service delivery were linked to human resources, medical supplies, information flow, governance and finance building blocks either directly or indirectly. Several barriers were identified as hindering access to health services by the local communities. These included supply side barriers: Shortage of qualified health workers, bad staff attitude, poor relationships between community and health staff, long waiting time, confidentiality and the gender of health workers. Demand side barriers: Long distance to health facility, cost of transport and cultural practices. Participating communities seemed to lack the capacity

An octopus-bioinspired solution to movement and manipulation for soft robots

Energy Technology Data Exchange (ETDEWEB)

Calisti, M; Giorelli, M; Laschi, C; Dario, P [BioRobotics Institute, Scuola Superiore Sant' Anna, Pisa (Italy); Levy, G; Hochner, B [Hebrew University of Jerusalem, Jerusalem (Israel); Mazzolai, B, E-mail: marcello.calisti@sssup.it, E-mail: michele.giorelli@sssup.it, E-mail: guy.levy@mail.huji.ac.il, E-mail: barbara.mazzolai@iit.it, E-mail: Binyamin.Hochner@huji.ac.il, E-mail: cecilia.laschi@sssup.it, E-mail: paolo.dario@sssup.it [Centre for Micro-BioRobotics-SSSA, Istituto Italiano di Tecnologia, Pontedera (Italy)

2011-09-15

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

An octopus-bioinspired solution to movement and manipulation for soft robots

International Nuclear Information System (INIS)

Calisti, M; Giorelli, M; Laschi, C; Dario, P; Levy, G; Hochner, B; Mazzolai, B

2011-01-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

An octopus-bioinspired solution to movement and manipulation for soft robots.

Science.gov (United States)

Calisti, M; Giorelli, M; Levy, G; Mazzolai, B; Hochner, B; Laschi, C; Dario, P

2011-09-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

Robotic Software Integration Using MARIE

Directory of Open Access Journals (Sweden)

Carle Côté

2006-03-01

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

Internet governance and global self regulation: theoretical and empirical building blocks for a general theory of self regulation

NARCIS (Netherlands)

Vey Mestdagh, C.; Rijgersberg, R.

2010-01-01

The following exposition sets out to identify the basic theoretical and empirical building blocks for a general theory of self-regulation. It uses the Internet as an empirical basis since its global reach and technical characteristics create interdependencies between actors that transcend national

Learning to Explain: The Role of Educational Robots in Science Education

Science.gov (United States)

Datteri, Edoardo; Zecca, Luisa; Laudisa, Federico; Castiglioni, Marco

2013-01-01

Educational robotics laboratories typically involve building and programming robotic systems to perform particular tasks or solve problems. In this paper we explore the potential educational value of a form of robot-supported educational activity that has been little discussed in the literature. During these activities, primary school children are…

Designing Modular Robotic Playware

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Marti, Patrizia

2009-01-01

In this paper, we explore the design of modular robotic objects that may enhance playful experiences. The approach builds upon the development of modular robotics to create a kind of playware, which is flexible in both set-up and activity building for the end-user to allow easy creation of games....... Key features of this design approach are modularity, flexibility, and construction, immediate feedback to stimulate engagement, activity design by end-users, and creative exploration of play activities. These features permit the use of such modular playware by a vast array of users, including disabled...... children who often could be prevented from using and taking benefits from modern technologies. The objective is to get any children moving, exchanging, experimenting and having fun, regardless of their cognitive or physical ability levels. The paper describes two prototype systems developed as modular...

Cognitive-Developmental Learning for a Humanoid Robot: A Caregiver's Gift

National Research Council Canada - National Science Library

Arsenio, Artur M

2004-01-01

The goal of this work is to build a cognitive system for the humanoid robot, Cog, that exploits human caregivers as catalysts to perceive and learn about actions, objects, scenes, people, and the robot itself...

On the building blocks of the M31 and Milky Way halos

Directory of Open Access Journals (Sweden)

Monelli Matteo

2017-01-01

Full Text Available We discuss the formation of the halo of M31 and the Milky Way as traced by the population of RR Lyrae stars, in comparison with the population of such stars preent in satellite dwarf galaxies. We find that both halos and the massive dwarf host a population of high amplitude short period RRab stars, absent in low-mass dwarfs. These stars are explained as the metal-rich tail of the RR Lyrae distribution ([Fe/H] ∼ - 1.5, and thus their existence imply fast chemical enrichment in the host system. Their presence in both halos implies that massive building blocks had an important role in their formation.

Current situation of the project finishing of the building of 3 and 4 block of the nuclear power plant Mochovce

International Nuclear Information System (INIS)

Niznan, S.

2005-01-01

In the contribution there is the basic information mentioned about history of building and the current situation at the finishing of the building of 3 and 4 block of the Nuclear Power Plant Mochovce with the use of project digitization. Further on the contribution shows what kinds of supporting material has been elaborated, what kind of decisions have been issued to the finishing of the building, way of financing and also the assumption of investment return under the defined conditions. An orientation time schedule of the finishing of the building and the crucial steps for its security are presented in the conclusion

An Odometry-free Approach for Simultaneous Localization and Online Hybrid Map Building

Directory of Open Access Journals (Sweden)

Wei Hong Chin

2016-11-01

Full Text Available In this paper, a new approach is proposed for mobile robot localization and hybrid map building simultaneously without using any odometry hardware system. The proposed method termed as Genetic Bayesian ARAM which comprises two main components: 1 Steady state genetic algorithm (SSGA for self-localization and occupancy grid map building; 2 Bayesian Adaptive Resonance Associative Memory (ARAM for online topological map building. The model of the explored environment is formed as a hybrid representation, both topological and grid-based, and it is incrementally constructed during the exploration process. During occupancy map building, robot estimated self-position is updated by SSGA. At the same time, robot estimated self position is transmit to Bayesian ARAM for topological map building and localization. The effectiveness of our proposed approach is validated by a number of standardized benchmark datasets and real experimental results carried on mobile robot. Benchmark datasets are used to verify the proposed method capable of generating topological map in different environment conditions. Real robot experiment is to verify the proposed method can be implemented in real world.

A Novel Bioinspired Vision System: A Step toward Real-Time Human-Robot Interactions

Directory of Open Access Journals (Sweden)

Abdul Rahman Hafiz

2011-01-01

Full Text Available Building a human-like robot that could be involved in our daily lives is a dream of many scientists. Achieving a sophisticated robot's vision system, which can enhance the robot's real-time interaction ability with the human, is one of the main keys toward realizing such an autonomous robot. In this work, we are suggesting a bioinspired vision system that helps to develop an advanced human-robot interaction in an autonomous humanoid robot. First, we enhance the robot's vision accuracy online by applying a novel dynamic edge detection algorithm abstracted from the rules that the horizontal cells play in the mammalian retina. Second, in order to support the first algorithm, we improve the robot's tracking ability by designing a variant photoreceptors distribution corresponding to what exists in the human vision system. The experimental results verified the validity of the model. The robot could have a clear vision in real time and build a mental map that assisted it to be aware of the frontal users and to develop a positive interaction with them.

8th International Robotic Sailing Conference

CERN Document Server

Haug, Florian

2016-01-01

This book presents the cutting edge developments within a broad field related to robotic sailing. The contributions were presented during the 8th International Robotic Sailing Conference, which has taken place as a part of the 2015 World Robotic Sailing Championships in Mariehamn, Åland (Finland), August 31st – September 4th 2015. Since more than a decade, a series of competitions such as the World Robotic Sailing Championship have stimulated a variety of groups to work on research and development around autonomous sailing robots, which involves boat designers, naval architects, electrical engineers and computer scientists. While many of the challenges in building a truly autonomous sailboat are still unsolved, the books presents the state of the art of research and development within platform optimization, route and stability planning, collision avoidance, power management and boat control.

InGaN micro-LED-pillar as the building block for high brightness emitters

KAUST Repository

Shen, Chao; Cha, Dong Kyu; Ng, Tien Khee; Ooi, Boon S.; Yang, Yang

2013-01-01

In summary, we confirmed the improved electrical and optical characteristics, with reduced efficiency droop in InGaN μLED-pillars when these devices were scaled down in size. We demonstrated that strain relief contributed to further improvement in EQE characteristics in small InGaN μLED-pillars (D < 50 μm), apart from the current spreading effect. The μLED-pillar can be deployed as the building block for large effective-area, high brightness emitter. © 2013 IEEE.

Designing the Mind of a Social Robot

Directory of Open Access Journals (Sweden)

Nicole Lazzeri

2018-02-01

Full Text Available Humans have an innate tendency to anthropomorphize surrounding entities and have always been fascinated by the creation of machines endowed with human-inspired capabilities and traits. In the last few decades, this has become a reality with enormous advances in hardware performance, computer graphics, robotics technology, and artificial intelligence. New interdisciplinary research fields have brought forth cognitive robotics aimed at building a new generation of control systems and providing robots with social, empathetic and affective capabilities. This paper presents the design, implementation, and test of a human-inspired cognitive architecture for social robots. State-of-the-art design approaches and methods are thoroughly analyzed and discussed, cases where the developed system has been successfully used are reported. The tests demonstrated the system’s ability to endow a social humanoid robot with human social behaviors and with in-silico robotic emotions.

Ontological Reasoning for Human-Robot Teaming in Search and Rescue Missions

NARCIS (Netherlands)

Bagosi, T.; Hindriks, k.V.; Neerincx, M.A.

2016-01-01

In search and rescue missions robots are used to help rescue workers in exploring the disaster site. Our research focuses on how multiple robots and rescuers act as a team, and build up situation awareness. We propose a multi-agent system where each agent supports one member, either human or robot.

Persuasive robotics : artificial embodied agents as persuasive technology

NARCIS (Netherlands)

Liu, C.; Ham, J.R.C.; Midden, C.J.H.

2011-01-01

• Social robots may provide a solution to many societal challenges. One of their core qualities must be the ability of effectively influencing human behavior or attitudes. • As a basis for strong influence, persuasive robots can take on the role of a social actor that can build a relationship with

A Plug and Produce Framework for Industrial Collaborative Robots

DEFF Research Database (Denmark)

Schou, Casper; Madsen, Ole

2017-01-01

Collaborative robots are today ever more interesting in response to the increasing need for agile manufacturing equipment. Contrary to traditional industrial robots, collaborative robots are intended for working in dynamic environments alongside the production staff. To cope with the dynamic...... environment and workflow, new configuration and control methods are needed compared to those of traditional industrial robots. The new methods should enable shop floor operators to reconfigure the robot. This article presents a plug and produce framework for industrial collaborative robots. The article...... focuses on the control framework enabling quick and easy exchange of hardware modules as an approach to achieving plug and produce. To solve this, an agent-based system is proposed building on top of the robot operating system. The framework enables robot operating system packages to be adapted...

Interface robotics in nuclear emergencies

International Nuclear Information System (INIS)

Ruiz Mungia, E.

1998-01-01

The area between the reactor building and the external wall of a nuclear power station could be affected in case of a severe accident with repercussion in the outside. The article describes a series of robotics machines which could be used for building recognition, transmission improvement, civil works and for the making of a radiologic cartography in this area. (Author)

Grasp force sensor for robotic hands

Science.gov (United States)

Scheinman, Victor D. (Inventor); Bejczy, Antal K. (Inventor); Primus, Howard C. (Inventor)

1989-01-01

A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

Building houses with earth blocks: A guide for upgrading traditional building methods using handmade earth blocks

CSIR Research Space (South Africa)

Bolton, M

2001-01-01

Full Text Available This report is a guide to building strong earth houses that will last a long time but without having to spend a lot of extra money or hire outside experts to do the building. It supports the process of improving the quality of earth housing...

Acropolis: A Fast Protoyping Robotic Application

Directory of Open Access Journals (Sweden)

Vincent Zalzal

2009-03-01

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

YARP: Yet Another Robot Platform

Directory of Open Access Journals (Sweden)

Lorenzo Natale

2008-11-01

Full Text Available We describe YARP, Yet Another Robot Platform, an open-source project that encapsulates lessons from our experience in building humanoid robots. The goal of YARP is to minimize the effort devoted to infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level development and collaboration. Humanoid robotics is a "bleeding edge" field of research, with constant flux in sensors, actuators, and processors. Code reuse and maintenance is therefore a significant challenge. We describe the main problems we faced and the solutions we adopted. In short, the main features of YARP include support for inter-process communication, image processing as well as a class hierarchy to ease code reuse across different hardware platforms. YARP is currently used and tested on Windows, Linux and QNX6 which are common operating systems used in robotics.

Hydrotalcite catalysis for the synthesis of new chiral building blocks.

Science.gov (United States)

Rodilla, Jesus M; Neves, Patricia P; Pombal, Sofia; Rives, Vicente; Trujillano, Raquel; Díez, David

2016-01-01

The use of hydrotalcites for the synthesis of two chiral building blocks in a simple way is described as a new and green methodology. The synthesis of these compounds implies a regioselective Baeyer-Villiger reaction in a very selective way with ulterior opening and lactonisation. This methodology should be considered green for the use of hydrogen peroxide as the only oxidant and hydrotalcites as the catalyst, and because no residues are produced apart from water. The procedure is very adequate for using in gram scale, in order to increase the value of the obtained compounds. The conditions are excellent and can be applied for nonstable compounds, as they are very mild. The synthesised compounds are magnific starting materials for the synthesis of biologically active or natural compounds. The use of a cheap, commercial and chiral compound as carvone disposable in both enantiomeric forms adds an extra value to this methodology.

Development and implementation of algorithms in a population of cooperative autonomous mobile robots

CSIR Research Space (South Africa)

Namoshe, M

2007-10-01

Full Text Available An increase in the number of mobile robot users has lead to the design and implementation of cooperative autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps...

C–H arylation of unsubstituted furan and thiophene with acceptor bromides: access to donor–acceptor–donor-type building blocks for organic electronics.

Science.gov (United States)

Matsidik, Rukiya; Martin, Johannes; Schmidt, Simon; Obermayer, Johannes; Lombeck, Florian; Nübling, Fritz; Komber, Hartmut; Fazzi, Daniele; Sommer, Michael

2015-01-16

Pd-catalyzed direct arylation (DA) reaction conditions have been established for unsubstituted furan (Fu) and thiophene (Th) with three popular acceptor building blocks to be used in materials for organic electronics, namely 4,7-dibromo-2,1,3-benzothiadiazole (BTBr2), N,N′-dialkylated 2,6-dibromonaphthalene-1,4,5,8-bis(dicarboximide) (NDIBr2), and 1,4-dibromotetrafluorobenzene (F4Br2). Reactions with BTBr2, F4Br2, and NDIBr2 require different solvents to obtain high yields. The use of dimethylacetamide (DMAc) is essential for the successful coupling of BTBr2 and F4Br2, but detrimental for NDIBr2, as the electron-deficient NDI core is prone to nucleophilic core substitution in DMAc as solvent but not in toluene. NDIFu2 is much more planar compared to NDITh2, resulting in an enhanced charge-transfer character, which makes it an interesting building block for conjugated systems designed for organic electronics. This study highlights direct arylation as a simple and inexpensive method to construct a series of important donor–acceptor–donor building blocks to be further used for the preparation of a variety of conjugated materials.

Multi-Robot FastSLAM for Large Domains

Science.gov (United States)

2007-03-01

Derr, D. Fox, A.B. Cremers , Integrating global position estimation and position tracking for mobile robots: The dynamic markov localization approach...Intelligence (AAAI), 2000. 53. Andrew J. Davison and David W. Murray. Simultaneous Localization and Map- Building Using Active Vision. IEEE...Wyeth, Michael Milford and David Prasser. A Modified Particle Filter for Simultaneous Robot Localization and Landmark Tracking in an Indoor

Measurement of soil moisture using gypsum blocks

DEFF Research Database (Denmark)

Friis Dela, B.

the building. Consequently, measuring the moisture of the surrounding soil is of great importance for detecting the source of moisture in a building. Up till now, information has been needed to carry out individual calibrations for the different types of gypsum blocks available on the market and to account......For the past 50 years, gypsum blocks have been used to determine soil moisture content. This report describes a method for calibrating gypsum blocks for soil moisture measurements. Moisture conditions inside a building are strongly influenced by the moisture conditions in the soil surrounding...

Sensor Fusion for Autonomous Mobile Robot Navigation

DEFF Research Database (Denmark)

Plascencia, Alfredo

Multi-sensor data fusion is a broad area of constant research which is applied to a wide variety of fields such as the field of mobile robots. Mobile robots are complex systems where the design and implementation of sensor fusion is a complex task. But research applications are explored constantl....... The scope of the thesis is limited to building a map for a laboratory robot by fusing range readings from a sonar array with landmarks extracted from stereo vision images using the (Scale Invariant Feature Transform) SIFT algorithm....

Robot system for preparing lymphocyte chromosome

International Nuclear Information System (INIS)

Hayata, Isamu; Furukawa, Akira; Yamamoto, Mikio; Sato, Koki; Tabuchi, Hiroyoshi; Okabe, Nobuo.

1992-01-01

Towards the automatization of the scoring of chromosome aberrations in radiation dosimetry with the emphasis on the improvement of biological preparations, the conventional culture and harvesting method was modified. Based on this modified method, a culture and harvest robotic system (CHROSY) for preparing lymphocyte chromosome was developed. The targeted points of the modification are as in the preparing lymphocyte chromosome was developed. The targeted points of the modification are as in the following. 1) Starting culture with purified lymphocytes in a fixed cell number. 2) Avoiding the loss of cells in changing the liquids following centrifugalization. 3) Keeping the quantity of the liquids to be applied to the treatments of cells fixed. 4) Building a system even a beginner can handle. System features are as follows. 1) Operation system: Handling robot having 5 degrees of freedom; a rotator incubator with an automatic sliding door; units for setting and removing pipette tips; a centrifuge equipped with a position adjuster and an automatic sliding door; two aluminium block baths; two nozzles as pipettes and aspirators connected to air pumps; a capping unit with a nozzle for CO 2 gas; a compressor; and an air manipulated syringe. 2) Control system; NEC PC-9801RX21 with CRT; and program written in Basic and Assembly languages on MS-DOS. It took this system 2 hours and 25 minutes to harvest 2 cultures. A fairly good chromosome slide was made from the sample harvested by CHROSY automatically. (author)

Systems thinking in practice: the current status of the six WHO building blocks for health system strengthening in three BHOMA intervention districts of Zambia: a baseline qualitative study

Science.gov (United States)

2013-01-01

Background The primary bottleneck to achieving the MDGs in low-income countries is health systems that are too fragile to deliver the volume and quality of services to those in need. Strong and effective health systems are increasingly considered a prerequisite to reducing the disease burden and to achieving the health MDGs. Zambia is one of the countries that are lagging behind in achieving millennium development targets. Several barriers have been identified as hindering the progress towards health related millennium development goals. Designing an intervention that addresses these barriers was crucial and so the Better Health Outcomes through Mentorship (BHOMA) project was designed to address the challenges in the Zambia’s MOH using a system wide approach. We applied systems thinking approach to describe the baseline status of the Six WHO building blocks for health system strengthening. Methods A qualitative study was conducted looking at the status of the Six WHO building blocks for health systems strengthening in three BHOMA districts. We conducted Focus group discussions with community members and In-depth Interviews with key informants. Data was analyzed using Nvivo version 9. Results The study showed that building block specific weaknesses had cross cutting effect in other health system building blocks which is an essential element of systems thinking. Challenges noted in service delivery were linked to human resources, medical supplies, information flow, governance and finance building blocks either directly or indirectly. Several barriers were identified as hindering access to health services by the local communities. These included supply side barriers: Shortage of qualified health workers, bad staff attitude, poor relationships between community and health staff, long waiting time, confidentiality and the gender of health workers. Demand side barriers: Long distance to health facility, cost of transport and cultural practices. Participating

7th International Robotic Sailing Conference

CERN Document Server

Tynan, Dermot

2015-01-01

An autonomous sailboat robot is a boat that only uses the wind on its sail as the propelling force, without remote control or human assistance to achieve its mission. Robotic sailing offers the potential of long range and long term autonomous wind propelled, solar or wave-powered carbon neutral devices. Robotic sailing devices could contribute to monitoring of environmental, ecological, meteorological, hydrographic and oceanographic data. These devices can also be used in traffic monitoring, border surveillance, security, assistance and rescue. The dependency on changing winds and sea conditions presents a considerable challenge for short and long term route and stability planning, collision avoidance and boat control. Building a robust and seaworthy sailing robot presents a truly complex and multi-disciplinary challenge for boat designers, naval architects, systems/electrical engineers and computer scientists. Over the last decade, several events such as Sailbot, World Robotic Sailing Championship and the In...

Sensor based real-time control of robots

DEFF Research Database (Denmark)

Andersen, Thomas Timm

in the sensor to actuation delays in the robot. To that end a method for measuring the actuation and response delay of an industrial robot manipulator, relative to the joint configuration of the robot, is presented. It is also shown how modern machine learning algorithms can be trained to build model based......As robots are becoming more and more widespread in manufacturing, the desire and need for more advanced robotic solutions are increasingly expressed. This is especially the case in Denmark where products with natural variances like agricultural products takes up a large share of the produced goods....... For such production lines, it is often not possible to use primitive preprogrammed industrial robots to handle the otherwise repetitive tasks due to the uniqueness of each product. To handle such products it is necessary to use sensors to determine the size, shape, and position of the product before a proper...

Interactions With Robots: The Truths We Reveal About Ourselves.

Science.gov (United States)

Broadbent, Elizabeth

2017-01-03

In movies, robots are often extremely humanlike. Although these robots are not yet reality, robots are currently being used in healthcare, education, and business. Robots provide benefits such as relieving loneliness and enabling communication. Engineers are trying to build robots that look and behave like humans and thus need comprehensive knowledge not only of technology but also of human cognition, emotion, and behavior. This need is driving engineers to study human behavior toward other humans and toward robots, leading to greater understanding of how humans think, feel, and behave in these contexts, including our tendencies for mindless social behaviors, anthropomorphism, uncanny feelings toward robots, and the formation of emotional attachments. However, in considering the increased use of robots, many people have concerns about deception, privacy, job loss, safety, and the loss of human relationships. Human-robot interaction is a fascinating field and one in which psychologists have much to contribute, both to the development of robots and to the study of human behavior.

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

Towards Plug-n-Play robot guidance: Advanced 3D estimation and pose estimation in Robotic applications

DEFF Research Database (Denmark)

Sølund, Thomas

and move objects, which are physical located at the same positions. In order to place objects in the same position each time, custom-made mechanical fixtures and aligners are constructed to ensure that objects are not moving. It is expensive to design and build these fixtures and it is difficult to quickly...... change to a novel task. In some cases where objects are placed in bins and boxes it is not possible to position the objects in the same location each time. To avoid designing expensive mechanical solutions and to be able to pick objects from boxes and bins, a sensor is necessary to guide the robot. Today...... while the robot motion programming is easily handled with the new collaborative robots. This thesis deals with robot vision technologies and how these are made easier for production workers program in order to get robots to recognize and compute the position of objects in the industry. This thesis...

Building blocks of temporal filters in retinal synapses.

Directory of Open Access Journals (Sweden)

Bongsoo Suh

2014-10-01

Full Text Available Sensory systems must be able to extract features of a stimulus to detect and represent properties of the world. Because sensory signals are constantly changing, a critical aspect of this transformation relates to the timing of signals and the ability to filter those signals to select dynamic properties, such as visual motion. At first assessment, one might think that the primary biophysical properties that construct a temporal filter would be dynamic mechanisms such as molecular concentration or membrane electrical properties. However, in the current issue of PLOS Biology, Baden et al. identify a mechanism of temporal filtering in the zebrafish and goldfish retina that is not dynamic but is in fact a structural building block-the physical size of a synapse itself. The authors observe that small, bipolar cell synaptic terminals are fast and highly adaptive, whereas large ones are slower and adapt less. Using a computational model, they conclude that the volume of the synaptic terminal influences the calcium concentration and the number of available vesicles. These results indicate that the size of the presynaptic terminal is an independent control for the dynamics of a synapse and may reveal aspects of synaptic function that can be inferred from anatomical structure.

Building Blocks of the Universe

CERN Document Server

The ATLAS collaboration

2015-01-01

This article presents possibilities to impart knowledge of and enthusiasm for particle physics to essentially all non-expert target audiences by the use of LEGO bricks and models of particle physics experiments built from these. Methods of using LEGO models, both as a passive exhibit and as part of interactive outreach events, are presented, along with a historical review of the “Build Your Own Particle Detector” programme and the corresponding idea of hosting competitions in building detector models in LEGO pieces as a perfect setting to grasp people’s attention, get them involved and ultimately convey knowledge in particle physics to them.

Field tests of the mobile robot Sherpa

Energy Technology Data Exchange (ETDEWEB)

Beaucourt, P. de; Garrec, P.; Morganti, P. [CEA Centre d`Etudes de Saclay, 91 - Gif-sur-Yvette (France). Dept. des Procedes et Systemes Avances; Trouville, B. [Electricite de France (EDF), 78 - Chatou (France); Lucibello, P.; Nobile, M. [ENEA, Rome (Italy). Direzione Studi

1995-12-31

This paper summarizes recent demonstrations of the transport capabilities, inside nuclear buildings, of the six egged robot SHERPA, developed by the CEA (Atomic Energy Commission) robotic team. Results of the tests carried out at Chooz-B and Trino Vercellesse Nuclear Power Plants, respectively in June 1993 and in January 1994, in the framework of the European Community TELEMAN Programme, are presented. (authors). 10 refs., 13 figs.

Field tests of the mobile robot Sherpa

International Nuclear Information System (INIS)

Beaucourt, P. de; Garrec, P.; Morganti, P.; Lucibello, P.; Nobile, M.

1995-01-01

This paper summarizes recent demonstrations of the transport capabilities, inside nuclear buildings, of the six egged robot SHERPA, developed by the CEA (Atomic Energy Commission) robotic team. Results of the tests carried out at Chooz-B and Trino Vercellesse Nuclear Power Plants, respectively in June 1993 and in January 1994, in the framework of the European Community TELEMAN Programme, are presented. (authors). 10 refs., 13 figs

E-Block: A Tangible Programming Tool with Graphical Blocks

Directory of Open Access Journals (Sweden)

Danli Wang

2013-01-01

Full Text Available This paper designs a tangible programming tool, E-Block, for children aged 5 to 9 to experience the preliminary understanding of programming by building blocks. With embedded artificial intelligence, the tool defines the programming blocks with the sensors as the input and enables children to write programs to complete the tasks in the computer. The symbol on the programming block's surface is used to help children understanding the function of each block. The sequence information is transferred to computer by microcomputers and then translated into semantic information. The system applies wireless and infrared technologies and provides user with feedbacks on both screen and programming blocks. Preliminary user studies using observation and user interview methods are shown for E-Block's prototype. The test results prove that E-Block is attractive to children and easy to learn and use. The project also highlights potential advantages of using single chip microcomputer (SCM technology to develop tangible programming tools for children.

A Review on Sensor Network Issues and Robotics

Directory of Open Access Journals (Sweden)

Ji Hyoung Ryu

2015-01-01

Full Text Available The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. There has been an increasing interest in building mobile sensor networks and they are the favored class of WSNs in which mobility plays a key role in the execution of an application. More and more researches focus on development of mobile wireless sensor networks (MWSNs due to its favorable advantages and applications. In WSNs robotics can play a crucial role, and integrating static nodes with mobile robots enhances the capabilities of both types of devices and enables new applications. In this paper we present an overview on mobile sensor networks in robotics and vice versa and robotic sensor network applications.

Soft Robotic Actuators

Science.gov (United States)

Godfrey, Juleon Taylor

In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.

Anthropomimetic Robots: Concept, Construction and Modelling

Directory of Open Access Journals (Sweden)

Alan Diamond

2012-11-01

Full Text Available An anthropomimetic robot is one that closely copies the mechanics of the human body by having a human-like jointed skeleton moved by compliant muscle-like actuators. This paper describes the progress achieved in building anthropomimetic torsos in two projects, CRONOS and ECCEROBOT. In each, the bones were hand-moulded in a thermoplastic and the muscles were implemented by DC motors shortening and extending elastic tendons. Anthropomimetic robots differ from conventionally engineered robots by having complex joints and compliant tendon driven actuation that can cross more than one joint. Taken together, these characteristics make the robots unsuitable for control by standard methods, and so the ability to model them is important for developing heuristic methods of control and also for providing forward models. The robots were modelled using physics-based techniques which enable the study of the generation of movements and also of interactions with arbitrary objects. The lightweight and compliant structure of the robots was found to be safe for human proximity and contact.

Discovery Mondays: "Robots: At your service!"

CERN Multimedia

2005-01-01

Two of the ISOLDE robots. Robots at CERN? Yes, because their presence is essential for replacing human beings when some tasks are too difficult for them, for example when materials are too fragile or too risky to work with. Come and discover the ISOLDE robots. You will also be able to meet "the Crab", in charge of carrying the LHC magnets in its claws. EPFL engineers from Autonomous Systems Lab and the Laboratory of Intelligent Systems will introduce you to some of their creations, including a robot built for planetary exploration, an indoor flying robot and a microrobot as tiny as a lump of sugar. At the next Discovery Monday, you will have the opportunity to meet robots of many sizes and forms. You will be amazed by their diversity and their personalities. Join us at the Microcosm (Reception Building 33, Meyrin site) on Monday 4 April from 7.30 p.m. to 9.00 p.m. Entrance Free http://www.cern.ch/microcosm http://intranet.cern.ch/Microcosm/LundisDecouverte/

Discovery Mondays: "Robots: At your service!"

CERN Multimedia

2005-01-01

Two of the ISOLDE robots. Robots at CERN? Yes, because their presence is essential for replacing human beings when some tasks are too difficult for them, for example when materials are too fragile or too risky to work with. Come and discover the ISOLDE robots. You will also be able to meet "the Crab", in charge of carrying the LHC magnets in its claws. EPFL engineers from Autonomous Systems Lab and the Laboratory of Intelligent Systems will introduce you to some of their creations, including a robot built for planetary exploration, an indoor flying robot and a microrobot as tiny as a lump of sugar. At the next Discovery Monday, you will have the opportunity to meet robots of many sizes and forms. You will be amazed by their diversity and their personalities. Join us at the Microcosm (Reception Building 33, Meyrin site) on Monday 4 April from 7.30 p.m. to 9.00 p.m. Entrance Free http://www.cern.ch/microcosm http://cern.ch/lundisdecouverte

Odex III: building on the EPRI walking robot

International Nuclear Information System (INIS)

Guzowski, S.

1991-01-01

Odetics has delivered a second generation preproduction Odex TM III robot to the French Commissariat a l'Energie Atomique (CEA). The CEA version of the robot is an all electric-actuated six-legged machine that uses an alternating tripod gate as its normal walking mode, keeping three of its six feet on the walking surface at all times. The six legs are normally positioned symmetrically 60 o apart around the torso, allowing for movement in all directions. Each leg subsystem contains three servo motors and a sophisticated arrangements of gear reducers, ball screws and linkage mechanisms to produce three essential leg motions (vertical travel, radial extension and tangential or side-to-side swing). This means that the top of the transporter body can be as compact as 3.5 ft in height when the legs are fully retracted, or as tall as 6.5ft when they are fully extended. Odex III can manoeuvre through doorways or turn tight corners, and the side-to-side swing of the legs allows asymmetric leg positioning for moving in constricted spaces. Odex III's feet contain sensors to determine proper foot placement while walking. One sensor-assembly detects updown vertical loading and checks that the foot is placed on a solid surface. Another set of sensors detects both side loading on the foot and obstacles in a lateral direction. Each leg can exert a 1200lb extension force. Together they are capable of exerting 5500lb of vertical force. The CEA is currently using the system in the SHERPA project which aims to demonstrate the feasibility of a versatile, modular mobile robot system for Pressurized Water Reactor maintenance. (author)

Design of 3-D Printed Concentric Tube Robots.

Science.gov (United States)

Morimoto, Tania K; Okamura, Allison M

2016-12-01

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient's body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm -1 , which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively.

USAR Robot Communication Using ZigBee Technology

Science.gov (United States)

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

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

5th International Robotic Sailing Conference

CERN Document Server

Finnis, James

2013-01-01

Robotic sailing offers the potential of wind propelled vehicles which are sufficiently autonomous to remain at sea for months at a time. These could replace or augment existing oceanographic sampling systems, be used in border surveillance and security or offer a means of carbon neutral transportation. To achieve this represents a complex, multi-disciplinary challenge to boat designers and naval architects, systems/electrical engineers and computer scientists.  Since 2004 a series of competitions in the form of the Sailbot, World Robotic Sailing Championship and Microtransat competitions have sparked an explosion in the number of groups working on autonomous sailing robots. Despite this interest the longest distance sailed autonomously remains only a few hundred miles. Many of the challenges in building truly autonomous sailing robots still remain unsolved. These proceedings present the cutting edge of work in a variety of fields related to robotic sailing. They will be presented during the 5th International...

Object Use in Children with Autism: Building with Blocks from a Piagetian Perspective

Directory of Open Access Journals (Sweden)

Antonio Iannaccone

2018-02-01

Full Text Available AimThis study focused on the manipulation of objects by children with suspected autism spectrum disorder. The aim was to demonstrate how objects can be seen as active agents of interpersonal exchange in face-to-face interactions.ParticipantsThree children with suspected autism spectrum disorder (aged 18, 20, and 24 months were selected as representative of the sensorimotor stage of development.MethodsStarting from Piaget’s classical approach to the sensorimotor and symbolic developmental stages, the study moved toward a socio-material interpretation in which some patterns of interaction involving object manipulation seem to create a space that supports adult–child communication. In videotaped observations of verbal and non-verbal signs during an (organized free play session, each child manipulated seven small blocks of colored plastic in the presence of an adult. The observations were informed by a checklist of 14 items, including eye contact and building a tower of toy blocks from section B of the CHAT (CHecklist for Autism in Toddlers instrument.ResultsBased on a broad Piagetian perspective and recent work in the field of socio-materiality, key observations included the following: (1 sensorimotor and realistic play was observed in all three children; (2 there were some intriguing indications that objects serve as concrete mediators in the intersubjective space between adult and child; (3 some of the children’s attention patterns were visibly mediated by the object.Discussion and conclusionAll three children exhibited a particular sequence of actions. First, they manipulated the blocks through active experimentation; second, there was an apparent pause, during which, the children were in fact examining the blocks to determine how best to continue the interaction; and finally, the children monitored adult attention by means of eye contact or by restarting manipulation of the blocks. As this last step in the sequence indicated that the

Identification of abnormal movement state and avoidance strategy for mobile robots

Institute of Scientific and Technical Information of China (English)

CAI Zi-xing; DUAN Zhuo-hua; ZHANG Hui-tuan; YU Jin-xia

2006-01-01

Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence of abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer perceptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally,avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.

Simulation of Intelligent Single Wheel Mobile Robot

Directory of Open Access Journals (Sweden)

Maki K. Rashid

2008-11-01

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

Building blocks for the development of an interface for high-throughput thin layer chromatography/ambient mass spectrometric analysis: a green methodology.

Science.gov (United States)

Cheng, Sy-Chyi; Huang, Min-Zong; Wu, Li-Chieh; Chou, Chih-Chiang; Cheng, Chu-Nian; Jhang, Siou-Sian; Shiea, Jentaie

2012-07-17

Interfacing thin layer chromatography (TLC) with ambient mass spectrometry (AMS) has been an important area of analytical chemistry because of its capability to rapidly separate and characterize the chemical compounds. In this study, we have developed a high-throughput TLC-AMS system using building blocks to deal, deliver, and collect the TLC plate through an electrospray-assisted laser desorption ionization (ELDI) source. This is the first demonstration of the use of building blocks to construct and test the TLC-MS interfacing system. With the advantages of being readily available, cheap, reusable, and extremely easy to modify without consuming any material or reagent, the use of building blocks to develop the TLC-AMS interface is undoubtedly a green methodology. The TLC plate delivery system consists of a storage box, plate dealing component, conveyer, light sensor, and plate collecting box. During a TLC-AMS analysis, the TLC plate was sent to the conveyer from a stack of TLC plates placed in the storage box. As the TLC plate passed through the ELDI source, the chemical compounds separated on the plate would be desorbed by laser desorption and subsequently postionized by electrospray ionization. The samples, including a mixture of synthetic dyes and extracts of pharmaceutical drugs, were analyzed to demonstrate the capability of this TLC-ELDI/MS system for high-throughput analysis.

Ani-Bot: A Mixed-Reality Ready Modular Robotics System

OpenAIRE

Xu, Zhuangying; Cao, Yuanzhi

2017-01-01

DIY modular robotics has always had a strong appeal to makers and designers; being able to quickly design, build, and animate their own robots opens the possibility of bringing imaginations to life. However, current interfaces to control and program the DIY robot either lacks connection and consistency between the users and target (Graphical User Interface) or suffers from limited control capabilities due to the lack of versatility and functionality (Tangible User interface). We present Ani-B...

Facial expressions recognition with an emotion expressive robotic head

Science.gov (United States)

Doroftei, I.; Adascalitei, F.; Lefeber, D.; Vanderborght, B.; Doroftei, I. A.

2016-08-01

The purpose of this study is to present the preliminary steps in facial expressions recognition with a new version of an expressive social robotic head. So, in a first phase, our main goal was to reach a minimum level of emotional expressiveness in order to obtain nonverbal communication between the robot and human by building six basic facial expressions. To evaluate the facial expressions, the robot was used in some preliminary user studies, among children and adults.

An evolution friendly modular architecture to produce feasible robots

DEFF Research Database (Denmark)

Faina, Andres; Bellas, Francisco; Orjales, Felix

2015-01-01

This paper proposes the use of a modular robotic architecture in order to produce feasible robots through evolution. To this end, the main requirements the architecture must fulfill are analyzed and a top-down methodology is employed to obtain the different types of modules that make it up...... is described and different experiments provide an indication of how versatile the architecture is for evolving robot morphologies and control for specific tasks and how easy it is to build them....

Expedite Protocol for Construction of Chiral Regioselectively N-Protected Monosubstituted Piperazine, 1,4-Diazepane, and 1,4-Diazocane Building Blocks

DEFF Research Database (Denmark)

Crestey, François; Witt, Matthias; Jaroszewski, Jerzy W.

2009-01-01

This paper describes the first study of solution-phase synthesis of chiral monosubstituted piperazine building blocks from nosylamide-activated aziridines. The protocol, involving aminolysis of the starting aziridines with ω-amino alcohols and subsequent Fukuyama−Mitsunobu cyclization, offers the...

Total synthesis of a CD-ring: side-chain building block for preparing 17-epi-calcitriol derivatives from the Hajos-Parrish dione.

Science.gov (United States)

Michalak, Karol; Wicha, Jerzy

2011-08-19

An efficient synthesis of the key building block for 17-epi-calctriol from the Hajos-Parrish dione involving a sequence of diastereoselective transformation of the azulene core and the side-chain construction is presented.

Educational resources and tools for robotic learning

Directory of Open Access Journals (Sweden)

Pablo Gil Vazquez

2012-07-01

Full Text Available Normal.dotm 0 0 1 139 795 Universidad de Salamanca 6 1 976 12.0 0 false 18 pt 18 pt 0 0 false false false /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:12.0pt; font-family:"Times New Roman"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin;} This paper discusses different teaching experiences which aims are the learning robotics in the university. These experiences are reflected in the development of several robotics courses and subjects at the University of Alicante.  The authors have created various educational platforms or they have used tools of free distribution and open source for the implementation of these courses. The main objetive of these courses is to teach the design and implementation of robotic solutions to solve various problems not only such as the control, programming and handling of robot but also the assembly, building and programming of educational mini-robots. On the one hand, new teaching tools are used such as simulators and virtual labs which make flexible the learning of robot arms. On the other hand, competitions are used to motivate students because this way, the students put into action the skills learned through building and programming low-cost mini-robots.

Biomimetic vibrissal sensing for robots.

Science.gov (United States)

Pearson, Martin J; Mitchinson, Ben; Sullivan, J Charles; Pipe, Anthony G; Prescott, Tony J

2011-11-12

Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot, endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots.

LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots

DEFF Research Database (Denmark)

Larsen, Jørgen Christian; Støy, Kasper

2011-01-01

Producing steady stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain is a big challenge in robotics. In addressing this challenge, it is often desirable to experiment with different morphologies and see how they influence on the way the robot walks....... legged robots. This is accomplished by giving the creator the possibility to easily do morphological changes to the robot even after it have been build, to see how it effects the robot’s ability to walk in unknown terrain....

Training Engineering Disciplines and Skills through Robot Projects

DEFF Research Database (Denmark)

Friesel, Anna

The popularity of robots in educational activities increased the last 10-15 years. Engineering education all over the world includes courses and projects involving design, use and programming of robots in a variety of programs at technical colleges and universities. At the same time there is a gr......The popularity of robots in educational activities increased the last 10-15 years. Engineering education all over the world includes courses and projects involving design, use and programming of robots in a variety of programs at technical colleges and universities. At the same time...... there is a growing interest to work with robots. Robotic skills are also highly requested in industrial companies. At the Technical University of Denmark, DTU Diplom, we have several projects involving building and programing robots in our bachelor programs in Electronics, Computer Science, IT and Mechanical...... Engineering. This presentation deals with our experience in robotic activities in different programs in order to enhance understanding of mathematics, physics and different technical disciplines in the named programs. We also observed the increased motivation for learning theory when we combine traditional...

Synthesis of 4-Halogenated 3-Fluoro-6-methoxyquinolines: Key Building Blocks for the Synthesis of Antibiotics

DEFF Research Database (Denmark)

Flagstad, Thomas; Petersen, Mette Terp; Hinnerfeldt, Daniel Michael

2014-01-01

A practical and scalable 4-step route is presented for the synthesis of 4-bromo-3-fluoro-6-methoxyoquinoline and 3-fluoro-4-iodo-6-methoxyoquinoline from readily available 2,4-dichloro-3-fluoroquinoline with an overall yield of 81-85%. Halogenated quinoline building blocks have found much use in ...... in antimicrobial drug discovery, and the method reported here would be useful for the synthesis of these compounds. © Georg Thieme Verlag....

Design and Evaluation of a DIY Construction System for Educational Robot Kits

Science.gov (United States)

Vandevelde, Cesar; Wyffels, Francis; Ciocci, Maria-Cristina; Vanderborght, Bram; Saldien, Jelle

2016-01-01

Building a robot from scratch in an educational context can be a challenging prospect. While a multitude of projects exist that simplify the electronics and software aspects of a robot, the same cannot be said for construction systems for robotics. In this paper, we present our efforts to create a low-cost do-it-yourself construction system for…

Active Elastic Skins for Soft Robotics

Data.gov (United States)

National Aeronautics and Space Administration — The use of the word robotic implies a rigid, bulky, and complex device. However, a confluence of factors now makes it possible to shed this stereotype and build...

Ethorobotics: A New Approach to Human-Robot Relationship

Directory of Open Access Journals (Sweden)

Ádám Miklósi

2017-06-01

Full Text Available Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called “uncanny valley hypothesis” can be solved by applying the “niche” concept to social robots, and relying on the natural behavior of humans. Instead of striving to build human-like social robots, engineers should construct robots that are able to maximize their performance in their niche (being optimal for some specific functions, and if they are endowed with appropriate form of social competence then humans will eventually interact with them independent of their embodiment. This new discipline, which we call ethorobotics, could change social robotics, giving a boost to new technical approaches and applications.

Ethorobotics: A New Approach to Human-Robot Relationship

Science.gov (United States)

Miklósi, Ádám; Korondi, Péter; Matellán, Vicente; Gácsi, Márta

2017-01-01

Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called “uncanny valley hypothesis” can be solved by applying the “niche” concept to social robots, and relying on the natural behavior of humans. Instead of striving to build human-like social robots, engineers should construct robots that are able to maximize their performance in their niche (being optimal for some specific functions), and if they are endowed with appropriate form of social competence then humans will eventually interact with them independent of their embodiment. This new discipline, which we call ethorobotics, could change social robotics, giving a boost to new technical approaches and applications. PMID:28649213

SMARBot: a modular miniature mobile robot platform

Science.gov (United States)

Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

2008-04-01

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

Building an open-source robotic stereotaxic instrument.

Science.gov (United States)

Coffey, Kevin R; Barker, David J; Ma, Sisi; West, Mark O

2013-10-29

This protocol includes the designs and software necessary to upgrade an existing stereotaxic instrument to a robotic (CNC) stereotaxic instrument for around $1,000 (excluding a drill), using industry standard stepper motors and CNC controlling software. Each axis has variable speed control and may be operated simultaneously or independently. The robot's flexibility and open coding system (g-code) make it capable of performing custom tasks that are not supported by commercial systems. Its applications include, but are not limited to, drilling holes, sharp edge craniotomies, skull thinning, and lowering electrodes or cannula. In order to expedite the writing of g-coding for simple surgeries, we have developed custom scripts that allow individuals to design a surgery with no knowledge of programming. However, for users to get the most out of the motorized stereotax, it would be beneficial to be knowledgeable in mathematical programming and G-Coding (simple programming for CNC machining). The recommended drill speed is greater than 40,000 rpm. The stepper motor resolution is 1.8°/Step, geared to 0.346°/Step. A standard stereotax has a resolution of 2.88 μm/step. The maximum recommended cutting speed is 500 μm/sec. The maximum recommended jogging speed is 3,500 μm/sec. The maximum recommended drill bit size is HP 2.

Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

Energy Technology Data Exchange (ETDEWEB)

Taraglio, S; Zanela, S; Santini, A; Nanni, V [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

1999-10-01

The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

Automatically Annotated Mapping for Indoor Mobile Robot Applications

DEFF Research Database (Denmark)

Özkil, Ali Gürcan; Howard, Thomas J.

2012-01-01

This paper presents a new and practical method for mapping and annotating indoor environments for mobile robot use. The method makes use of 2D occupancy grid maps for metric representation, and topology maps to indicate the connectivity of the ‘places-of-interests’ in the environment. Novel use...... localization and mapping in topology space, and fuses camera and robot pose estimations to build an automatically annotated global topo-metric map. It is developed as a framework for a hospital service robot and tested in a real hospital. Experiments show that the method is capable of producing globally...... consistent, automatically annotated hybrid metric-topological maps that is needed by mobile service robots....

Building blocks for a clinical imaging informatics environment.

Science.gov (United States)

Kohli, Marc D; Warnock, Max; Daly, Mark; Toland, Christopher; Meenan, Chris; Nagy, Paul G

2014-04-01

Over the past 20 years, imaging informatics has been driven by the widespread adoption of radiology information and picture archiving and communication and speech recognition systems. These three clinical information systems are commonplace and are intuitive to most radiologists as they replicate familiar paper and film workflow. So what is next? There is a surge of innovation in imaging informatics around advanced workflow, search, electronic medical record aggregation, dashboarding, and analytics tools for quality measures (Nance et al., AJR Am J Roentgenol 200:1064-1070, 2013). The challenge lies in not having to rebuild the technological wheel for each of these new applications but instead attempt to share common components through open standards and modern development techniques. The next generation of applications will be built with moving parts that work together to satisfy advanced use cases without replicating databases and without requiring fragile, intense synchronization from clinical systems. The purpose of this paper is to identify building blocks that can position a practice to be able to quickly innovate when addressing clinical, educational, and research-related problems. This paper is the result of identifying common components in the construction of over two dozen clinical informatics projects developed at the University of Maryland Radiology Informatics Research Laboratory. The systems outlined are intended as a mere foundation rather than an exhaustive list of possible extensions.

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

OpenAIRE

Anna Newley; Hasan Deniz; Erdogan Kaya; Ezgi Yesilyurt

2016-01-01

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

Molecular building blocks and their architecture in biologically/environmentally compatible soft matter chemical machinery.

Science.gov (United States)

Toyota, Taro; Banno, Taisuke; Nitta, Sachiko; Takinoue, Masahiro; Nomoto, Tomonori; Natsume, Yuno; Matsumura, Shuichi; Fujinami, Masanori

2014-01-01

This review briefly summarizes recent developments in the construction of biologically/environmentally compatible chemical machinery composed of soft matter. Since environmental and living systems are open systems, chemical machinery must continuously fulfill its functions not only through the influx and generation of molecules but also via the degradation and dissipation of molecules. If the degradation or dissipation of soft matter molecular building blocks and biomaterial molecules/polymers can be achieved, soft matter particles composed of them can be used to realize chemical machinery such as selfpropelled droplets, drug delivery carriers, tissue regeneration scaffolds, protocell models, cell-/tissuemarkers, and molecular computing systems.

Human-like robots for space and hazardous environments

Science.gov (United States)

1994-01-01

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Surveillance robot for nuclear power plants

International Nuclear Information System (INIS)

White, J.R.; Harvey, H.W.; Satterlee, P.E. Jr.

1985-01-01

A demonstration project to determine the feasibility and cost-effectiveness of mobile surveillance robots in nuclear power plants is being conducted by the Remote Technology Corporation (REMOTEC) for the US Nuclear Regulatory Commission. Phase I of the project was completed in March 1984 and included a survey of currently used robotic equipment and the development of a robotics application methodology. Three Tennessee Valley Authority plants were analyzed to identify specific plant areas with a high potential for surveillance robotics. Based on these results, a number of robotic system applications were prepared and evaluated for cost-effectiveness. The system with the highest potential, a mobile surveillance robot, was selected for fabrication and in-plant demonstration testing in a phase II effort. The design, fabrication, and assembly of SURBOT has been completed and cold testing is in process. It will be installed at the Browns Ferry Nuclear Plant early in 1986 for demonstration testing. Current projections are that SURBOT can be used in approx.40 rooms within the auxiliary building and will have annual savings of over 100 person-rem exposure, 1000 sets of C-zone clothing, and 1000 person-hours of labor

Controlling Tensegrity Robots Through Evolution

Science.gov (United States)

Iscen, Atil; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

2013-01-01

Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

How to Build an Intentional Android: Infants' Imitation of a Robot's Goal-Directed Actions

Science.gov (United States)

Itakura, Shoji; Ishida, Hiraku; Kanda, Takayuki; Shimada, Yohko; Ishiguro, Hiroshi; Lee, Kang

2008-01-01

This study examined whether young children are able to imitate a robot's goal-directed actions. Children (24-35 months old) viewed videos showing a robot attempting to manipulate an object (e.g., putting beads inside a cup) but failing to achieve its goal (e.g., beads fell outside the cup). In 1 video, the robot made eye contact with a human…

LEP : four building blocks of matter ... times three Conference MT17

CERN Multimedia

2001-01-01

The four building blocks of everyday matter form a family composed of the up-quark, the down-quark, the electron and the electron-neutrino. Similar particles, heavier but otherwise identical, are known to exist - grouped together in two further families. By measuring the number of neutrino types that exist, LEP has shown that there are no more fam-ilies of particles. Nature has chosen the number three. This is an intriguing result, and the reason why there are neither more nor fewer than three particle families is one of the greatest mysteries of modern physics. One important consequence is that we exist. Had there been any fewer than three families of matter particles, the phenomenon known as CP violation - which led to matter dominating anti-matter in the early Universe - would not have occurred. All the matter and antimatter created in the Big Bang would have annihilated.

"Science SQL" as a Building Block for Flexible, Standards-based Data Infrastructures

Science.gov (United States)

Baumann, Peter

2016-04-01

We have learnt to live with the pain of separating data and metadata into non-interoperable silos. For metadata, we enjoy the flexibility of databases, be they relational, graph, or some other NoSQL. Contrasting this, users still "drown in files" as an unstructured, low-level archiving paradigm. It is time to bridge this chasm which once was technologically induced, but today can be overcome. One building block towards a common re-integrated information space is to support massive multi-dimensional spatio-temporal arrays. These "datacubes" appear as sensor, image, simulation, and statistics data in all science and engineering domains, and beyond. For example, 2-D satellilte imagery, 2-D x/y/t image timeseries and x/y/z geophysical voxel data, and 4-D x/y/z/t climate data contribute to today's data deluge in the Earth sciences. Virtual observatories in the Space sciences routinely generate Petabytes of such data. Life sciences deal with microarray data, confocal microscopy, human brain data, which all fall into the same category. The ISO SQL/MDA (Multi-Dimensional Arrays) candidate standard is extending SQL with modelling and query support for n-D arrays ("datacubes") in a flexible, domain-neutral way. This heralds a new generation of services with new quality parameters, such as flexibility, ease of access, embedding into well-known user tools, and scalability mechanisms that remain completely transparent to users. Technology like the EU rasdaman ("raster data manager") Array Database system can support all of the above examples simultaneously, with one technology. This is practically proven: As of today, rasdaman is in operational use on hundreds of Terabytes of satellite image timeseries datacubes, with transparent query distribution across more than 1,000 nodes. Therefore, Array Databases offering SQL/MDA constitute a natural common building block for next-generation data infrastructures. Being initiator and editor of the standard we present principles

Mathematics and "Lego" Robots

Science.gov (United States)

Hansen, Janus Halkier; Traeholt, Rune

2007-01-01

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

Rancang Bangun Robot Penghindar Halangan Berbasis Kamera Menggunakan Deteksi Kontur

Directory of Open Access Journals (Sweden)

Koko Joni

2017-08-01

Full Text Available Selama ini kebanyakan robot penghindar halangan dibangun dengan menggunakan acuan dari beberapa sensor jarak yang diletakkan pada badan robot, kelemahan dari sistem ini adalah robot hanya dapat menghindari halangan tanpa mengetahui letak target berada. Pada penelitian ini dibangun sebuah robot penghindar halangan berbasis kamera dengan lensa 0,67x wide yang diletakkan 2 meter diatas arena, sehingga posisi robot, halangan dan target dapat diketahui secara real-time. Citra dari kamera akan diproses menggunakan laptop yang telah terinstall aplikasi CodeBlocks dengan pustaka OpenCV, outputnya berupa sebuah karakter perintah pergerakan motor DC yang dikirimkan pada robot melalui komunikasi bluetooth. Deteksi kontur digunakan untuk membedakan objek yang dipilih dengan gangguan disekitar. Dari hasil pengujian, sistem kalibrasi range warna HSV yang dikembangkan telah mampu menghasilkan range warna yang akurat untuk color filtering, menggunakan metode auto-click dan tunning-manual. Kalibrasi pengujian jarak sebenarnya berdasarkan jarak piksel menghasilkan trend grafik yang linier, sehingga persamaan liniernya dapat digunakan untuk konversi jarak piksel menjadi jarak sebenarnya dalam satuan centimeter. Hasil pengujian laju robot, sistem yang dibangun dapat membuat robot berjalan mendekati target dan menghindari halangan di depan robot, meskipun terkadang mengalami osilasi tapi robot mampu kembali stabil, ini dikarenakan sistem yang dibangun tidak menggunakan metode peredam osilasi seperti PID

Main-chain supramolecular block copolymers.

Science.gov (United States)

Yang, Si Kyung; Ambade, Ashootosh V; Weck, Marcus

2011-01-01

Block copolymers are key building blocks for a variety of applications ranging from electronic devices to drug delivery. The material properties of block copolymers can be tuned and potentially improved by introducing noncovalent interactions in place of covalent linkages between polymeric blocks resulting in the formation of supramolecular block copolymers. Such materials combine the microphase separation behavior inherent to block copolymers with the responsiveness of supramolecular materials thereby affording dynamic and reversible materials. This tutorial review covers recent advances in main-chain supramolecular block copolymers and describes the design principles, synthetic approaches, advantages, and potential applications.

Pinenes: Abundant and Renewable Building Blocks for a Variety of Sustainable Polymers.

Science.gov (United States)

Winnacker, Malte

2018-05-14

Pinenes - a group of monoterpenes containing a double bond - are very suitable renewable building blocks for a variety of sustainable polymers and materials. Their abundance from mainly non-edible parts of plants as well as the feasibility to isolate them render these compounds unique amongst the variety of biomass that is utilizable for novel materials. Accordingly, their use for the synthesis of biobased polymers has been investigated intensively, and strong progress has been made with this especially within the past 2-3 years. Direct cationic or radical polymerization via the double bonds as well as polymerization upon their further functionalization can afford a variety of sustainable polymers suitable for many applications, which is summarized in this article. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Robotics development for the enhancement of space endeavors

Science.gov (United States)

Mauceri, A. J.; Clarke, Margaret M.

Telerobotics and robotics development activities to support NASA's goal of increasing opportunities in space commercialization and exploration are described. The Rockwell International activities center is using robotics to improve efficiency and safety in three related areas: remote control of autonomous systems, automated nondestructive evaluation of aspects of vehicle integrity, and the use of robotics in space vehicle ground reprocessing operations. In the first area, autonomous robotic control, Rockwell is using the control architecture, NASREM, as the foundation for the high level command of robotic tasks. In the second area, we have demonstrated the use of nondestructive evaluation (using acoustic excitation and lasers sensors) to evaluate the integrity of space vehicle surface material bonds, using Orbiter 102 as the test case. In the third area, Rockwell is building an automated version of the present manual tool used for Space Shuttle surface tile re-waterproofing. The tool will be integrated into an orbiter processing robot being developed by a KSC-led team.

Decentralized neural control application to robotics

CERN Document Server

Garcia-Hernandez, Ramon; Sanchez, Edgar N; Alanis, Alma y; Ruz-Hernandez, Jose A

2017-01-01

This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural i...

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

Directory of Open Access Journals (Sweden)

Jie eMa

2016-04-01

Full Text Available This article presents the core elements of a cross-platform tactile capabilities interface (TCI for humanoid arms. The aim of the interface is to reduce the cost of developing humanoid robot capabilities by supporting reuse through cross-platform deployment. The article presents a comparative analysis of existing robot middleware frameworks, as well as the technical details of the TCI framework that builds on the the existing YARP platform. The TCI framework currently includes robot arm actuators with robot skin sensors. It presents such hardware in a platform independent manner, making it possible to write robot control software that can be executed on different robots through the TCI frameworks. The TCI framework supports multiple humanoid platforms and this article also presents a case study of a cross-platform implementation of a set of tactile protective withdrawal reflexes that have been realised on both the Nao and iCub humanoid robot platforms using the same high-level source code.

Shape Modeling of a Concentric-tube Continuum Robot

DEFF Research Database (Denmark)

Bai, Shaoping; Xing, Charles Chuhao

2012-01-01

Concentric-tube continuum robots feature with simple and compact structures and have a great potential in medical applications. The paper is concerned with the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes. The mechanics...... is modeled on the basis of energy approach for both the in-plane and out-plane cases. The torsional influences on the shape of the concentric-tube robots are considered. An experimental device was build for the model validation. The results of simulation and experiments are included and analyzed....

Robotic anesthesia: not the realm of science fiction any more.

Science.gov (United States)

Hemmerling, Thomas M; Terrasini, Nora

2012-12-01

Robots are present in surgery, to a much lesser extent in the field of anesthesia. The purpose of this review is to show the latest and most important findings in robotic anesthesia. Moreover, this review argues the importance and utility of robots in anesthesia. Over the years, many closed-loop systems have been developed; they were able to control only one or two of the three components of anesthesia: hypnosis, analgesia, or muscle relaxation. McSleepy controls all three components of anesthesia, from induction to emergence of anesthesia. Telemedical applications have not only led to remote monitoring but even to remotely controlled anesthesia, such as transcontinental anesthesia. A new closed-loop system for sedation, called Sedasys, could revolutionize the field of nonoperating room sedation. 'Manual robots' are used to help and replace anesthesiologists performing anesthesia procedures. Specific robots for intubation and nerve blocks have been developed and tested in humans. Robots can improve performance in anesthesia and healthcare. Closed-loop systems are the basis for pharmacological robots. Safe anesthetic care might be delivered through teleanesthesia whenever qualified personnel are not available or need support. Mechanical robots are being developed for anesthesia care.

A CORBA Wrapper for Applications with Multiple Robots

Directory of Open Access Journals (Sweden)

Ekaitz Zulueta

2011-11-01

Full Text Available This paper presents a CORBA wrapper which encapsulates a generic anthropomorphic industrial robot. Since this wrapper abstracts the communications, building applications that require remote manipulation or coordination of several devices may be easily achieved by using it. This article describes an implementation of this wrapper over a real-time operating system (RTOS, namely RTAI. This type of OS ensures determinism in the movement operations of the robot. Also, a low resource consuming implementation of the CORBA specification, namely ORBit, has been used to wrap the robot and implement the communications with other devices. Finally, as a matter of example, we present how this wrapper is used to coordinate the operation of several robots in a typical 'pick & place' operation.

Concept of modular flexure-based mechanisms for ultra-high precision robot design

Directory of Open Access Journals (Sweden)

M. Richard

2011-05-01

Full Text Available This paper introduces a new concept of modular flexure-based mechanisms to design industrial ultra-high precision robots, which aims at significantly reducing both the complexity of their design and their development time. This modular concept can be considered as a robotic Lego, where a finite number of building bricks is used to quickly build a high-precision robot. The core of the concept is the transformation of a 3-D design problem into several 2-D ones, which are simpler and well-mastered. This paper will first briefly present the theoretical bases of this methodology and the requirements of both types of building bricks: the active and the passive bricks. The section dedicated to the design of the active bricks will detail the current research directions, mainly the maximisation of the strokes and the development of an actuation sub-brick. As for the passive bricks, some examples will be presented, and a discussion regarding the establishment of a mechanical solution catalogue will conclude the section. Last, this modular concept will be illustrated with a practical example, consisting in the design of a 5-degree of freedom ultra-high precision robot.

Modeling and Control of Collaborative Robot System using Haptic Feedback

Directory of Open Access Journals (Sweden)

Vivekananda Shanmuganatha

2017-08-01

Full Text Available When two robot systems can share understanding using any agreed knowledge, within the constraints of the system’s communication protocol, the approach may lead to a common improvement. This has persuaded numerous new research inquiries in human-robot collaboration. We have built up a framework prepared to do independent following and performing table-best protest object manipulation with humans and we have actualized two different activity models to trigger robot activities. The idea here is to explore collaborative systems and to build up a plan for them to work in a collaborative environment which has many benefits to a single more complex system. In the paper, two robots that cooperate among themselves are constructed. The participation linking the two robotic arms, the torque required and parameters are analyzed. Thus the purpose of this paper is to demonstrate a modular robot system which can serve as a base on aspects of robotics in collaborative robots using haptics.

Mobile robot for hazardous environments

International Nuclear Information System (INIS)

Bains, N.

1995-01-01

This paper describes the architecture and potential applications of the autonomous robot for a known environment (ARK). The ARK project has developed an autonomous mobile robot that can move around by itself in a complicated nuclear environment utilizing a number of sensors for navigation. The primary sensor system is computer vision. The ARK has the intelligence to determine its position utilizing open-quotes natural landmarks,close quotes such as ordinary building features at any point along its path. It is this feature that gives ARK its uniqueness to operate in an industrial type of environment. The prime motivation to develop ARK was the potential application of mobile robots in radioactive areas within nuclear generating stations and for nuclear waste sites. The project budget is $9 million over 4 yr and will be completed in October 1995

Probing the Conformational Landscape of Polyether Building Blocks in Supersonic Jets

Science.gov (United States)

Bocklitz, Sebastian; Hewett, Daniel M.; Zwier, Timothy S.; Suhm, Martin A.

2016-06-01

Polyethylene oxides (Polyethylene glycoles) and their phenoxy-capped analogs represent a prominent class of important polymers that are highly used as precursor molecules in supramolecular reactions. After a detailed study on the simplest representative (1,2-dimethoxyethane) [1], we present results on oligoethylene oxides with increasing chain lengths obtained by spontaneous Raman scattering in a supersonic jet. Through variation of stagnation pressure, carrier gas, nozzle distance and temperature we gain information on the conformational landscape as well as the mutual interconversion of low energy conformers. The obtained results are compared to state-of-the-art quantum chemical calculations. Additionally, we present UV as well as IR-UV and UV-UV double resonance studies on 1-methoxy-2-phenoxyethane in a supersonic jet. These complementary techniques allow for conformationally selective electronic and vibrational spectra in a closely related conformational landscape. [1] S. Bocklitz, M. A. Suhm, Constraining the Conformational Landscape of a Polyether Building Block by Raman Jet Spectroscopy, Z. Phys. Chem. 2015, 229, 1625-1648.

Natural supramolecular building blocks: from virus coat proteins to viral nanoparticles.

Science.gov (United States)

Liu, Zhi; Qiao, Jing; Niu, Zhongwei; Wang, Qian

2012-09-21

Viruses belong to a fascinating class of natural supramolecular structures, composed of multiple copies of coat proteins (CPs) that assemble into different shapes with a variety of sizes from tens to hundreds of nanometres. Because of their advantages including simple/economic production, well-defined structural features, unique shapes and sizes, genetic programmability and robust chemistries, recently viruses and virus-like nanoparticles (VLPs) have been used widely in biomedical applications and materials synthesis. In this critical review, we highlight recent advances in the use of virus coat proteins (VCPs) and viral nanoparticles (VNPs) as building blocks in self-assembly studies and materials development. We first discuss the self-assembly of VCPs into VLPs, which can efficiently incorporate a variety of different materials as cores inside the viral protein shells. Then, the self-assembly of VNPs at surfaces or interfaces is summarized. Finally, we discuss the co-assembly of VNPs with different functional materials (178 references).

Robot dispatching Scenario for Accident Condition Monitoring of NPP

International Nuclear Information System (INIS)

Kim, Jongseog

2013-01-01

In March of 2011, unanticipated big size of tsunami attacks Fukushima NPP, this accident results in explosion of containment building. Tokyo electric power of Japan couldn't dispatch a robot for monitoring of containment inside. USA Packbot robot used for desert war in Iraq was supplied to Fukushima NPP for monitoring of high radiation area. Packbot also couldn't reach deep inside of Fukushima NPP due to short length of power cable. Japanese robot 'Queens' also failed to complete a mission due to communication problem between robot and operator. I think major reason of these robot failures is absence of robot dispatching scenario. If there was a scenario and a rehearsal for monitoring during or after accident, these unanticipated obstacles could be overcome. Robot dispatching scenario studied for accident of nuclear power plant was described herein. Study on scenario of robot dispatching is performed. Flying robot is regarded as good choice for accident monitoring. Walking robot with arm equipped is good for emergency valve close. Short time work and shift work by several robots can be a solution for high radiation area. Thin and soft cable with rolling reel can be a good solution for long time work and good communication

Development of a remote inspection robot for high pressure structures

Energy Technology Data Exchange (ETDEWEB)

Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S

1999-10-01

The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

Development of a robot Holon using an open modular controller

DEFF Research Database (Denmark)

Schnell, Jakob; Andersen, Søren; Sørensen, Christian

1999-01-01

System (HoMuCS) architecture and methodology for implementing a HMS. This paper specifically reviews the development of a Robot Holon based on an open controller in the context of the HoMuCS architecture. The paper will describe the results and research work that was involved in developing a robot holon...... for a physical robot. The robot holon was implemented on an existing robot at the department which was upgraded by removing its native control system and replacing it with a new PC-based open controller. The development of the robot holon builds on the notion that a robot holon will be able to performboth......Holonic Manufacturing Systems (HMS) has during the last period presented itself as an advantageous theoretical foundation for the problems that arise in controlling agile manufacturing systems. Previous research, at the Department, has demonstrated how modern shop floor control systems can...

Development of a remote inspection robot for high pressure structures

International Nuclear Information System (INIS)

Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S.

1999-10-01

The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

Mobile autonomous robot for radiological surveys

International Nuclear Information System (INIS)

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

1992-01-01

The robotics development group at the Savannah River Laboratory (SRL) is developing a mobile autonomous robot that performs radiological surveys of potentially contaminated floors. The robot is called SIMON, which stands for Semi-Intelligent Mobile Observing Navigator. Certain areas of SRL are classified as radiologically controlled areas (RCAs). In an RCA, radioactive materials are frequently handled by workers, and thus, the potential for contamination is ever present. Current methods used for floor radiological surveying includes labor-intensive manual scanning or random smearing of certain floor locations. An autonomous robot such as SIMON performs the surveying task in a much more efficient manner and will track down contamination before it is contacted by humans. SIMON scans floors at a speed of 1 in./s and stops and alarms upon encountering contamination. Its environment is well defined, consisting of smooth building floors with wide corridors. The kind of contaminations that SIMON is capable of detecting are alpha and beta-gamma. The contamination levels of interest are low to moderate

Controlling the autonomy of a reconnaissance robot

Science.gov (United States)

Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

2004-09-01

In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

Establishing an Appropriate Level of Detail (LoD) for a Building Information Model (BIM) - West Block, Parliament Hill, Ottawa, Canada

Science.gov (United States)

Fai, S.; Rafeiro, J.

2014-05-01

In 2011, Public Works and Government Services Canada (PWGSC) embarked on a comprehensive rehabilitation of the historically significant West Block of Canada's Parliament Hill. With over 17 thousand square meters of floor space, the West Block is one of the largest projects of its kind in the world. As part of the rehabilitation, PWGSC is working with the Carleton Immersive Media Studio (CIMS) to develop a building information model (BIM) that can serve as maintenance and life-cycle management tool once construction is completed. The scale and complexity of the model have presented many challenges. One of these challenges is determining appropriate levels of detail (LoD). While still a matter of debate in the development of international BIM standards, LoD is further complicated in the context of heritage buildings because we must reconcile the LoD of the BIM with that used in the documentation process (terrestrial laser scan and photogrammetric survey data). In this paper, we will discuss our work to date on establishing appropriate LoD within the West Block BIM that will best serve the end use. To facilitate this, we have developed a single parametric model for gothic pointed arches that can be used for over seventy-five unique window types present in the West Block. Using the AEC (CAN) BIM as a reference, we have developed a workflow to test each of these window types at three distinct levels of detail. We have found that the parametric Gothic arch significantly reduces the amount of time necessary to develop scenarios to test appropriate LoD.

Origami-based earthworm-like locomotion robots.

Science.gov (United States)

Fang, Hongbin; Zhang, Yetong; Wang, K W

2017-10-16

Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

Additive Manufacturing Cloud via Peer-Robot Collaboration

Directory of Open Access Journals (Sweden)

Yuan Yao

2016-05-01

Full Text Available When building a 3D printing cloud manufacturing platform, self-sensing and collaboration on manufacturing resources present challenging problems. This paper proposes a peer-robot collaboration framework to deal with these issues. Each robot combines heterogeneous additive manufacturing hardware and software, acting as an intelligent agent. Through collaboration with other robots, it forms a dynamic and scalable integration manufacturing system. The entire distributed system is managed by rules that employ an internal rule engine, which supports rule conversion and conflict resolution. Two additive manufacturing service scenarios are designed to analyse the efficiency and scalability of the framework. Experiments show that the presented method performs well in tasks requiring large-scale access to resources and collaboration.

Building Numbers from Primes

Science.gov (United States)

Burkhart, Jerry

2009-01-01

Prime numbers are often described as the "building blocks" of natural numbers. This article shows how the author and his students took this idea literally by using prime factorizations to build numbers with blocks. In this activity, students explore many concepts of number theory, including the relationship between greatest common factors and…

Keyframes Global Map Establishing Method for Robot Localization through Content-Based Image Matching

Directory of Open Access Journals (Sweden)

Tianyang Cao

2017-01-01

Full Text Available Self-localization and mapping are important for indoor mobile robot. We report a robust algorithm for map building and subsequent localization especially suited for indoor floor-cleaning robots. Common methods, for example, SLAM, can easily be kidnapped by colliding or disturbed by similar objects. Therefore, keyframes global map establishing method for robot localization in multiple rooms and corridors is needed. Content-based image matching is the core of this method. It is designed for the situation, by establishing keyframes containing both floor and distorted wall images. Image distortion, caused by robot view angle and movement, is analyzed and deduced. And an image matching solution is presented, consisting of extraction of overlap regions of keyframes extraction and overlap region rebuild through subblocks matching. For improving accuracy, ceiling points detecting and mismatching subblocks checking methods are incorporated. This matching method can process environment video effectively. In experiments, less than 5% frames are extracted as keyframes to build global map, which have large space distance and overlap each other. Through this method, robot can localize itself by matching its real-time vision frames with our keyframes map. Even with many similar objects/background in the environment or kidnapping robot, robot localization is achieved with position RMSE <0.5 m.

Fuzzy System of Distribution of Braking Forces on the Engines of a Mobile Robot

Directory of Open Access Journals (Sweden)

Bobyr Maxim

2016-01-01

Full Text Available The article presents a fuzzy system of distribution of braking forces on the engines of a mobile robot during its lifting and going down.The block diagram of the system of distribution of braking forces and location of sensors on a mobile robot is given in the paper. Also, fuzzy mathematical model of redistribution of braking forces depending on the conditions of the movement a mobile robot is shown in the article. The result of the simulation of control parameters are presented in the article. The control system of a mobile robot is demonstrated on the example of an autonomous mini-robot on platform Pirate under the control of microprocessor Arduino Mega 2560.

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

International Nuclear Information System (INIS)

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

1994-07-01

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

Project InterActions: A Multigenerational Robotic Learning Environment

Science.gov (United States)

Bers, Marina U.

2007-12-01

This paper presents Project InterActions, a series of 5-week workshops in which very young learners (4- to 7-year-old children) and their parents come together to build and program a personally meaningful robotic project in the context of a multigenerational robotics-based community of practice. The goal of these family workshops is to teach both parents and children about the mechanical and programming aspects involved in robotics, as well as to initiate them in a learning trajectory with and about technology. Results from this project address different ways in which parents and children learn together and provide insights into how to develop educational interventions that would educate parents, as well as children, in new domains of knowledge and skills such as robotics and new technologies.

Winter energy behaviour in multi-family block buildings in a temperate-cold climate in Argentina

Energy Technology Data Exchange (ETDEWEB)

Filippin, C. [CONICET - CC302, Santa Rosa, 6300 La Pampa (Argentina); Larsen, S. Flores [CONICET - CC302, Santa Rosa, 6300 La Pampa (Argentina); INENCO - Instituto de Investigaciones en Energias No Convencionales, U.N.Sa., CONICET, Avda. Bolivia 5150 - CP 4400, Salta Capital (Argentina); Mercado, V. [LAHV-Laboratorio de Ambienet Humano y Vivienda (INCIHUSA-CCT-CONICET) (Argentina)

2011-01-15

This paper analyzes the thermal and energy behaviour of apartments in three-story block buildings located along a NE-SW axis (azimuth = 120 ) in a temperate-cold climate (latitude: 36 57'; longitude: 64 27') in the city of Santa Rosa, La Pampa, central Argentina. Four apartments had been monitored during May and June 2009. Three of them are located in Block 126. Two of these apartments face South: 15 and 23 on the SE end, ground and first floor, respectively; 18 faces N on the second floor. Finally apartment, 12 is located in Block 374, on the first floor, faces N and shows a carpentry-closed balcony. The purpose of this work is - to study the evolution of the indoor temperature in each apartment; to analyze energy consumption and comfort conditions; to study energy potential and energy intervention in order to reduce energy consumption; to analyze bioclimatic alternatives feasibility and the possibility to extrapolate results to all blocks. On the basis of the analysis of natural gas historical consumption records, results showed that regarding heating energy consumption during the period May-June, Apartment 12, facing N, with its only bedroom facing NW and its carpentry-closed, transparent glass balcony, presented a mean temperature of 21.2 C, using a halogen heater for 6 h/day between 9 pm and 2 am (0.16 kWh/day/m{sup 2}). Apartment 15, on the SE end, first floor of the block consumed 22.5 kWh/day (0.43 kWh/day/m{sup 2}) (mean temperature = 22.2 C). Apartment 23, located on the second and top floor (on top of Apartment 15) with higher energy loss, consumed 28 kWh/day (0.54 kWh/day/m{sup 2}) (mean temperature 23.7 C). Apartment 18, also on the second floor and facing N, located in the centre and with its only bedroom facing SE, consumed 18.8 kWh/day (0.48 kWh/day/m{sup 2}) (mean temperature = 22.3 C). Apartment 23, with higher thermal loss through its envelope, but with heat transfer from the apartment located below, is the one that showed the highest

Synthesis of borylated porphyrin and bromo- porphyrin as building blocks for light harvesting antenna molecule

Science.gov (United States)

Radzuan, Nuur Haziqah Mohd; Hassan, Nurul Izzaty; Bakar, Muntaz Abu

2018-04-01

The building blocks for synthesis of light harvesting antenna which are 5-(4,4,5,5-tetramethyl-1,3,2-dioxaborolane)-10,20-diphenylporphyrin, 5-(4,4,5,5-tetramethyl-1,3,2-dioxaborolane)-10,20-dihexylporphyrin and 5,10,15,20-tetra-(bromophenyl)porphyrin were synthesized. Borylated porphyrin was synthesized by Suzuki coupling reaction between A2BC bromo-porphyrin and pinacolborane. Whereas 5,10,15,20-tetra-(bromophenyl) porphyrin was synthesized by Lindsey condensation reaction between pyrrole and 4-bromobenzaldehyde. 1H-NMR, 13C-NMR spectroscopy and UV-visible spectroscopy confirmed the successful formation of all compounds.

Intelligent control system for nuclear power plant mobile robot

International Nuclear Information System (INIS)

Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

1991-01-01

In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

BellBot - A Hotel Assistant System Using Mobile Robots

Directory of Open Access Journals (Sweden)

Joaquín López

2013-01-01

Full Text Available There is a growing interest in applying intelligent technologies to assistant robots. These robots should have a number of characteristics such as autonomy, easy reconfiguration, robust perception systems and they should be oriented towards close interaction with humans. In this paper we present an automatic hotel assistant system based on a series of mobile platforms that interact with guests and service personnel to help them in different tasks. These tasks include bringing small items to customers, showing them different points of interest in the hotel, accompanying the guests to their rooms and providing them with general information. Each robot can also autonomously handle some daily scheduled tasks. Apart from user-initiated and scheduled tasks, the robots can also perform tasks based on events triggered by the building's automation system (BAS. The robots and the BAS are connected to a central server via a local area network. The system was developed with the Robotics Integrated Development Environment (RIDE and was tested intensively in different environments.

EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

Directory of Open Access Journals (Sweden)

Michal KOPČÍK

2017-09-01

Full Text Available This article deals with design and implementation of control system for mobile robots with differential drive using embedded system. This designed embedded system consists of single control board featuring ARM based microcontroller which control the peripherals in real time and perform all low-level motion control. Designed embedded system can be easily expanded with additional sensors, actuators or control units to enhance applicability of mobile robot. Designed embedded system also features build-in communication module, which can be used for data for data acquisition and control of the mobile robot. Control board was implemented on two different types of mobile robots with differential drive, one of which was wheeled and other was tracked. These mobile robots serve as testing platform for Fault Detection and Isolation using hardware and analytical redundancy using Multisensor Data Fusion based on Kalman filters.

The Influence of Building Block Play on Mathematics Achievement and Logical and Divergent Thinking in Italian Primary School Mathematics Classes

Science.gov (United States)

Pirrone, Concetta; Tienken, Christopher H.; Pagano, Tatiana; Di Nuovo, Santo

2018-01-01

In an experimental study to explain the effect of structured Building Block Play with LEGO™ bricks on 6-year-old student mathematics achievement and in the areas of logical thinking, divergent thinking, nonverbal reasoning, and mental imagery, students in the experimental group scored significantly higher (p = 0.05) in mathematics achievement and…

A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

Energy Technology Data Exchange (ETDEWEB)

None

2001-07-01

.'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment.

A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

International Nuclear Information System (INIS)

None

2001-01-01

.'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment

The technology of mobile robot with articulated crawler mechanism

Energy Technology Data Exchange (ETDEWEB)

Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Suh, Yong Chil; Lee, Yung Kwang; Sin, Jae Ho [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1995-01-01

The main application of a mobile robot are to do the inspection and maintenance tasks in the primary and auxiliary building, and to meet with the radiological emergency response in nuclear power plant. Our project to develop crawler-type mobile robot has been divided into 3 phases. In 1 st phase, the-state-of-the-arts of mobile robot technology were studied and analyzed. And then the technical report `development of mobile robot technology for the light work` was published on July, 1993. In current phase, the articulated crawler type mobile robot named as ANDROS Mark VI was purchased to evaluate deeply its mechanism and control system. Then we designed the autonomous track surface, to get the inclination angle of robot, and to control the front and rear auxiliary track autonomously during climbing up and down stairs. And also, the autonomous stair-climbing algorithm has been developed to going over stairs with high stability. For the final phase, the advanced model of articulated crawler type mobile robot is going to be developed. (Author) 13 refs., 30 figs., 12 tabs.

The technology of mobile robot with articulated crawler mechanism

International Nuclear Information System (INIS)

Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Suh, Yong Chil; Lee, Yung Kwang; Sin, Jae Ho

1995-01-01

The main application of a mobile robot are to do the inspection and maintenance tasks in the primary and auxiliary building, and to meet with the radiological emergency response in nuclear power plant. Our project to develop crawler-type mobile robot has been divided into 3 phases. In 1 st phase, the-state-of-the-arts of mobile robot technology were studied and analyzed. And then the technical report 'development of mobile robot technology for the light work' was published on July, 1993. In current phase, the articulated crawler type mobile robot named as ANDROS Mark VI was purchased to evaluate deeply its mechanism and control system. Then we designed the autonomous track surface, to get the inclination angle of robot, and to control the front and rear auxiliary track autonomously during climbing up and down stairs. And also, the autonomous stair-climbing algorithm has been developed to going over stairs with high stability. For the final phase, the advanced model of articulated crawler type mobile robot is going to be developed. (Author) 13 refs., 30 figs., 12 tabs

Life Cycle CO2 Assessment by Block Type Changes of Apartment Housing

Directory of Open Access Journals (Sweden)

Cheonghoon Baek

2016-08-01

Full Text Available The block type and structural systems in buildings affect the amount of building materials required as well as the CO2 emissions that occur throughout the building life cycle (LCCO2. The purpose of this study was to assess the life cycle CO2 emissions when an apartment housing with ‘flat-type’ blocks (the reference case was replaced with more sustainable ‘T-type’ blocks with fewer CO2 emissions (the alternative case maintaining the same total floor area. The quantity of building materials used and building energy simulations were analyzed for each block type using building information modeling techniques, and improvements in LCCO2 emission were calculated by considering high-strength concrete alternatives. By changing the bearing wall system of the ‘flat-type’ block to the ‘column and beam’ system of the ‘T-type’ block, LCCO2 emissions of the alternative case were 4299 kg-CO2/m2, of which 26% was at the construction stage, 73% was as the operational stage and 1% was at the dismantling and disposal stage. These total LCCO2 emissions were 30% less than the reference case.

ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS

Directory of Open Access Journals (Sweden)

Amanda Prorok

2016-02-01

Full Text Available We present a method that distributes a swarm of heterogeneous robots among a set of tasks that require specialized capabilities in order to be completed. We model the system of heterogeneous robots as a community of species, where each species (robot type is defined by the traits (capabilities that it owns. Our method is based on a continuous abstraction of the swarm at a macroscopic level as we model robots switching between tasks. We formulate an optimization problem that produces an optimal set of transition rates for each species, so that the desired trait distribution is reached as quickly as possible. Since our method is based on the derivation of an analytical gradient, it is very efficient with respect to state-of-the-art methods. Building on this result, we propose a real-time optimization method that enables an online adaptation of transition rates. Our approach is well-suited for real-time applications that rely on online redistribution of large-scale robotic systems.

Paper-based Pneumatic Locomotive Robot with Sticky Actuator

Directory of Open Access Journals (Sweden)

Du Xiaohan

2016-01-01

Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

Polymers with alternating anthracene and phenylene building blocks linked by ethynylene and/or vinylene units: Studying structure-properties-relationships

Czech Academy of Sciences Publication Activity Database

Boudiba, S.; Růžička, Aleš; Ulbricht, C.; Enengl, S.; Enengl, C.; Gasiorowski, J.; Yumusak, C.; Pokorná, Veronika; Výprachtický, Drahomír; Hingerl, K.; Zahn, D. R. T.; Tinti, F.; Camaioni, N.; Bouguessa, S.; Gouasmia, A.; Cimrová, Věra; Egbe, D. A. M.

2017-01-01

Roč. 55, č. 1 (2017), s. 129-143 ISSN 0887-624X R&D Projects: GA ČR(CZ) GA13-26542S Institutional support: RVO:61389013 Keywords : anthracene building block * charge transport * conjugated polymers Subject RIV: BM - Solid Matter Physics ; Magnetism OBOR OECD: Condensed matter physics (including formerly solid state physics, supercond.) Impact factor: 2.952, year: 2016

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

Science.gov (United States)

Popa, L.; Popa, V.

2017-08-01

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

International Conference on Computational Vision and Robotics

CERN Document Server

2015-01-01

Computer Vision and Robotic is one of the most challenging areas of 21st century. Its application ranges from Agriculture to Medicine, Household applications to Humanoid, Deep-sea-application to Space application, and Industry applications to Man-less-plant. Today’s technologies demand to produce intelligent machine, which are enabling applications in various domains and services. Robotics is one such area which encompasses number of technology in it and its application is widespread. Computational vision or Machine vision is one of the most challenging tools for the robot to make it intelligent.   This volume covers chapters from various areas of Computational Vision such as Image and Video Coding and Analysis, Image Watermarking, Noise Reduction and Cancellation, Block Matching and Motion Estimation, Tracking of Deformable Object using Steerable Pyramid Wavelet Transformation, Medical Image Fusion, CT and MRI Image Fusion based on Stationary Wavelet Transform. The book also covers articles from applicati...

Biologically based neural network for mobile robot navigation

Science.gov (United States)

Torres Muniz, Raul E.

1999-01-01

The new tendency in mobile robots is to crete non-Cartesian system based on reactions to their environment. This emerging technology is known as Evolutionary Robotics, which is combined with the Biorobotic field. This new approach brings cost-effective solutions, flexibility, robustness, and dynamism into the design of mobile robots. It also provides fast reactions to the sensory inputs, and new interpretation of the environment or surroundings of the mobile robot. The Subsumption Architecture (SA) and the action selection dynamics developed by Brooks and Maes, respectively, have successfully obtained autonomous mobile robots initiating this new trend of the Evolutionary Robotics. Their design keeps the mobile robot control simple. This work present a biologically inspired modification of these schemes. The hippocampal-CA3-based neural network developed by Williams Levy is used to implement the SA, while the action selection dynamics emerge from iterations of the levels of competence implemented with the HCA3. This replacement by the HCA3 results in a closer biological model than the SA, combining the Behavior-based intelligence theory with neuroscience. The design is kept simple, and it is implemented in the Khepera Miniature Mobile Robot. The used control scheme obtains an autonomous mobile robot that can be used to execute a mail delivery system and surveillance task inside a building floor.

DARC: Next generation decentralized control framework for robot applications

DEFF Research Database (Denmark)

Kjærgaard, Morten; Andersen, Nils Axel; Ravn, Ole

2013-01-01

This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry....... It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness....

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

Science.gov (United States)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

2015-01-01

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

Expedient Route To Access Rare Deoxy Amino l-Sugar Building Blocks for the Assembly of Bacterial Glycoconjugates.

Science.gov (United States)

Sanapala, Someswara Rao; Kulkarni, Suvarn S

2016-04-13

Bacterial glycoproteins and oligosaccharides contain several rare deoxy amino l-sugars which are virtually absent in the human cells. This structural difference between the bacterial and host cell surface glycans can be exploited for the development of carbohydrate based vaccines and target specific drugs. However, the unusual deoxy amino l-sugars present in the bacterial glycoconjugates are not available from natural sources. Thus, procurement of orthogonally protected rare l-sugar building blocks through efficient chemical synthesis is a crucial step toward the synthesis of structurally well-defined and homogeneous complex glycans. Herein, we report a general and expedient methodology to access a variety of unusual deoxy amino l-sugars starting from readily available l-rhamnose and l-fucose via highly regioselective, one-pot double serial and double parallel displacements of the corresponding 2,4-bistriflates using azide and nitrite anions as nucleophiles. Alternatively, regioselective monotriflation at O2, O3, and O4 of l-rhamnose/l-fucose allowed selective inversions at respective positions leading to diverse rare sugars. The orthogonally protected deoxy amino l-sugar building blocks could be stereoselectively assembled to obtain biologically relevant bacterial O-glycans, as exemplified by the first total synthesis of the amino linker-attached, conjugation-ready tetrasaccharide of O-PS of Yersinia enterocolitica O:50 strain 3229 and the trisaccharide of Pseudomonas chlororaphis subsp. aureofaciens strain M71.

Future of robots

International Nuclear Information System (INIS)

Stauffer, R.

1984-01-01

A decade ago, the United States was creating about 75% of the world's technology. Today, it is something like 50%. A decade from now, the figure could be down to 30%. The deteriorating condition of the U.S. competitive position in the world marketplace has become painfully evident to our government, the business community, and to labor. As with the energy crisis of several years ago, there has been a rude awakening to the critical need for a turnaround in our efforts to improve both productivity and quality. Industrial robots represent one of the most promising approaches to achieving both objectives. Today's top buzzword is, indeed, ''robot.'' The attention is well deserved. These versatile forms of flexible automation can improve productivity and quality through their consistent performance under the most difficult of working conditions. They are building an excellent track record in terms of dependability and uptime. The robot population in the U.S. now stands at around 7000, with sales growing at an annual rate of about 30%. By 1990, the total number of these machines on the plant floor could reach 100,000

Core-Shell Particles as Building Blocks for Systems with High Duality Symmetry

Science.gov (United States)

Rahimzadegan, Aso; Rockstuhl, Carsten; Fernandez-Corbaton, Ivan

2018-05-01

Material electromagnetic duality symmetry requires a system to have equal electric and magnetic responses. Intrinsically dual materials that meet the duality conditions at the level of the constitutive relations do not exist in many frequency bands. Nevertheless, discrete objects like metallic helices and homogeneous dielectric spheres can be engineered to approximate the dual behavior. We exploit the extra degrees of freedom of a core-shell dielectric sphere in a particle optimization procedure. The duality symmetry of the resulting particle is more than 1 order of magnitude better than previously reported nonmagnetic objects. We use T -matrix-based multiscattering techniques to show that the improvement is transferred onto the duality symmetry of composite objects when the core-shell particle is used as a building block instead of homogeneous spheres. These results are relevant for the fashioning of systems with high duality symmetry, which are required for some technologically important effects.

Water-soluble building blocks for terpyridine-containing supramolecular polymers : synthesis, complexation, and pH stability studies of poly(ethylene oxide) moieties

NARCIS (Netherlands)

Lohmeijer, B.G.G.; Schubert, U.S.

2003-01-01

Poly(ethylene oxide) of various molecular weights ([bar M ]n = 3 000, 5 200, 10 000, 16 500 g · mol-1) has been modified with terpyridine end groups as building blocks for water-soluble metallo-supramolecular polymers. Metallo-supramolecular A-A homopolymers have been prepared and characterized by

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

From Building Blocks to Architects Empowering Learners for Success

Directory of Open Access Journals (Sweden)

Reyes Juana Mahissa

2002-08-01

Full Text Available Although our ultimate goal is to enable our learners to become autonomous and efficient in their use of the foreign language, whether or not they have the opportunity to ever live and interact in a foreign language setting, our work as teachers must involve a conscious analysis of the different factors involved in this process, as well as the conscious effort to put all the intervening factors into action. Furthermore, it is our responsibility to develop the learners¿ thinking skills as they increase their competence in the target language and at the same time make them aware of their responsibility for their own processes and success by enhancing their autonomy and making them aware of the value of learning strategies. It is our task as teachers to be present on this journey and guide our learners towards becoming architects and masters of their own foreign language construct. In order for this journey to be a successful one, we must make sure we provide the learner with a correct supply of building blocks. In this paper we present an analysis of the main components comprised in teaching English as a foreign language, including a historical overview of methods, approaches, strategies, the concept of learner¿s autonomy, social and psychological factors, aiming at contributing to every teacher¿s reflection on his/her task in the school context.

Advances in metabolic pathway and strain engineering paving the way for sustainable production of chemical building blocks

DEFF Research Database (Denmark)

Chen, Yun; Nielsen, Jens

2013-01-01

Bio-based production of chemical building blocks from renewable resources is an attractive alternative to petroleum-based platform chemicals. Metabolic pathway and strain engineering is the key element in constructing robust microbial chemical factories within the constraints of cost effective...... production. Here we discuss how the development of computational algorithms, novel modules and methods, omics-based techniques combined with modeling refinement are enabling reduction in development time and thus advance the field of industrial biotechnology. We further discuss how recent technological...

Design and Optimization of Intelligent Service Robot Suspension System Using Dynamic Model

International Nuclear Information System (INIS)

Choi, Seong Hoon; Park, Tae Won; Lee, Soo Ho; Jung, Sung Pil; Jun, Kab Jin; Yoon, J. W.

2010-01-01

Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components

Robotics Algorithms Provide Nutritional Guidelines

Science.gov (United States)

2009-01-01

On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

Mononuclear, trinuclear, and hetero-trinuclear supramolecular complexes containing a new tri-sulfonate ligand and cobalt(II)/copper(II)-(1,10-phenanthroline) 2 building blocks

Science.gov (United States)

Yu, Yunfang; Wei, Yongqin; Broer, Ria; Sa, Rongjian; Wu, Kechen

2008-03-01

Novel mononuclear, trinuclear, and hetero-trinuclear supermolecular complexes, [Co(phen) 2(H 2O)(HTST)]·2H 2O ( 1), [Co 3(phen) 6(H 2O) 2(TST) 2]·7H 2O ( 2), and [Co 2Cu(phen) 6(H 2O) 2(TST) 2]·10H 2O ( 3), have been synthesized by the reactions of a new tri-sulfonate ligand (2,4,6-tris(4-sulfophenylamino)-1,3,5-triazine, H 3TST) with the M2+ ( M=Co, Cu) and the second ligand 1,10-phenanthroline (phen). Complex 1 contains a cis-Co(II)(phen) 2 building block and an HTST as monodentate ligand; complex 2 consists of two TST as bidentate ligands connecting one trans- and two cis-Co(II)(phen) 2 building blocks; complex 3 is formed by replacing the trans-Co(II)(phen) 2 in 2 with a trans-Cu(II)(phen) 2, which is the first reported hetero-trinuclear supramolecular complex containing both the Co(II)(phen) 2 and Cu(II)(phen) 2 as building blocks. The study shows the flexible multifunctional self-assembly capability of the H 3TST ligands presenting in these supramolecular complexes through coordinative, H-bonding and even π- π stacking interactions. The photoluminescent optical properties of these complexes are also investigated and discussed as well as the second-order nonlinear optical properties of 1.

CEMENT KILN DUST AS A MATERIAL FOR BUILDING BLOCKS ...

African Journals Online (AJOL)

This paper presents the results of a study on the properties of hollow sandcrete blocks with cement kiln dust (CKD) as an additive and as a replacement for ordinary portland cement (OPC). When CKD was used as a replacement for cement, the compressive strength and density of blocks generally decreased with higher ...

Robotic system construction with mechatronic components inverted pendulum: humanoid robot

Science.gov (United States)

Sandru, Lucian Alexandru; Crainic, Marius Florin; Savu, Diana; Moldovan, Cristian; Dolga, Valer; Preitl, Stefan

2017-03-01

Mechatronics is a new methodology used to achieve an optimal design of an electromechanical product. This methodology is collection of practices, procedures and rules used by those who work in particular branch of knowledge or discipline. Education in mechatronics at the Polytechnic University Timisoara is organized on three levels: bachelor, master and PhD studies. These activities refer and to design the mechatronics systems. In this context the design, implementation and experimental study of a family of mechatronic demonstrator occupy an important place. In this paper, a variant for a mechatronic demonstrator based on the combination of the electrical and mechanical components is proposed. The demonstrator, named humanoid robot, is equivalent with an inverted pendulum. Is presented the analyze of components for associated functions of the humanoid robot. This type of development the mechatronic systems by the combination of hardware and software, offers the opportunity to build the optimal solutions.

Terpsichore. ENEA's autonomous robotics project; Progetto Tersycore, la robotica autonoma

Energy Technology Data Exchange (ETDEWEB)

Taraglio, S.; Zanela, S.; Santini, A.; Nanni, V. [ENEA, Centro Ricerche Casaccia, Rome (Italy). Div. Robotica e Informatica Avanzata

1999-10-01

The article presents some of the Terpsichore project's results aimed to developed and test algorithms and applications for autonomous robotics. Four applications are described: dynamic mapping of a building's interior through the use of ultrasonic sensors; visual drive of an autonomous robot via a neural network controller; a neural network-based stereo vision system that steers a robot through unknown indoor environments; and the evolution of intelligent behaviours via the genetic algorithm approach.

Designing, developing, and deploying systems to support human-robot teams in disaster response

NARCIS (Netherlands)

Kruijff, G.J.M.; Kruijff-Korbayová, I.; Keshavdas, S.; Larochelle, B.; Janíček, M.; Colas, F.; Liu, M.; Pomerleau, F.; Siegwart, R.; Neerincx, M.A.; Looije, R.; Smets, N.J.J.M.; Mioch, T.; Diggelen, J. van; Pirri, F.; Gianni, M.; Ferri, F.; Menna, M.; Worst, R.; Linder, T.; Tretyakov, V.; Surmann, H.; Svoboda, T.; Reinštein, M.; Zimmermann, K.; Petříček, T.; Hlaváč, V.

2014-01-01

This paper describes our experience in designing, developing and deploying systems for supporting human-robot teams during disaster response. It is based on R&D performed in the EU-funded project NIFTi. NIFTi aimed at building intelligent, collaborative robots that could work together with humans in

Music-Making and Musical Comprehension with Robotic Building Blocks

DEFF Research Database (Denmark)

Nielsen, Jacob

2009-01-01

Being able to express oneself musically and experiment with music composition is traditionally determined by one’s ability to play an actual instrument with a certain degree of craftsmanship. Lack of skills may cause difficulties for children and young people to experience the joy of musical crea...

The Microcontroller: A Paradigm for a Robot Building Block

Science.gov (United States)

Hammons, John; Deal, Walter F., III

2013-01-01

Microcontrollers are used extensively in transportation and communications technologies, in automobiles to monitor and control engine speed and performance so as to maximize fuel economy and efficiency, and by manufacturing industries to produce "smart" technology. The flexibility, imagination, and spirit that make these tiny devices so…

Computer-controlled wall servicing robot

Energy Technology Data Exchange (ETDEWEB)

Lefkowitz, S. [Pentek, Inc., Corapolis, PA (United States)

1995-03-01

After four years of cooperative research, Pentek has unveiled a new robot with the capability to automatically deliver a variety of cleaning, painting, inspection, and surveillance devices to large vertical surfaces. The completely computer-controlled robot can position a working tool on a 50-foot tall by 50-foot wide vertical surface with a repeatability of 1/16 inch. The working end can literally {open_quotes}fly{close_quotes} across the face of a wall at speed of 60 per minute, and can handle working loads of 350 pounds. The robot was originally developed to decontaminate the walls of reactor fueling cavities at commercial nuclear power plants during fuel outages. If these cavities are left to dry after reactor refueling, contamination present in the residue could later become airborne and move throughout the containment building. Decontaminating the cavity during the refueling outage reduces the need for restrictive personal protective equipment during plant operations to limit the dose rates.

Toward humanoid robots for operations in complex urban environments

Science.gov (United States)

Pratt, Jerry E.; Neuhaus, Peter; Johnson, Matthew; Carff, John; Krupp, Ben

2010-04-01

Many infantry operations in urban environments, such as building clearing, are extremely dangerous and difficult and often result in high casualty rates. Despite the fast pace of technological progress in many other areas, the tactics and technology deployed for many of these dangerous urban operation have not changed much in the last 50 years. While robots have been extremely useful for improvised explosive device (IED) detonation, under-vehicle inspection, surveillance, and cave exploration, there is still no fieldable robot that can operate effectively in cluttered streets and inside buildings. Developing a fieldable robot that can maneuver in complex urban environments is challenging due to narrow corridors, stairs, rubble, doors and cluttered doorways, and other obstacles. Typical wheeled and tracked robots have trouble getting through most of these obstacles. A bipedal humanoid is ideally shaped for many of these obstacles because its legs are long and skinny. Therefore it has the potential to step over large barriers, gaps, rocks, and steps, yet squeeze through narrow passageways, and through narrow doorways. By being able to walk with one foot directly in front of the other, humanoids also have the potential to walk over narrow "balance beam" style objects and can cross a narrow row of stepping stones. We describe some recent advances in humanoid robots, particularly recovery from disturbances, such as pushes and walking over rough terrain. Our disturbance recovery algorithms are based on the concept of Capture Points. An N-Step Capture Point is a point on the ground in which a legged robot can step to in order to stop in N steps. The N-Step Capture Region is the set of all N-Step Capture Points. In order to walk without falling, a legged robot must step somewhere in the intersection between an N-Step Capture Region and the available footholds on the ground. We present results of push recovery using Capture Points on our humanoid robot M2V2.

A Concurrent Programming Language for Arduino and Educational Robotics

OpenAIRE

Morán, Ricardo; Teragni, Matías; Zabala, Gonzalo

2017-01-01

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

Regenerative patterning in Swarm Robots: mutual benefits of research in robotics and stem cell biology

Science.gov (United States)

RUBENSTEIN, MICHAEL; SAI, YING; CHUONG, CHENG-MING; SHEN, WEI-MIN

2010-01-01

This paper presents a novel perspective of Robotic Stem Cells (RSCs), defined as the basic non-biological elements with stem cell like properties that can self-reorganize to repair damage to their swarming organization. “Self” here means that the elements can autonomously decide and execute their actions without requiring any preset triggers, commands, or help from external sources. We develop this concept for two purposes. One is to develop a new theory for self-organization and self-assembly of multi-robots systems that can detect and recover from unforeseen errors or attacks. This self-healing and self-regeneration is used to minimize the compromise of overall function for the robot team. The other is to decipher the basic algorithms of regenerative behaviors in multi-cellular animal models, so that we can understand the fundamental principles used in the regeneration of biological systems. RSCs are envisioned to be basic building elements for future systems that are capable of self-organization, self-assembly, self-healing and self-regeneration. We first discuss the essential features of biological stem cells for such a purpose, and then propose the functional requirements of robotic stem cells with properties equivalent to gene controller, program selector and executor. We show that RSCs are a novel robotic model for scalable self-organization and self-healing in computer simulations and physical implementation. As our understanding of stem cells advances, we expect that future robots will be more versatile, resilient and complex, and such new robotic systems may also demand and inspire new knowledge from stem cell biology and related fields, such as artificial intelligence and tissue engineering. PMID:19557691

Regenerative patterning in Swarm Robots: mutual benefits of research in robotics and stem cell biology.

Science.gov (United States)

Rubenstein, Michael; Sai, Ying; Chuong, Cheng-Ming; Shen, Wei-Min

2009-01-01

This paper presents a novel perspective of Robotic Stem Cells (RSCs), defined as the basic non-biological elements with stem cell like properties that can self-reorganize to repair damage to their swarming organization. Self here means that the elements can autonomously decide and execute their actions without requiring any preset triggers, commands, or help from external sources. We develop this concept for two purposes. One is to develop a new theory for self-organization and self-assembly of multi-robots systems that can detect and recover from unforeseen errors or attacks. This self-healing and self-regeneration is used to minimize the compromise of overall function for the robot team. The other is to decipher the basic algorithms of regenerative behaviors in multi-cellular animal models, so that we can understand the fundamental principles used in the regeneration of biological systems. RSCs are envisioned to be basic building elements for future systems that are capable of self-organization, self-assembly, self-healing and self-regeneration. We first discuss the essential features of biological stem cells for such a purpose, and then propose the functional requirements of robotic stem cells with properties equivalent to gene controller, program selector and executor. We show that RSCs are a novel robotic model for scalable self-organization and self-healing in computer simulations and physical implementation. As our understanding of stem cells advances, we expect that future robots will be more versatile, resilient and complex, and such new robotic systems may also demand and inspire new knowledge from stem cell biology and related fields, such as artificial intelligence and tissue engineering.

How to Build a Supervised Autonomous System for Robot-Enhanced Therapy for Children with Autism Spectrum Disorder

Directory of Open Access Journals (Sweden)

Esteban Pablo G.

2017-04-01

Full Text Available Robot-Assisted Therapy (RAT has successfully been used to improve social skills in children with autism spectrum disorders (ASD through remote control of the robot in so-called Wizard of Oz (WoZ paradigms.However, there is a need to increase the autonomy of the robot both to lighten the burden on human therapists (who have to remain in control and, importantly, supervise the robot and to provide a consistent therapeutic experience. This paper seeks to provide insight into increasing the autonomy level of social robots in therapy to move beyond WoZ. With the final aim of improved human-human social interaction for the children, this multidisciplinary research seeks to facilitate the use of social robots as tools in clinical situations by addressing the challenge of increasing robot autonomy.We introduce the clinical framework in which the developments are tested, alongside initial data obtained from patients in a first phase of the project using a WoZ set-up mimicking the targeted supervised-autonomy behaviour. We further describe the implemented system architecture capable of providing the robot with supervised autonomy.

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.

Soft Robotics: Biological Inspiration, State of the Art, and Future Research

Directory of Open Access Journals (Sweden)

Deepak Trivedi

2008-01-01

Full Text Available Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

Intelligent robots: Do we need them and can they be built?

International Nuclear Information System (INIS)

Mann, R.C.

1993-01-01

For avid watchers of science fiction movies, the mention of robotics and artificial intelligence conjures up images of humanlike machines. Often, news reports of scientific advances that enable machines to behave in a flexible manner for a limited set of tests draw parallels to science fiction robots. The effect of this unfortunate kind of publicity is that the scientific disciplines of robotics and artificial intelligence are sometimes regarded as a playground for slightly crazed scientists trying to create artificial humans. In reality, the fields of robotics and artificial intelligence can best be described by answering a few commonly asked questions: What is an intelligent robot, anyway? Why would we need things like that? Could we build them and make them reliable for certain uses? An example of an intelligent machine, or robot is presented and the question of whether intelligent robots are needed is addressed. The impact of ORNL research on uses for intelligent machines is described

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

Directory of Open Access Journals (Sweden)

Nirmala Nirmala

2015-05-01

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

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.

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

Science.gov (United States)

Jungbluth, Jan; Gerke, Wolfgang; Plapper, Peter

2017-09-01

One key for successful and fluent human-robot-collaboration in disassembly processes is equipping the robot system with higher autonomy and intelligence. In this paper, we present an informed software agent that controls the robot behavior to form an intelligent robot assistant for disassembly purposes. While the disassembly process first depends on the product structure, we inform the agent using a generic approach through product models. The product model is then transformed to a directed graph and used to build, share and define a coarse disassembly plan. To refine the workflow, we formulate “the problem of loosening a connection and the distribution of the work” as a search problem. The created detailed plan consists of a sequence of actions that are used to call, parametrize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with knowledge and skills to allow them to be autonomous in the performance of their assistance to finally improve the ergonomics of disassembly workstations.

The Affordance Template ROS Package for Robot Task Programming

Science.gov (United States)

Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

2015-01-01

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

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)

Role of Solvent, pH, and Molecular Size in Excited-State Deactivation of Key Eumelanin Building Blocks: Implications for Melanin Pigment Photostability

DEFF Research Database (Denmark)

Gauden, M.; Pezzella, A.; Panzella, L.

2008-01-01

  Ultrafast time-resolved fluorescence spectroscopy has been used to investigate the excited state dynamics of the basic eumelanin building block 5,6-dihydroxyindole-2-carboxylic acid  (DHICA) its acetylated, methylated and carboxylic ester derivatives as well as two oligomers, a dimer and a trim...

The safety issues of medical robotics

Energy Technology Data Exchange (ETDEWEB)

Fei Baowei; Ng, W.S.; Chauhan, Sunita; Kwoh, Chee Keong

2001-08-01

In this paper, we put forward a systematic method to analyze, control and evaluate the safety issues of medical robotics. We created a safety model that consists of three axes to analyze safety factors. Software and hardware are the two material axes. The third axis is the policy that controls all phases of design, production, testing and application of the robot system. The policy was defined as hazard identification and safety insurance control (HISIC) that includes seven principles: definitions and requirements, hazard identification, safety insurance control, safety critical limits, monitoring and control, verification and validation, system log and documentation. HISIC was implemented in the development of a robot for urological applications that was known as URObot. The URObot is a universal robot with different modules adaptable for 3D ultrasound image-guided interstitial laser coagulation, radiation seed implantation, laser resection, and electrical resection of the prostate. Safety was always the key issue in the building of the robot. The HISIC strategies were adopted for safety enhancement in mechanical, electrical and software design. The initial test on URObot showed that HISIC had the potential ability to improve the safety of the system. Further safety experiments are being conducted in our laboratory.

The safety issues of medical robotics

International Nuclear Information System (INIS)

Fei Baowei; Ng, W.S.; Chauhan, Sunita; Kwoh, Chee Keong

2001-01-01

In this paper, we put forward a systematic method to analyze, control and evaluate the safety issues of medical robotics. We created a safety model that consists of three axes to analyze safety factors. Software and hardware are the two material axes. The third axis is the policy that controls all phases of design, production, testing and application of the robot system. The policy was defined as hazard identification and safety insurance control (HISIC) that includes seven principles: definitions and requirements, hazard identification, safety insurance control, safety critical limits, monitoring and control, verification and validation, system log and documentation. HISIC was implemented in the development of a robot for urological applications that was known as URObot. The URObot is a universal robot with different modules adaptable for 3D ultrasound image-guided interstitial laser coagulation, radiation seed implantation, laser resection, and electrical resection of the prostate. Safety was always the key issue in the building of the robot. The HISIC strategies were adopted for safety enhancement in mechanical, electrical and software design. The initial test on URObot showed that HISIC had the potential ability to improve the safety of the system. Further safety experiments are being conducted in our laboratory

Biorefineries for the production of top building block chemicals and their derivatives.

Science.gov (United States)

Choi, Sol; Song, Chan Woo; Shin, Jae Ho; Lee, Sang Yup

2015-03-01

Due to the growing concerns on the climate change and sustainability on petrochemical resources, DOE selected and announced the bio-based top 12 building blocks and discussed the needs for developing biorefinery technologies to replace the current petroleum based industry in 2004. Over the last 10 years after its announcement, many studies have been performed for the development of efficient technologies for the bio-based production of these chemicals and derivatives. Now, ten chemicals among these top 12 chemicals, excluding the l-aspartic acid and 3-hydroxybutyrolactone, have already been commercialized or are close to commercialization. In this paper, we review the current status of biorefinery development for the production of these platform chemicals and their derivatives. In addition, current technological advances on industrial strain development for the production of platform chemicals using micro-organisms will be covered in detail with case studies on succinic acid and 3-hydroxypropionic acid as examples. Copyright © 2015 International Metabolic Engineering Society. Published by Elsevier Inc. All rights reserved.

Remote-Controlled Robots Used for the Management of Severe Accident of the Fukushima Nuclear Power Plant

International Nuclear Information System (INIS)

Cho, Jai Wan; Jeong, Kyung Min

2011-01-01

In this paper, remote-controlled robots, which have been used to stabilize and shut down the three troubled reactors (unit 1, 2 and 3) of the Fukushima nuclear power plant, are presented. From the press materials of NISA (nuclear and industrial safety agency), TEPCO (Tokyo electric power company) and the Yomiuri online news, we investigated the robots, which have been used for the management of severe accident of the Fukushima nuclear power plant. The military robots provided by USA, Packbot and Warrior, which are unmanned ground robots, have been sent into Unit 1 to Unit 3 to grasp the inside situation of reactor building and to record the radiation from the interior of reactors no. 1, 2, and 3. The Japanese robot, Quince, which was originally designed to be a rescue robot for disaster recovery, were modified and sent to carry out the installation of a water level gauge for the accumulated water in the basement of Unit 2. Unmanned military aerial robot, T-Hawk, provided by USA was used to check the status of rubbles around reactor building of Unit 1, 2, 3 and 4. And remote controlled construction robots made by Japan are used to clear outdoor rubbles by wireless remote control to improve working conditions

Structural insight into RNA recognition motifs: versatile molecular Lego building blocks for biological systems.

Science.gov (United States)

Muto, Yutaka; Yokoyama, Shigeyuki

2012-01-01

'RNA recognition motifs (RRMs)' are common domain-folds composed of 80-90 amino-acid residues in eukaryotes, and have been identified in many cellular proteins. At first they were known as RNA binding domains. Through discoveries over the past 20 years, however, the RRMs have been shown to exhibit versatile molecular recognition activities and to behave as molecular Lego building blocks to construct biological systems. Novel RNA/protein recognition modes by RRMs are being identified, and more information about the molecular recognition by RRMs is becoming available. These RNA/protein recognition modes are strongly correlated with their biological significance. In this review, we would like to survey the recent progress on these versatile molecular recognition modules. Copyright © 2012 John Wiley & Sons, Ltd.