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Sample records for robotic burrowing prototype

  1. Rapid prototyping of robotic platforms

    CSIR Research Space (South Africa)

    De Ronde, Willis

    2016-11-01

    Full Text Available of thickness up to 200mm can be cut to create prototype chassis/ bodies or even the final product. One of the few limitations is the cutting of certain laminated materials, as this tends to produce delaminated cutting edges or even fractures in the case... mine inspection robot (Shongololo). Shongololo’s frame is made from engineering plastics while the chassis of Dassie was made from aluminium and cut using abrasive waterjet machining. The advantage of using abrasive waterjet machining is the speed...

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

    OpenAIRE

    Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

    2018-01-01

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

  3. Razor clam to RoboClam: burrowing drag reduction mechanisms and their robotic adaptation

    International Nuclear Information System (INIS)

    Winter, A G; V; Dorsch, D S; Slocum, A H; Hosoi, A E; Deits, R L H

    2014-01-01

    Estimates based on the strength, size, and shape of the Atlantic razor clam (Ensis directus) indicate that the animal's burrow depth should be physically limited to a few centimeters; yet razor clams can dig as deep as 70 cm. By measuring soil deformations around burrowing E. directus, we have found the animal reduces drag by contracting its valves to initially fail, and then fluidize, the surrounding substrate. The characteristic contraction time to achieve fluidization can be calculated directly from soil properties. The geometry of the fluidized zone is dictated by two commonly-measured geotechnical parameters: coefficient of lateral earth pressure and friction angle. Calculations using full ranges for both parameters indicate that the fluidized zone is a local effect, occurring between 1–5 body radii away from the animal. The energy associated with motion through fluidized substrate—characterized by a depth-independent density and viscosity—scales linearly with depth. In contrast, moving through static soil requires energy that scales with depth squared. For E. directus, this translates to a 10X reduction in the energy required to reach observed burrow depths. For engineers, localized fluidization offers a mechanically simple and purely kinematic method to dramatically reduce energy costs associated with digging. This concept is demonstrated with RoboClam, an E. directus-inspired robot. Using a genetic algorithm to find optimal digging kinematics, RoboClam has achieved localized fluidization burrowing performance comparable to that of the animal, with a linear energy-depth relationship, in both idealized granular glass beads and E. directus' native cohesive mudflat habitat. (paper)

  4. Rapid prototyping using robot welding : process description

    OpenAIRE

    Ribeiro, António Fernando; Norrish, John

    1997-01-01

    Rapid Prototyping is a relatively recent technique to produce component prototypes for industry in a much shorter period of time, since the time to market a product is essential to its success. A new Rapid Prototyping process which uses metal as the raw material had been under development at Cranfield University in the last few years. The process uses a Gas Metal Arc fusion welding robot which deposits successive layers of metal in such way that it forms a 3D solid component. Firstly, a CAD s...

  5. Mobile robot prototype detector of gamma radiation

    International Nuclear Information System (INIS)

    Vazquez C, R.M.; Duran V, M. D.; Jardon M, C. I.

    2014-10-01

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  6. Prototype Robot Pemadam Api Beroda Menggunakan Teknik Navigasi Wall Follower

    OpenAIRE

    Safrianti, Ery; Amri, Rahyul; Budiman, Septian

    2012-01-01

    Fire Robot serves to detect and extinguish the fire. The robot is controlled by the microcontroller ATMEGA8535 automatically. This robot contains of several sensors, such as 5 sets of ping parallax as a robot navigator, a set UVTron equipped with fire-detecting driver, DC motor driver L298 with two DC servo motors. The robot was developed from a prototype that has been studied previously with the addition on the hardware side of the sound activation and two sets of line detector. The robot wi...

  7. Teleautonomous Control on Rescue Robot Prototype

    Directory of Open Access Journals (Sweden)

    Son Kuswadi

    2012-12-01

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

  8. Microcontroller Based Robot Prototype Manual Control with Atmega8535 Joystick

    OpenAIRE

    Azella Maulidya; Luyung Dinaini, Skom, MMSi

    2008-01-01

    In writing that I make with the title "PROTOTYPE ROBOT WITH MANUAL CONTROLS microcontroller ATMega8535 joystick" is intended to be a control instrument to be developed further into a tool of control that can be more useful again .

  9. Kinematics analysis of a robotic zipper prototype for miniaturisation

    NARCIS (Netherlands)

    Baharom, M.Z.; Delbressine, F.L.M.; Feijs, L.M.G.

    2016-01-01

    This paper presents the mechanism and kinematics analysis of a robotic zipper prototype. This generic version of the robotic zipper is dedicated to automatically open and close the zipper which could be beneficial to elderly, people with physical disability, upper limb reduction deficiencies (ULRD),

  10. 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.

  11. Prototype Robot Pemadam Api Beroda Menggunakan Teknik Navigasi Wall Follower

    Directory of Open Access Journals (Sweden)

    Ery Safrianti

    2012-10-01

    Full Text Available Fire Robot serves to detect and extinguish the fire. The robot is controlled by the microcontroller ATMEGA8535 automatically. This robot contains of several sensors, such as 5 sets of ping parallax as a robot navigator, a set UVTron equipped with fire-detecting driver, DC motor driver L298 with two DC servo motors. The robot was developed from a prototype that has been studied previously with the addition on the hardware side of the sound activation and two sets of line detector. The robot will active if it receives input from the sound activation unit and will start to find the fire with “search the wall” navigation techniques. The line sensor was used as a door and home detector and circle the fire area.To extinguish the fire, this robot uses a fan driven by a BD139 transistor circuit. The overall test results show that the robot can detect the presence of the fire in each room. The robot also can find the fire and extinguish it within 1 minute.

  12. Developing novel extensions to support prototyping for interactive social robots

    NARCIS (Netherlands)

    Bhömer, ten M.; Bartneck, C.; Hu, J.; Ahn, R.M.C.; Tuyls, K.P.; Delbressine, F.L.M.; Feijs, L.M.G.

    2009-01-01

    Lego Mindstorms NXT is a platform highly suitable for prototyping in the field of interactive social robotics. During a technology masterclass at Eindhoven University of Technology students from the department of Industrial Design have developed five novel extensions (sensors and actuators) for the

  13. Prototyping a robotic dental testing simulator.

    Science.gov (United States)

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

    2007-05-01

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

  14. Mobile robot prototype detector of gamma radiation; Prototipo de robot movil detector de radiacion gamma

    Energy Technology Data Exchange (ETDEWEB)

    Vazquez C, R.M. [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico); Duran V, M. D.; Jardon M, C. I., E-mail: raulmario.vazquez@inin.gob.mx [Tecnologico de Estudios Superiores de Villa Guerrero, Carretera Federal Toluca-Ixtapan de la Sal Km. 64.5, La Finca Villa Guerrero, Estado de Mexico (Mexico)

    2014-10-15

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  15. Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots.

    Science.gov (United States)

    Gilbert, Hunter B; Webster, Robert J

    Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic robots is challenging. Obtaining samples that remain superelastic and exhibit desired precurvatures currently requires many iterations, which is time consuming and consumes a substantial amount of Nitinol. To provide a more accurate and reliable method of shape setting, in this paper we propose an electrical technique that uses Joule heating to attain the necessary shape setting temperatures. The resulting high power heating prevents unintended aging of the material and yields consistent and accurate results for the rapid creation of prototypes. We present a complete algorithm and system together with an experimental analysis of temperature regulation. We experimentally validate the approach on Nitinol tubes that are shape set into planar curves. We also demonstrate the feasibility of creating general space curves by shape setting a helical tube. The system demonstrates a mean absolute temperature error of 10°C.

  16. A prototype home robot with an ambient facial interface to improve drug compliance.

    Science.gov (United States)

    Takacs, Barnabas; Hanak, David

    2008-01-01

    We have developed a prototype home robot to improve drug compliance. The robot is a small mobile device, capable of autonomous behaviour, as well as remotely controlled operation via a wireless datalink. The robot is capable of face detection and also has a display screen to provide facial feedback to help motivate patients and thus increase their level of compliance. An RFID reader can identify tags attached to different objects, such as bottles, for fluid intake monitoring. A tablet dispenser allows drug compliance monitoring. Despite some limitations, experience with the prototype suggests that simple and low-cost robots may soon become feasible for care of people living alone or in isolation.

  17. Rapid prototyping framework for robot-assisted training of autistic children

    NARCIS (Netherlands)

    Kim, Mingyu; Barakova, E.I.; Lourens, T.

    2014-01-01

    Research in uptake and actual use of robots in socially assistive tasks is rapidly growing. However, practical applications lack behind due to the enormous effort to create meaningful behaviours. This paper describes a rapid prototyping framework for robot-assisted training of children with Autism

  18. Architecture and prototype of human-machine interface with mobile robotic device

    International Nuclear Information System (INIS)

    Dyumin, A.A.; Sorokoumov, P.S.; Chepin, E.V.; Urvanov, G.A.

    2013-01-01

    The possibility of controlling mobile robotic (MRD) device is analyzed and a prototype control system is described. It is established that, for controlling MRD, it is expedient to use a brain-computer interface. A system of interpretation of information obtained from the operator brain has been developed and used in the proposed prototype control system [ru

  19. Robotic Transnasal Endoscopic Skull Base Surgery: Systematic Review of the Literature and Report of a Novel Prototype for a Hybrid System (Brescia Endoscope Assistant Robotic Holder).

    Science.gov (United States)

    Bolzoni Villaret, Andrea; Doglietto, Francesco; Carobbio, Andrea; Schreiber, Alberto; Panni, Camilla; Piantoni, Enrico; Guida, Giovanni; Fontanella, Marco Maria; Nicolai, Piero; Cassinis, Riccardo

    2017-09-01

    Although robotics has already been applied to several surgical fields, available systems are not designed for endoscopic skull base surgery (ESBS). New conception prototypes have been recently described for ESBS. The aim of this study was to provide a systematic literature review of robotics for ESBS and describe a novel prototype developed at the University of Brescia. PubMed and Scopus databases were searched using a combination of terms, including Robotics OR Robot and Surgery OR Otolaryngology OR Skull Base OR Holder. The retrieved papers were analyzed, recording the following features: interface, tools under robotic control, force feedback, safety systems, setup time, and operative time. A novel hybrid robotic system has been developed and tested in a preclinical setting at the University of Brescia, using an industrial manipulator and readily available off-the-shelf components. A total of 11 robotic prototypes for ESBS were identified. Almost all prototypes present a difficult emergency management as one of the main limits. The Brescia Endoscope Assistant Robotic holder has proven the feasibility of an intuitive robotic movement, using the surgeon's head position: a 6 degree of freedom sensor was used and 2 light sources were added to glasses that were therefore recognized by a commercially available sensor. Robotic system prototypes designed for ESBS and reported in the literature still present significant technical limitations. Hybrid robot assistance has a huge potential and might soon be feasible in ESBS. Copyright © 2017 Elsevier Inc. All rights reserved.

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

    NARCIS (Netherlands)

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

    2009-01-01

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

  1. 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.

  2. An Embedded Systems Laboratory to Support Rapid Prototyping of Robotics and the Internet of Things

    Science.gov (United States)

    Hamblen, J. O.; van Bekkum, G. M. E.

    2013-01-01

    This paper describes a new approach for a course and laboratory designed to allow students to develop low-cost prototypes of robotic and other embedded devices that feature Internet connectivity, I/O, networking, a real-time operating system (RTOS), and object-oriented C/C++. The application programming interface (API) libraries provided permit…

  3. Modeling of welded bead profile for rapid prototyping by robotic MAG welding

    Institute of Scientific and Technical Information of China (English)

    CAO Yong; ZHU Sheng; WANG Tao; WANG Wanglong

    2009-01-01

    As a deposition technology, robotic metal active gas(MAG) welding has shown new promise for rapid prototyping (RP) of metallic parts. During the process of metal forming using robotic MAG welding, sectional profile of single-pass welded bead is critical to formed accuracy and quality of metal pans. In this paper, the experiments of single-pass welded bead for rapid prototyping using robotic MAG welding were carried out. The effect of some edge detectors on the cross-sectional edge of welded bead was discussed and curve fitting was applied using leat square fitting. Consequently, the mathematical model of welded bead profile was developed. The experimental results show that good shape could be obtained under suitable welding parameters. Canny operawr is suitable to edge detection of welded bead profile, and the mathematical model of welded bead profile developed is approximately parabola.

  4. The SONG prototype: Efficiency of a robotic telescope

    DEFF Research Database (Denmark)

    Andersen, M. F.; Grundahl, F.; Beck, A. H.

    2016-01-01

    The Stellar Observations Network Group prototype telescope at the Teide Observatory has been operating in scientific mode since March 2014. The first year of observations has entirely been carried out using the high resolution echelle spectrograph. Several asteroseismic targets were selected for ...

  5. Development of an integrated closed loop control system with virtual reality monitoring for Prototype Robotic Articulated System (PRAS)

    International Nuclear Information System (INIS)

    Rastogi, Naveen; Dutta, Pramit; Gotewal, K.K.

    2015-01-01

    The Prototype Robotic Articulated System (PRAS) is a servo driven 4 degrees of freedom robotic arm capable of handling of upto 5 kg payload. A virtual reality based monitoring application has been developed in blender and was intergrated with the control system to read the joint values of the robotic arm at 10Hz and update the CAD model to visualize the robotic operations remotely. This paper presents the design details and implementation results of the integrated control system for PRAS

  6. A novel low-cost mobile robot for rapid prototyping of precision farming applications

    DEFF Research Database (Denmark)

    Jensen, Kjeld; Neerup, Mathias Mikkel; Larsen, Leon Bonde

    Experimental research in precision farming is a significant challenge due to the considerable resources required to perform field experiments. Simulating the field environment is a frequently used technique which is useful for functional software tests, but beyond that it is necessary to perform...... experiments. In this work we present a novel FrobitPro robot platform designed for rapid prototyping of FroboMind field robot applications. FrobitPro has a fundamental design similar to many current wheeled and tracked robots such as the Kongskilde Robotti, and the workflow of migrating from simulation...... as outdoor driving in semi-rugged terrain such as grass fields and bare soil. This paper presents the FrobitPro robot and describes two use cases in current research projects, namely the Grassbots project which focuses on harvesting of grass on lowland areas for biofuel production and the SAFE project...

  7. Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

    Directory of Open Access Journals (Sweden)

    Sun Young Noh

    2017-01-01

    Full Text Available This paper introduces a specialized robotic system under development for radiosurgery using a small-sized linear accelerator. The robotic system is a 5-DOF manipulator that can be installed above a patient to make an upper hemispherical workspace centered in a target point. In order to determine the optimal lengths of the link, we consider the requirements for the workspace of a linear accelerator for radiosurgery. A more suitable kinematic structure than conventional industrial manipulators is proposed, and the kinematic analysis is also provided. A graphic simulator is implemented and used for dynamic analysis. Based on those results, a prototype manipulator and its control system are under development.

  8. The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

    Science.gov (United States)

    Kurc, Krzysztof; Szybicki, Dariusz; Burghardt, Andrzej; Muszyńska, Magdalena

    2016-04-01

    The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

  9. 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...

  10. Prototype of Remote Controlled Robot Vehicle to Scan Radioactive Contaminated Areas

    International Nuclear Information System (INIS)

    Ratongasoandrazana, J.B.; Raoelina Andriambololona; Rambolamanana, G.; Andrianiaina, H.; Rajaobelison, J.

    2016-01-01

    The ionizing radiations are not directly audible by the organs of sense of the human being. Maintenance and handling of sources of such ionizing radiations present some risks of very serious and often irreversible accident for human organism. The works of experimentation and maintenance in such zone also present the risks requiring some minimum of precaution. Thus, the main objective of this work is to design and develop (hard- and software) a prototype of educational semi-autonomous Radio Frequency controlled robot-vehicle based on 8-bit AVR-RISC Flash microcontroller system (ATmega128L) able to detect, identify and map the radioactive contaminated area. An integrated video camera coupled with a UHF video transmitter module, placed in front of the robot, will be used as visual feedback control to well direct it toward a precise place to reach. The navigation information and the data collected are transmitted from the robot toward the Computer via 02 Radio Frequency Transceivers for peer-to-peer serial data transfer in half-duplex mode. A Joystick module which is connected to the Computer parallel port allows full motion control of the platform. Robot-vehicle user interface program for the PC has been designed to allow full control of all functions of the robot vehicles.

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

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

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

  12. FCJ-209 Indigenous Knowledge Systems and Pattern Thinking: An Expanded Analysis of the First Indigenous Robotics Prototype Workshop

    Directory of Open Access Journals (Sweden)

    Angie Abdilla

    2016-12-01

    Full Text Available In November 2014, the lead researcher’s interest in the conceptual development of digital technology and her cultural connection to Indigenous Knowledge Systems created an opportunity to explore a culturally relevant use of technology with urban Indigenous youth: the Indigenous Robotics Prototype Workshop. The workshop achieved a sense of cultural pride and confidence in Indigenous traditional knowledge while inspiring the youth to continue with their engagement in coding and programming through building robots. Yet, the outcomes from the prototype workshop further revealed a need to investigate how Indigenous Knowledge Systems, and particularly Pattern Thinking, might hint toward a possible paradigm shift for the ethical and advanced design of new technologies. This article examines the implications of such a hypothetical shift in autonomous systems in robotics and artificial intelligence (AI, using the Indigenous Robotics Prototype Workshop as a case study and springboard.

  13. A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

    Directory of Open Access Journals (Sweden)

    Shaowu Pan

    2015-04-01

    Full Text Available A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT, which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  14. A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

    Science.gov (United States)

    Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

    2015-04-08

    A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

  15. Robotic gaming prototype for upper limb exercise: Effects of age and embodiment on user preferences and movement.

    Science.gov (United States)

    Eizicovits, Danny; Edan, Yael; Tabak, Iris; Levy-Tzedek, Shelly

    2018-01-01

    Effective human-robot interactions in rehabilitation necessitates an understanding of how these should be tailored to the needs of the human. We report on a robotic system developed as a partner on a 3-D everyday task, using a gamified approach. To: (1) design and test a prototype system, to be ultimately used for upper-limb rehabilitation; (2) evaluate how age affects the response to such a robotic system; and (3) identify whether the robot's physical embodiment is an important aspect in motivating users to complete a set of repetitive tasks. 62 healthy participants, young (60 yo), played a 3D tic-tac-toe game against an embodied (a robotic arm) and a non-embodied (a computer-controlled lighting system) partner. To win, participants had to place three cups in sequence on a physical 3D grid. Cup picking-and-placing was chosen as a functional task that is often practiced in post-stroke rehabilitation. Movement of the participants was recorded using a Kinect camera. The timing of the participants' movement was primed by the response time of the system: participants moved slower when playing with the slower embodied system (p = 0.006). The majority of participants preferred the robot over the computer-controlled system. Slower response time of the robot compared to the computer-controlled one only affected the young group's motivation to continue playing. We demonstrated the feasibility of the system to encourage the performance of repetitive 3D functional movements, and track these movements. Young and old participants preferred to interact with the robot, compared with the non-embodied system. We contribute to the growing knowledge concerning personalized human-robot interactions by (1) demonstrating the priming of the human movement by the robotic movement - an important design feature, and (2) identifying response-speed as a design variable, the importance of which depends on the age of the user.

  16. Low-Cost Rescue Robot for Disaster Management in a Developing Country: Development of a Prototype Using Locally Available Technology

    Science.gov (United States)

    Mahmud, Faisal; Hossain, S. G. M.; Bin, Jobair

    2010-01-01

    The use of robots in different fields is common and effective in developed countries. In case of incident management or emergency rescue after a disaster, robots are often used to lessen the human effort where it is either impossible or life-threatening for rescuers. Though developed countries can afford robotic-effort for pro-disaster management, the scenario is totally opposite for developing and under-developed countries to engage such a machine-help due to high cost of the machines and high maintenance cost as well. In this research paper, the authors proposed a low-cost "Rescue-Robot" for pro-disaster management which can overcome the budget-constraints as well as fully capable of rescue purposes for incident management. Here, all the research works were performed in Bangladesh - a developing country in South Asia. A disaster struck structure was chosen and a thorough survey was performed to understand the real-life environment for the prototype. The prototype was developed considering the results of this survey and it was manufactured using all locally available components and facilities.

  17. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  18. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

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

  19. Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models.

    Science.gov (United States)

    Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki

    2005-08-01

    To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master-slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

  20. Sketching CuddleBits : Coupled Prototyping of Body and Behaviour for an Affective Robot Pet

    NARCIS (Netherlands)

    Bucci, Paul; Cang, Xi Laura; Valair, Anasazi; Marino, David; Tseng, Lucia; Jung, Merel Madeleine; Rantala, Jussi; Schneider, Oliver S.; MacLean, Karon E.

    2017-01-01

    Social robots that physically display emotion invite natural communication with their human interlocutors, enabling ap- plications like robot-assisted therapy where a complex robot’s breathing influences human emotional and physiological state. Using DIY fabrication and assembly, we explore how sim-

  1. Robotics

    Science.gov (United States)

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

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

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

    Science.gov (United States)

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

    2009-11-01

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

  3. Quadruped locomotion system of prototype advanced robot for nuclear power plant facilities

    International Nuclear Information System (INIS)

    Sugiyama, Sakae

    1991-01-01

    The development of the robots for the works in nuclear power stations has been promoted. The demonstration machine developed comprises subsystems so that the design, manufacture, operation, maintenance and so on of the robots are simplified and made convenient, that is, the command for all actions, visual information processing subsystem, manipulation subsystem and movement subsystem. In this report, the elementary technology of movement and the movement subsystem are described. Quadruped walking, intelligent type motion control, and the target specification, movement subsystem and test of the demonstration machine are explained. (K.I.)

  4. Unikabeton Prototype

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn; Dombernowsky, Per

    2011-01-01

    The Unikabeton prototype structure was developed as the finalization of the cross-disciplinary research project Unikabeton, exploring the architectural potential in linking the computational process of topology optimisation with robot fabrication of concrete casting moulds. The project was elabor......The Unikabeton prototype structure was developed as the finalization of the cross-disciplinary research project Unikabeton, exploring the architectural potential in linking the computational process of topology optimisation with robot fabrication of concrete casting moulds. The project...... of Architecture was to develop a series of optimisation experiments, concluding in the design and optimisation of a full scale prototype concrete structure....

  5. Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery.

    Science.gov (United States)

    Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

    2011-06-01

    This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.

  6. User-Centric Feedback for the Development and Review of a Unique Robotic Glove Prototype to Be Used in Therapy

    Directory of Open Access Journals (Sweden)

    Stuart James Biggar

    2017-01-01

    Full Text Available Disability can be a great impediment to daily living in later life and is often the result of illness or trauma. Modern thoughts on treatment are orientated towards the use of robotics; however, these are often designed without consultation with the user. This paper used a 5-point questionnaire to ask former therapy patients what they felt needed further improvements from potential robotics and what features of such a system were the most important. Significant emphasis was placed on helping them to grasp (M = 4.63 as well as having a functional use. They also desired a system with clearly distinguished (M = 4.22 and easy to operate controls (M = 4.44 whilst allowing them some freedom to move around independently (M = 4.44. This provided the rationale for a prototype dual-layered vacuum glove that was sampled by healthcare staff to provide feedback that forms the basis for future improvements.

  7. Experiments with a First Prototype of a Spatial Model of Cultural Meaning through Natural-Language Human-Robot Interaction

    Directory of Open Access Journals (Sweden)

    Oliver Schürer

    2018-01-01

    Full Text Available When using assistive systems, the consideration of individual and cultural meaning is crucial for the utility and acceptance of technology. Orientation, communication and interaction are rooted in perception and therefore always happen in material space. We understand that a major problem lies in the difference between human and technical perception of space. Cultural policies are based on meanings including their spatial situation and their rich relationships. Therefore, we have developed an approach where the different perception systems share a hybrid spatial model that is generated by artificial intelligence—a joint effort by humans and assistive systems. The aim of our project is to create a spatial model of cultural meaning based on interaction between humans and robots. We define the role of humanoid robots as becoming our companions. This calls for technical systems to include still inconceivable human and cultural agendas for the perception of space. In two experiments, we tested a first prototype of the communication module that allows a humanoid to learn cultural meanings through a machine learning system. Interaction is achieved by non-verbal and natural-language communication between humanoids and test persons. This helps us to better understand how a spatial model of cultural meaning can be developed.

  8. The Design and Implementation of a Prototype Surf-Zone Robot for Waterborne Operations

    Science.gov (United States)

    2015-12-01

    Measurement Unit IR Infrared MC Mission Complexity MONTe Mobility over Non-Trivial Terrain MOSART Mobile Surf-zone Amphibious Robot NIST... rubber coating (Plasti-Dip) and a liquid repellent treatment (Rust-Oleum Never Wet–multisurface). An FDM sparse part T5 was coated as depicted in Figure...Coating Process on FDM Part T5 Figure 15. (a) FDM part with two layers of black rubber coating (first coating), (b) FDM part with liquid repelling

  9. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  10. Burrowing owl nesting productivity: A comparison between artificial and natural burrows on and off golf courses

    Science.gov (United States)

    Smith, M.D.; Conway, C.J.; Ellis, L.A.

    2005-01-01

    Burrowing owl (Athene cunicularia) populations are declining in many portions of their range, and lack of suitable nesting burrows is thought to be one reason for observed declines. Burrowing owls are attracted to golf courses because the birds generally nest and forage in short-grass, open areas, yet golf courses seldom have suitable nesting burrows. We examined the efficacy of installing artificial nesting burrows on golf courses as a way to help restore local burrowing owl populations. From 2001-2004 we monitored over 175 natural burrows off golf courses, 14 natural burrows on golf courses, 86 artificial burrows off golf courses, and 130 artificial burrows on golf courses. Owls located and used 8 of the 130 artificial burrows installed on golf courses (4 were used as nests). Owls selected burrows that were closer to existing natural burrows, farther from maintained areas (areas receiving turf maintenance by golf course staff), and farther from sprinkler heads. All 4 of the artificial burrows used as nests successfully fledged young, and annual site fidelity for owls nesting on golf courses was higher than for owls nesting off golf courses. However, annual fecundity of owls nesting on golf courses was lower than that of owls nesting off golf courses. If golf courses have sufficiently large nonmaintained areas and there are nesting owls nearby, course managers potentially can help in restoring local burrowing owl populations by installing artificial nesting burrows on the periphery of the course. However, the low fecundity on golf courses reported here should be more thoroughly examined before artificial burrows are used to attract owls to golf courses.

  11. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

  12. Burrowing Owls, Pulex irritans, and Plague.

    Science.gov (United States)

    Belthoff, James R; Bernhardt, Scott A; Ball, Christopher L; Gregg, Michael; Johnson, David H; Ketterling, Rachel; Price, Emily; Tinker, Juliette K

    2015-09-01

    Western Burrowing Owls (Athene cunicularia hypugaea) are small, ground-dwelling owls of western North America that frequent prairie dog (Cynomys spp.) towns and other grasslands. Because they rely on rodent prey and occupy burrows once or concurrently inhabited by fossorial mammals, the owls often harbor fleas. We examined the potential role of fleas found on burrowing owls in plague dynamics by evaluating prevalence of Yersinia pestis in fleas collected from burrowing owls and in owl blood. During 2012-2013, fleas and blood were collected from burrowing owls in portions of five states with endemic plague-Idaho, Oregon, Washington, Colorado, and South Dakota. Fleas were enumerated, taxonomically identified, pooled by nest, and assayed for Y. pestis using culturing and molecular (PCR) approaches. Owl blood underwent serological analysis for plague antibodies and nested PCR for detection of Y. pestis. Of more than 4750 fleas collected from owls, Pulex irritans, a known plague vector in portions of its range, comprised more than 99.4%. However, diagnostic tests for Y. pestis of flea pools (culturing and PCR) and owl blood (PCR and serology) were negative. Thus, even though fleas were prevalent on burrowing owls and the potential for a relationship with burrowing owls as a phoretic host of infected fleas exists, we found no evidence of Y. pestis in sampled fleas or in owls that harbored them. We suggest that studies similar to those reported here during plague epizootics will be especially useful for confirming these results.

  13. Burrowing Owl - Palo Verde Valley [ds197

    Data.gov (United States)

    California Natural Resource Agency — These burrowing owl observations were collected during the spring and early summer of 1976 in the Palo Verde Valley, eastern Riverside County, California. This is an...

  14. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

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

  15. Robotics

    Indian Academy of Sciences (India)

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

  16. Parametric optimization in virtual prototyping environment of the control device for a robotic system used in thin layers deposition

    Science.gov (United States)

    Enescu (Balaş, M. L.; Alexandru, C.

    2016-08-01

    The paper deals with the optimal design of the control system for a 6-DOF robot used in thin layers deposition. The optimization is based on parametric technique, by modelling the design objective as a numerical function, and then establishing the optimal values of the design variables so that to minimize the objective function. The robotic system is a mechatronic product, which integrates the mechanical device and the controlled operating device.The mechanical device of the robot was designed in the CAD (Computer Aided Design) software CATIA, the 3D-model being then transferred to the MBS (Multi-Body Systems) environment ADAMS/View. The control system was developed in the concurrent engineering concept, through the integration with the MBS mechanical model, by using the DFC (Design for Control) software solution EASY5. The necessary angular motions in the six joints of the robot, in order to obtain the imposed trajectory of the end-effector, have been established by performing the inverse kinematic analysis. The positioning error in each joint of the robot is used as design objective, the optimization goal being to minimize the root mean square during simulation, which is a measure of the magnitude of the positioning error varying quantity.

  17. Intelligent Sensing for Robotic Re-Manufacturing in Aerospace - An Industry 4.0 Design Based Prototype

    OpenAIRE

    French, R.; Benakis, M.; Marin-Reyes, H.

    2018-01-01

    Emerging through an industry-academia\\ud collaboration between the University of Sheffield and VBC\\ud Instrument Engineering Ltd, a proposed robotic solution for remanufacturing\\ud of jet engine compressor blades is under ongoing\\ud development, producing the first tangible results for evaluation.\\ud Having successfully overcome concept adaptation, funding\\ud mechanisms, design processes, with research and development\\ud trials, the stage of concept optimization and end-user application\\ud ha...

  18. The role of burrowing sponges in bioerosion.

    Science.gov (United States)

    Rützler, Klaus

    1975-09-01

    Among the large number of limestone-eroding organisms, sponges, mainly of the family Clinonidae are of special interest because of their efficient means of substratum penetration by cellular etching and because they release characteristically shaped calcium carbonate chips which can be detected in the mud-size fraction of many sediments. Identifiable trace fossils and sediments are of great ecological and paleoecological significance.As new data on the excavating mechanism have become available, the questions of burrowing rates and sediment production have gained importance. Extrapolation from shortterm experiments (under 6 months) on substrate invasion are inconclusive because of high initial penetration rates resulting from mechanical stimulation and lack of competition. New experiments show that the rate curve flattens after 6 months and that optimum longterm erosion of CaCO 3 does not exceed 700 mg m -2 year -1 (Cliona lampa and C. aprica). Substrate limitations and competition will further reduce this rate.By monitoring the production of CaCO 3 chips by Cliona lampa, it was possible to link activity patterns to certain environmental factors. Mechanical stimuli, high light intensity, strong currents and, possibly, low temperature seem to accelerate the burrowing process. Sponge-generated chips can make up over 40% of coral mud when deposited in the current shadow of the reef framework.Using transect counts and sponge area-biomass conversion factors, the mean abundance of burrowing sponges on the Bermuda platform could be calculated. On suitable hard bottom substrates it averages 16 g dry weight per m 2 . From this value the burrowing potential of sponges can be estimated as 256 g CaCO 3 per m 2 substrate per year. Since 97-98% of the eroded limestone remains in particulate form, the contribution of fine sediments can amount to 250 g m -2 year -1 .Attention is called to the fact that erosion rates by burrowers can not directly be compared with those of borers or

  19. Burrowing Owl Monitoring Report for Calendar Year 2012

    Energy Technology Data Exchange (ETDEWEB)

    Wilde, Justin W.; Lindsey, Cole T.; Nugent, John J.

    2013-03-14

    The monitoring during 2012 focused on documenting the status of known burrows. Newly identified burrows were documented while examining historical locations, during ecological resource reviews, or discovered during other monitoring efforts. The timing of the monitoring effort allowed staff to perform the surveys without disrupting any breeding or hatching, while also allowing for easy discernment of adults from juveniles, which helped in determining burrow-use type.

  20. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

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

  1. Orofacial neuropathic pain reduces spontaneous burrowing behavior in rats.

    Science.gov (United States)

    Deseure, K; Hans, G

    2018-07-01

    It was recently reported that spontaneous burrowing behavior is decreased after tibial nerve transection, spinal nerve transection and partial sciatic nerve ligation. It was proposed that spontaneous burrowing could be used as a measure of the impact of neuropathic pain after peripheral nerve injury. It has remained unclear whether the reduction in burrowing behavior is caused directly by pain or hypersensitivity in the affected limbs, making it more difficult to perform burrowing, or by a pain induced decrease in the general wellbeing, thus reducing the motivation to burrow. We studied burrowing behavior after infraorbital nerve injury, a model of orofacial neuropathic pain that does not affect the limbs. Burrowing behavior was significantly reduced after infraorbital nerve injury. Isolated face grooming and responsiveness to mechanical von Frey stimulation of the infraorbital nerve territory were significantly increased after infraorbital nerve injury, indicative, respectively, of spontaneous pain and mechanical allodynia. It is concluded that spontaneous burrowing may provide a measure of the global impact of pain on the animal's wellbeing after peripheral nerve injury and incorporation of this behavioral assay in preclinical drug testing may improve the predictive validity of currently used pain models. Copyright © 2018 Elsevier Inc. All rights reserved.

  2. Burrow architecture of the Damaraland mole-rat ( Fukomys ...

    African Journals Online (AJOL)

    The burrow architecture (length, internal dimensions, fractal dimension of tunnel systems, number of nesting chambers and surface mounds) was investigated in the Damaraland mole-rat (Fukomys damarensis). A total of 31 animals were caught from five different colonies and their burrow systems were excavated in their ...

  3. Underwater floating robot-fish: a comparative analysis of the results of mathematical modelling and full-scale tests of the prototype

    Directory of Open Access Journals (Sweden)

    Jatsun Sergey

    2017-01-01

    Full Text Available The article presents a comparative analysis of the results of computer mathematical modelling of the motion of the underwater robot-fish implemented by using the MATLAB / Simulink package and fullscale tests of an experimental model developed in the laboratory of mechatronics and robotics of the SouthWest State University.

  4. Architectural prototyping

    DEFF Research Database (Denmark)

    Bardram, Jakob Eyvind; Christensen, Henrik Bærbak; Hansen, Klaus Marius

    2004-01-01

    A major part of software architecture design is learning how specific architectural designs balance the concerns of stakeholders. We explore the notion of "architectural prototypes", correspondingly architectural prototyping, as a means of using executable prototypes to investigate stakeholders...

  5. Incorporation of microplastics from litter into burrows of Lumbricus terrestris.

    Science.gov (United States)

    Huerta Lwanga, Esperanza; Gertsen, Hennie; Gooren, Harm; Peters, Piet; Salánki, Tamás; van der Ploeg, Martine; Besseling, Ellen; Koelmans, Albert A; Geissen, Violette

    2017-01-01

    Pollution caused by plastic debris is an urgent environmental problem. Here, we assessed the effects of microplastics in the soil surface litter on the formation and characterization of burrows built by the anecic earthworm Lumbricus terrestris in soil and quantified the amount of microplastics that was transported and deposited in L. terrestris burrows. Worms were exposed to soil surface litter treatments containing microplastics (Low Density Polyethylene) for 2 weeks at concentrations of 0%, 7%, 28%, 45% and 60%. The latter representing environmentally realistic concentrations found in hot spot soil locations. There were significantly more burrows found when soil was exposed to the surface treatment composed of 7% microplastics than in all other treatments. The highest amount of organic matter in the walls of the burrows was observed after using the treatments containing 28 and 45% microplastics. The highest microplastic bioturbation efficiency ratio (total microplastics (mg) in burrow walls/initial total surface litter microplastics (mg)) was found using the concentration of 7% microplastics, where L. terrestris introduced 73.5% of the surface microplastics into the burrow walls. The highest burrow wall microplastic content per unit weight of soil (11.8 ± 4.8 g kg- 1 ) was found using a concentration of 60% microplastics. L. terrestris was responsible for size-selective downward transport when exposed to concentrations of 7, 28 and 45% microplastics in the surface litter, as the fraction ≤50 μm microplastics in burrow walls increased by 65% compared to this fraction in the original surface litter plastic. We conclude that the high biogenic incorporation rate of the small-fraction microplastics from surface litter into burrow walls causes a risk of leaching through preferential flow into groundwater bodies. Furthermore, this leaching may have implications for the subsequent availability of microplastics to terrestrial organisms or for the transport

  6. The burrowing characteristics of three common earthworm species

    International Nuclear Information System (INIS)

    Francis, G.S.; Tabley, F.J.; Butler, R.C.; Fraser, P.M.

    2001-01-01

    The burrowing characteristics of 3 common earthworm species were studied using X-ray computed tomography (CT) scanning in large cylinders (24.1 cm diameter) packed with topsoil (0-25 cm) and subsoil (25-50 cm) to representative field bulk density values and sown with ryegrass. Replicated cylinders (n 3), kept under constant moisture and temperature conditions, were inoculated with mature species of Lumbricus rubellus, Aporrectodea caliginosa, or Octolasion cyaneum earthworms at rates similar to their population density in the field. A non-inoculated, unreplicated control was also included. The number, biomass, and activity of the 3 species were then examined. X-ray CT scanning of large-diameter soil cylinders offers an alternative method for obtaining information on the burrowing characteristics of earthworms (Jegou et al. 1999). As this method is non-destructive, repeat measurements can be made and the use of large cylinders minimises edge effects. The objectives of this study were to: (i) assess the burrowing characteristics of 3 earthworm species (under artificial conditions) through measurement of 2-D porosity using X-ray CT scanning, (ii) estimate the extent of burrow backfilling between sequential scans, and (iii) estimate the continuity of earthworm burrows with depth through hydraulic conductivity measurements. Copyright (2001) CSIRO Publishing

  7. Use of Artificial Burrows by Burrowing Owls (Athene cunicularia) at the HAMMER Facility on the U.S. Department of Energy Hanford Site

    Energy Technology Data Exchange (ETDEWEB)

    Alexander, Amanda K.; Sackschewsky, Michael R.; Duberstein, Corey A.

    2005-09-30

    In 2003 the U.S. Department of Energy (DOE) constructed an Emergency Vehicle Operations Course (EVOC) at the Hazardous Material Management and Emergency Response Training and Education Center (HAMMER) in the southern portion of the Hanford Site. Preliminary surveys during 2001 identified an active burrowing owl (Athene cunicularia) burrow and three burrowing owls within the proposed development area. Burrowing owls were classified as a federal species of concern, a Washington State ?candidate? species, a Washington Department of Fish and Wildlife priority species, and a Hanford Site Biological Resources Management Plan Level III resource. Therefore, the mitigation action plan for the project included the installation of twenty artificial burrows around EVOC in the spring of 2003. The mitigation plan established a success criterion of five percent annual use of the burrows by owls. In July 2005, a field survey of the EVOC burrow complex was conducted to determine use and demography at each site. Burrow locations were mapped and signs of activity (feces, owl tracks, castings, feathers) were recorded. Out of the twenty burrows, twelve were found to be active. Of the eight inactive burrows three appeared to have been active earlier in the 2005 breeding season. A total of nineteen owls were counted but demography could not be determined. It appears that the EVOC mitigation exceeded burrow use goals during 2005. Continued site monitoring and maintenance, according to mitigation plan guidelines should be conducted as prescribed.

  8. DSLs in robotics

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  9. Plant cover effect on Bolson tortoise (Gopherus flavomarginatus Legler 1959, Testudinidae burrow use

    Directory of Open Access Journals (Sweden)

    Jorge Luis Becerra-López

    2017-03-01

    Full Text Available The Bolson tortoise, Gopherus flavomarginatus, occurs within a restricted geographical area in the Mexican Chihuahuan Desert. We analyzed the variation in surface microhabitat with relation to the burrow occupancy for this tortoise at the Mapimí Biosphere Reserve, Mexico. In summer 2010, we monitored burrow activity (active, inactive, or abandoned and measured environmental factors that might influence the burrow’s occupancy by tortoises (air temperature, relative humidity and substrate temperature, both inside and outside the burrow, and the plant cover around it. Discriminant analysis was used to identify the importance of these variables influencing burrow occupancy. Correlation and linear regression analyses were performed to quantify the relation between environmental factors in the sampled burrows. Results. Sixty-one burrows were identified at the Tortugas locality. The first function’s auto-value analysis indicates that this function explains 97.9% of the variation in burrow activity status; high occupancy scores were associated with low substrate temperature inside the burrow. Plant cover was inversely proportional to substrate temperature inside the burrow. These results suggest the importance the density of plants surrounding the tortoise’s burrow as a key factor influencing the burrow microclimate and occupancy by the tortoises. Conclusions. Gopherus flavomarginatus inhabits burrows, in part, based on microhabitat structure, with plant cover being a main factor influencing burrow occupancy. Our findings indicate that human land use and vegetation management are important for conserving Bolson tortoises, and for understanding habitat conditions necessary for the successful establishment of populations elsewhere.

  10. Exposure of burrowing mammals to {sup 222}Rn

    Energy Technology Data Exchange (ETDEWEB)

    Beresford, N.A., E-mail: nab@ceh.ac.uk [NERC Centre for Ecology and Hydrology, Lancaster Environment Centre, Library Av. Bailrigg, Lancaster LA1 4AP (United Kingdom); Barnett, C.L. [NERC Centre for Ecology and Hydrology, Lancaster Environment Centre, Library Av. Bailrigg, Lancaster LA1 4AP (United Kingdom); Vives i Batlle, J. [Belgian Nuclear Research Centre (SCK-CEN), Boeretang 200, 2400 Mol (Belgium); Potter, E.D. [NERC Centre for Ecology and Hydrology, Lancaster Environment Centre, Library Av. Bailrigg, Lancaster LA1 4AP (United Kingdom); Ibrahimi, Z.-F. [Health Protection Agency, Centre for Radiation, Chemical and Environmental Hazards, Chilton, Didcot OX11 0RQ (United Kingdom); Barlow, T.S.; Schieb, C.; Jones, D.G. [British Geological Survey, Environmental Science Centre, Keyworth, Nottingham NG12 5GG (United Kingdom); Copplestone, D. [School of Natural Sciences, University of Stirling, Stirling FK9 4LA (United Kingdom)

    2012-08-01

    Estimates of absorbed dose rates to wildlife from exposure to natural background radionuclides are required to put estimates of dose rates arising from regulated releases of radioactivity and proposed benchmarks into context. Recent review papers have estimated dose rates to wildlife from {sup 40}K, and {sup 238}U and {sup 232}Th series radionuclides. However, only one study previous has considered the potential dose rates to burrowing animals from inhaled {sup 222}Rn and its daughter products. In this paper we describe a study conducted at seven sites in northwest England. Passive track etch detectors were used to measure the {sup 222}Rn concentrations in artificial burrows over a period of approximately one year. Results suggest that absorbed dose rates to burrowing mammals as a consequence of exposure to {sup 222}Rn are likely to be at least an order of magnitude higher than those suggested in previous evaluations of natural background exposure rates which had omitted this radionuclide and exposure pathway. Dose rates in some areas of Great Britain will be considerably in excess of incremental no-effects benchmark dose rates suggested for use as screening levels. Such advised benchmark dose rates need to be better put into context with background dose rates, including exposure to {sup 222}Rn, to ensure credibility; although the context will be determined by the purpose of the benchmark and the assessment level. - Highlights: Black-Right-Pointing-Pointer Determined {sup 222}Rn concentrations in artificial burrows. Black-Right-Pointing-Pointer Estimated dose rates to burrowing mammals from inhaled {sup 222}Rn and daughter products. Black-Right-Pointing-Pointer {sup 222}Rn likely to dominate exposure of burrowing mammals due to natural radionuclides.

  11. Collaborative Prototyping

    DEFF Research Database (Denmark)

    Bogers, Marcel; Horst, Willem

    2014-01-01

    of the prototyping process, the actual prototype was used as a tool for communication or development, thus serving as a platform for the cross-fertilization of knowledge. In this way, collaborative prototyping leads to a better balance between functionality and usability; it translates usability problems into design......This paper presents an inductive study that shows how collaborative prototyping across functional, hierarchical, and organizational boundaries can improve the overall prototyping process. Our combined action research and case study approach provides new insights into how collaborative prototyping...... can provide a platform for prototype-driven problem solving in early new product development (NPD). Our findings have important implications for how to facilitate multistakeholder collaboration in prototyping and problem solving, and more generally for how to organize collaborative and open innovation...

  12. Ventilation of multi-entranced rodent burrows by boundary layer eddies.

    Science.gov (United States)

    Brickner-Braun, Inbal; Zucker-Milwerger, Daniel; Braun, Avi; Turner, J Scott; Pinshow, Berry; Berliner, Pedro

    2014-12-01

    Rodent burrows are often assumed to be environments wherein the air has a high concentration of CO₂. Although high burrow [CO₂] has been recorded, many studies report burrow [CO₂] that differs only slightly from atmospheric concentrations. Here, we advocate that one of the reasons for these differences is the penetration into burrows of air gusts (eddies), which originate in the turbulent boundary layer and prevent build-up of CO₂. We have characterized the means by which burrows of Sundevall's jird, which are representative of the burrows of many rodent species with more than one entrance, are ventilated. Our results demonstrate that, even at low wind speeds, the random penetration of eddies into a burrow through its openings is sufficient to keep the burrow [CO₂] low enough to be physiologically inconsequential, even in its deep and remote parts. © 2014. Published by The Company of Biologists Ltd.

  13. Modeling seasonal detection patterns for burrowing owl surveys

    Science.gov (United States)

    Quresh S. Latif; Kathleen D. Fleming; Cameron Barrows; John T. Rotenberry

    2012-01-01

    To guide monitoring of burrowing owls (Athene cunicularia) in the Coachella Valley, California, USA, we analyzed survey-method-specific seasonal variation in detectability. Point-based call-broadcast surveys yielded high early season detectability that then declined through time, whereas detectability on driving surveys increased through the season. Point surveys...

  14. Incorporation of microplastics from litter into burrows of Lumbricus terrestris

    NARCIS (Netherlands)

    Huerta Lwanga, Esperanza; Gertsen, H.F.; Gooren, H.; Peters, P.; Salanki, T.E.; Ploeg, van der M.; Besseling, E.; Koelmans, A.A.; Geissen, V.

    2017-01-01

    Pollution caused by plastic debris is an urgent environmental problem. Here, we assessed the effects of microplastics in the soil surface litter on the formation and characterization of burrows built by the anecic earthworm Lumbricus terrestris in soil and quantified the amount of microplastics that

  15. Burgess shale-type biotas were not entirely burrowed away

    DEFF Research Database (Denmark)

    Gaines, Robert R.; Droser, Mary L.; Orr, Patrick J.

    2012-01-01

    environments is that soft-bodied biotas were literally burrowed away from the fossil record by increasing infaunal activity in muddy substrate environments; this would have affected geochemical gradients and increased the efficiency of organic matter recycling in sediments. New and recently published data...

  16. Daily and seasonal temperatures in the burrows of African rodent ...

    African Journals Online (AJOL)

    1987-03-02

    Mar 2, 1987 ... temperature extremes, containing a nest and a bolt-hole. (Jarvis & Sale 1971; Davies & Jarvis 1986; Lovegrove &. Painting 1987). In the burrow systems of Cryptomys damarensis we have found nests as deep as 2,5 m below ground. Dissimilarities in ..... The live-trap in which it was confined was shaded ...

  17. Protozoal hepatitis in a western burrowing owl (Athene cunicularia hypugaea)

    Science.gov (United States)

    Franson, J. Christian

    2017-01-01

    A western burrowing owl (Athene cunicularia hypugaea) found dead in southern California had many light-colored lesions visible grossly on its liver, and histopathology revealed extensive necrosis throughout the hepatic parenchyma. Single-celled organisms were seen in clear spaces within the areas of necrosis. The owl was diagnosed with protozoal hepatitis.

  18. Oxygen penetration around burrows and roots in aquatic sediments

    DEFF Research Database (Denmark)

    Meysman, Filip J.R.; Galaktionov, O.S.; Glud, Ronnie N.

    2010-01-01

    Diffusion is the dominant physical mechanism for the transfer of oxygen into fine-grained aquatic sediments. This diffusive uptake occurs at the sediment-water interface, but also at internal interfaces, such as along ventilated burrows or O2 releasing plant roots. Here, we present a systematic...

  19. An example of burrow system architecture of dispersing Damaraland ...

    African Journals Online (AJOL)

    The Damaraland mole-rat (Fukomys damarensis) is a social, subterranean rodent that occurs in the red Kalahari sands. This species exhibits extreme reproductive skew with a single breeding female whereas reproduction in subordinate group members is completely blocked. Rainfall, as it greatly facilitates burrowing, ...

  20. Seasonal effects on digging activity and burrow architecture in the ...

    African Journals Online (AJOL)

    Most polygynous male mammals exhibit little or no parental care or involvement raising young. Instead, they invest indirectly in their own morphological and physiological attributes which enhance their chance of reproduction. Such secondary morphological sex traits may contribute to differences in the burrow architecture ...

  1. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  2. Shrimp burrow in tropical seagrass meadows: An important sink for litter

    Science.gov (United States)

    Vonk, Jan Arie; Kneer, Dominik; Stapel, Johan; Asmus, Harald

    2008-08-01

    The abundance, burrow characteristics, and in situ behaviour of the burrowing shrimps Neaxius acanthus (Decapoda: Strahlaxiidae) and Alpheus macellarius (Decapoda: Alpheidae) were studied to quantify the collection of seagrass material, to identify the fate of this collected material, and to determine the importance of these burrowing crustaceans in the nutrient (nitrogen and phosphorus) cycling of two tropical seagrass meadows on Bone Batang, South Sulawesi, Indonesia. Alpheus macellarius harvested 0.70 g dry weight (DW) burrow -1 d -1 seagrass material, dominantly by active cutting of fresh seagrass leaves. Neaxius acanthus collected 1.66 g DW burrow -1 d -1, mainly detached leaves which floated past the burrow opening. The A. macellarius and N. acanthus communities together collected in their burrows an amount of seagrass leaf material corresponding to more than 50% of the leaf production in the meadows studied. The crustacean species studied might therefore fulfil an important function in the nutrient cycling of tropical meadows. In the burrow most of the collected material is shredded into pieces. The burrows of both species had special chambers which serve as a storage for seagrass leaf material. Neaxius acanthus incorporated most of the material into the burrow wall lining, which is made of small sediment particles and macerated seagrass leaves. Phosphate concentrations measured in N. acanthus burrows compared with pore-water and water-column concentrations suggests that a substantial amount of the seagrass material undergoes decomposition in the burrows. Oxygen levels measured in these water bodies are indicative for a possible exchange of water between the burrow and its surroundings, most likely supported by the shrimps irrigating their burrows. By collecting leaf material in their burrows, nutrients that are otherwise lost from the seagrass meadow associated with detached leaves and leaf fragments carried away in the water column, are maintained in the

  3. Prototyping Practice

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette; Tamke, Martin

    2015-01-01

    This paper examines the role of the prototyping in digital architecture. During the past decade, a new research field has emerged exploring the digital technology’s impact on the way we think, design and build our environment. In this practice the prototype, the pavilion, installation or demonstr......This paper examines the role of the prototyping in digital architecture. During the past decade, a new research field has emerged exploring the digital technology’s impact on the way we think, design and build our environment. In this practice the prototype, the pavilion, installation...

  4. Assistive and Rehabilitation Robotic System

    Directory of Open Access Journals (Sweden)

    Adrian Abrudean

    2015-06-01

    Full Text Available A short introduction concerning the content of Assistive Technology and Rehabilitation Engineering is followed by a study of robotic systems which combine two or more assistive functions. Based on biomechanical aspects, a complex robotic system is presented, starting with the study of functionality and ending with the practical aspects of the prototype development.

  5. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-01-01

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

  6. Origin of tropical American burrowing reptiles by transatlantic rafting.

    Science.gov (United States)

    Vidal, Nicolas; Azvolinsky, Anna; Cruaud, Corinne; Hedges, S Blair

    2008-02-23

    Populations of terrestrial or freshwater taxa that are separated by oceans can be explained by either oceanic dispersal or fragmentation of a previously contiguous land mass. Amphisbaenians, the worm lizards (approx. 165 species), are small squamate reptiles that are uniquely adapted to a burrowing lifestyle and inhabit Africa, South America, Caribbean Islands, North America, Europe and the Middle East. All but a few species are limbless and they rarely leave their subterranean burrows. Given their peculiar habits, the distribution of amphisbaenians has been assumed to be primarily the result of two land-mass fragmentation events: the split of the supercontinent Pangaea starting 200 Myr ago, separating species on the northern land mass (Laurasia) from those on the southern land mass (Gondwana), and the split of South America from Africa 100 Myr ago. Here we show with molecular evidence that oceanic dispersal-on floating islands-played a more prominent role, and that amphisbaenians crossed the Atlantic Ocean in the Eocene (40 Myr ago) resulting in a tropical American radiation representing one-half of all known amphisbaenian species. Until now, only four or five transatlantic dispersal events were known in terrestrial vertebrates. Significantly, this is the first such dispersal event to involve a group that burrows, an unexpected lifestyle for an oceanic disperser.

  7. Mammalian mesocarnivore visitation at tortoise burrows in a wind farm

    Science.gov (United States)

    Agha, Mickey; Smith, Amanda L.; Lovich, Jeffrey E.; Delaney, David F.; Ennen, Joshua R.; Briggs, Jessica R.; Fleckenstein, Leo J.; Tennant, Laura A.; Puffer, Shellie R.; Walde, Andrew D.; Arundel, Terry; Price, Steven J.; Todd, Brian D.

    2017-01-01

    There is little information on predator–prey interactions in wind energy landscapes in North America, especially among terrestrial vertebrates. Here, we evaluated how proximity to roads and wind turbines affect mesocarnivore visitation with desert tortoises (Gopherus agassizii) and their burrows in a wind energy landscape. In 2013, we placed motion-sensor cameras facing the entrances of 46 active desert tortoise burrows in a 5.2-km2 wind energy facility near Palm Springs, California, USA. Cameras recorded images of 35 species of reptiles, mammals, and birds. Counts for 4 species of mesocarnivores at desert tortoise burrows increased closer to dirt roads, and decreased closer to wind turbines. Our results suggest that anthropogenic infrastructure associated with wind energy facilities could influence the general behavior of mammalian predators and their prey. Further investigation of proximate mechanisms that underlie road and wind turbine effects (i.e., ground vibrations, sound emission, and traffic volume) and on wind energy facility spatial designs (i.e., road and wind turbine configuration) could prove useful for better understanding wildlife responses to wind energy development. © 2017 The Wildlife Society.

  8. Does petroleum development affect burrowing owl nocturnal space-use?

    Energy Technology Data Exchange (ETDEWEB)

    Scobie, Corey; Wellicome, Troy; Bayne, Erin [Department of Biological Sciences, University of Alberta (Canada)], email: cscobie@ualberta.ca, email: tiw@ualberta.ca, email: bayne@ualberta.ca

    2011-07-01

    Decline all over Canada in the population of burrowing owls, a federally listed endangered species, has raised concerns about the possible influence of petroleum infrastructure development on owl nocturnal space-use while foraging. Roads, wells, pipelines and sound-producing facilities related to petroleum development change the landscape and can influence the owls' mortality risk. For 3 years, 27 breeding adult male burrowing owls with nests close to different petroleum infrastructures were captured and fitted with a miniature GPS datalogger in order to track their nocturnal foraging. Data from these GPS devices were fed into a geographical information system and showed that pipelines and wells did not alter the foraging habits of the owls. Dirt and gravel roads, with little traffic, were preferentially selected by the owls, conceivably because of higher owl mortality risk along paved roads. Sound-producing facilities did not change owls' foraging behaviour, implying that sound may not affect their nocturnal space-use. Traffic data and sound power measurements will be used in further studies in an effort to better understand burrowing owls' nocturnal foraging habits.

  9. Artificial Crab Burrows Facilitate Desalting of Rooted Mangrove Sediment in a Microcosm Study

    Directory of Open Access Journals (Sweden)

    Nathalie Pülmanns

    2015-07-01

    Full Text Available Water uptake by mangrove trees can result in salt accumulation in sediment around roots, negatively influencing growth. Tidal pumping facilitates salt release and can be enhanced by crab burrows. Similarly, flushing of burrows by incoming tidal water decreases sediment salinity. In contrast to burrows with multiple entrances, the role of burrows with one opening for salinity reduction is largely unknown. In a microcosm experiment we studied the effect of artificial, burrow-like macro-pores with one opening on the desalting of mangrove sediment and growth of Rhizophora mangle L. seedlings. Sediment salinity, seedling leaf area and seedling growth were monitored over six months. Artificial burrows facilitated salt release from the sediment after six weeks, but seedling growth was not influenced. To test whether crab burrows with one opening facilitate salt release in mangrove forests, sediment salinities were measured in areas with and without R. mangle stilt roots in North Brazil at the beginning and end of the wet season. In addition, burrows of Ucides cordatus were counted. High crab burrow densities and sediment salinities were associated with stilt root occurrence. Precipitation and salt accumulation by tree roots seem to have a larger effect on sediment salinity than desalting by U. cordatus burrows.

  10. Rodent burrows in late Pleistocene paleosols at Korean Palaeolithic sites and their implications for paleoclimate changes

    Science.gov (United States)

    Lim, H.; Park, S.; Lee, J.; Lee, Y.

    2013-12-01

    Rodent burrows are commonly found at many Paleolithic archaeological sites in Korea. They are nearly straight in horizontal view and gently inclined in lateral view. Burrow diameters are mostly 7 - 10cm, and burrow length may reach a few meters. Vertical penetration depths are generally about 1 m from the surface, and the thickness of the burrow-bearing layer is about 1-2 m. Although no remains (bones, teeth, claws, and coprolites) were found within burrows, they are interpreted to have been produced by rodent-like mammals (probably ground squirrels) based on the size and architecture. According to the previous study, the age of these burrows was constrained to be between ca. 40,000 and 25,000 yr BP by tephrochronology, radiocarbon and optically stimulated luminescence dating results (Lim et al., 2007). However, little is known about the reason why these burrows have disappeared after late Pleistocene time. For this question, two explanations can be considered: extinction or migration. Since same kinds of burrows are still found in the high-latitude regions, such as Mongolia and North America, the possibility of extinction can be ruled out. Therefore, migration seems to be the most likely explanation. Our results show that the destruction of habitat caused by climate change during this period is the main reason for the northward migration of burrowing animals. This study suggests that rodent burrows found in the late Pleistocene paleosols can provide useful information on paleoclimate and paleoenvironmental changes.

  11. Large mammal burrows in late Miocene calcic paleosols from central Argentina: paleoenvironment, taphonomy and producers

    Directory of Open Access Journals (Sweden)

    María Cristina Cardonatto

    2018-05-01

    Full Text Available Large cylindrical sediment-filled structures interpreted as mammal burrows occur within the loess-paleosol sequence of the late Miocene Cerro Azul Formation of central Argentina. A total of 115 burrow fills from three localities were measured. They are typically shallowly dipping, subcylindrical, unbranched structures with rounded ends and lacking enlargements. The horizontal diameter of the burrows range between 0.15 and 1.50 m, with most of the burrows in the interval of 0.39 to 0.98 m. Geometric morphometric analysis of transverse cross-sections support their distinct subcircular and elliptical (horizontally flattened shapes. Burrow fills are typically laminated in the lower part and massive in the upper part. The laminated intervals reflect pulses of flowing water entering the abandoned burrow during moderate rains, whereas massive intervals reflect mass flow input of dense sediment-water mixtures during heavy rains that produced sheet floods. Approximately 1% of the burrows contained fragmentary, disarticulated and weathered mammal bones that were introduced in the open burrow by currents along with other sedimentary particles. Analysis of the tetrapod burrow fossil record suggests that Miocene burrows, including those studied herein, reflect a remarkable increase in the average size of the fossorial fauna. We conclude that large late Miocene mammals dug burrows essentially as a shelter against environmental extremes and to escape predation. The simple architecture of the burrows suggests that the producers essentially foraged aboveground. Several mammal groups acquired fossorial habits in response to cold and seasonally dry climatic conditions that prevailed during the late Miocene in southern South America. The considerable range of horizontal diameters of the studied burrows can be attributed to a variety of producers, including dasypodids, the notoungulate Paedotherium minor, Glyptodontidae and Proscelidodon sp.

  12. Solution Prototype

    DEFF Research Database (Denmark)

    Efeoglu, Arkin; Møller, Charles; Serie, Michel

    2013-01-01

    This paper outlines an artifact building and evaluation proposal. Design Science Research (DSR) studies usually consider encapsulated artifact that have relationships with other artifacts. The solution prototype as a composed artifact demands for a more comprehensive consideration in its systematic...... environment. The solution prototype that is composed from blending product and service prototype has particular impacts on the dualism of DSR’s “Build” and “Evaluate”. Since the mix between product and service prototyping can be varied, there is a demand for a more agile and iterative framework. Van de Ven......’s research framework seems to fit this purpose. Van de Ven allows for an iterative research approach to problem solving with flexible starting point. The research activity is the result between the iteration of two dimensions. This framework focuses on the natural evaluation, particularly on ex...

  13. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

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

  14. Robotic assisted minimally invasive surgery

    Directory of Open Access Journals (Sweden)

    Palep Jaydeep

    2009-01-01

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

  15. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  16. Software Prototyping

    Science.gov (United States)

    Del Fiol, Guilherme; Hanseler, Haley; Crouch, Barbara Insley; Cummins, Mollie R.

    2016-01-01

    Summary Background Health information exchange (HIE) between Poison Control Centers (PCCs) and Emergency Departments (EDs) could improve care of poisoned patients. However, PCC information systems are not designed to facilitate HIE with EDs; therefore, we are developing specialized software to support HIE within the normal workflow of the PCC using user-centered design and rapid prototyping. Objective To describe the design of an HIE dashboard and the refinement of user requirements through rapid prototyping. Methods Using previously elicited user requirements, we designed low-fidelity sketches of designs on paper with iterative refinement. Next, we designed an interactive high-fidelity prototype and conducted scenario-based usability tests with end users. Users were asked to think aloud while accomplishing tasks related to a case vignette. After testing, the users provided feedback and evaluated the prototype using the System Usability Scale (SUS). Results Survey results from three users provided useful feedback that was then incorporated into the design. After achieving a stable design, we used the prototype itself as the specification for development of the actual software. Benefits of prototyping included having 1) subject-matter experts heavily involved with the design; 2) flexibility to make rapid changes, 3) the ability to minimize software development efforts early in the design stage; 4) rapid finalization of requirements; 5) early visualization of designs; 6) and a powerful vehicle for communication of the design to the programmers. Challenges included 1) time and effort to develop the prototypes and case scenarios; 2) no simulation of system performance; 3) not having all proposed functionality available in the final product; and 4) missing needed data elements in the PCC information system. PMID:27081404

  17. Artificially evolved functional shell morphology of burrowing bivalves

    DEFF Research Database (Denmark)

    Germann, D. P.; Schatz, W.; Hotz, Peter Eggenberger

    2014-01-01

    dimensional (3D) objects, the first ever artificial evolution of a physical bivalve shell was performed. The result was a vertically flattened shell occupying only the top sediment layers. Insufficient control of the sediment was the major limitation of the setup and restricted the significance of the results......, there are almost no studies experimentally testing their dynamic properties. To investigate the functional morphology of the bivalve shell, we employed a synthetic methodology and built an experimental setup to simulate the burrowing process. Using an evolutionary algorithm and a printer that prints three...

  18. Artificially evolved functional shell morphology of burrowing bivalves

    DEFF Research Database (Denmark)

    Germann, D. P.; Schatz, W.; Hotz, Peter Eggenberger

    2014-01-01

    The morphological evolution of bivalves is documented by a rich fossil record. It is believed that the shell shape and surface sculpture play an important role for the burrowing performance of endobenthic species. While detailed morphometric studies of bivalve shells have been done...... dimensional (3D) objects, the first ever artificial evolution of a physical bivalve shell was performed. The result was a vertically flattened shell occupying only the top sediment layers. Insufficient control of the sediment was the major limitation of the setup and restricted the significance of the results...

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

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2004-03-01

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

  20. WebotsTM: Professional Mobile Robot Simulation

    Directory of Open Access Journals (Sweden)

    Olivier Michel

    2008-11-01

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

  1. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    The relationship between digital and analogue is often constructed as one of opposition. The perception that the world is permeated with underlying patterns of data, describing events and matter alike, suggests that information can be understood apart from the substance to which it is associated......, and that its encoded logic can be constructed and reconfigured as an isolated entity. This disembodiment of information from materiality implies that an event like a thunderstorm, or a material like a body, can be described equally by data, in other words it can be read or written. The following prototypes......, Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  2. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  3. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

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

    Directory of Open Access Journals (Sweden)

    Memon Abdul Waris

    2018-01-01

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

  5. Flight Telerobotic Servicer prototype simulator

    Science.gov (United States)

    Schein, Rob; Krauze, Linda; Hartley, Craig; Dickenson, Alan; Lavecchia, Tom; Working, Bob

    A prototype simulator for the Flight Telerobotic Servicer (FTS) system is described for use in the design development of the FTS, emphasizing the hand controller and user interface. The simulator utilizes a graphics workstation based on rapid prototyping tools for systems analyses of the use of the user interface and the hand controller. Kinematic modeling, manipulator-control algorithms, and communications programs are contained in the software for the simulator. The hardwired FTS panels and operator interface for use on the STS Orbiter are represented graphically, and the simulated controls function as the final FTS system configuration does. The robotic arm moves based on the user hand-controller interface, and the joint angles and other data are given on the prototype of the user interface. This graphics simulation tool provides the means for familiarizing crewmembers with the FTS system operation, displays, and controls.

  6. The vibrational signals that male fiddler crabs ( Uca lactea) use to attract females into their burrows

    Science.gov (United States)

    Takeshita, Fumio; Murai, Minoru

    2016-06-01

    In some fiddler crab species, males emit vibrations from their burrows to mate-searching females after they have attracted a female to the burrow entrance using a waving display. Although the vibrations are considered acoustic signals to induce mating, it has not been demonstrated whether the vibrations attract the females into the burrow and, consequently, influence females' mating decisions. We investigated the structures and patterns of the vibrations using a dummy female and demonstrated experimentally a female preference for male vibrations in Uca lactea in the field. The acoustic signals consisted of repetitions of pulses. The dominant frequency of the pulses decreased with male carapace width. The pulse length decreased slightly with an increasing number of vibrational repetitions, and the pulse interval increased with increasing repetitions. These factors imply that the vibrations convey information on male characteristics, such as body size and stamina. In the experiment on female mate choice, the females significantly preferred males with higher pulse repetition rates when they were positioned at the entrance of the burrow, indicating that the females use the male vibrational signals to decide whether to enter the burrow. However, females showed no preference for the vibrations once they were inside a burrow, i.e., whether they decided to copulate, suggesting that the vibrations do not independently affect a female's final decision of mate choice. The vibrations inside the burrow might influence a female's decision by interaction with other male traits such as the burrow structure.

  7. Sand moisture as a factor determining depth of burrowing in the ...

    African Journals Online (AJOL)

    Tylos granulatus, a sandy-beach isopod, prefers an environmental moisture range exceeding 3,4% but less than 13%. The depths to which the animals burrow are, at least partly, determined by the moisture gradient in the sand. They are, however, incapable of burrowing into lotally dry sand. Animals alter their position in ...

  8. Aardvark burrows: a potential resource for animals in arid and semi ...

    African Journals Online (AJOL)

    Twenty-seven vertebrate species (21 mammals, two birds, three reptiles and one amphibian) were recorded making use of the burrows and it is likely that these species accrue benefits (e.g. a buffered microclimate) from burrow use. However, our sampling was biased towards mammals and nocturnal species. Consequently ...

  9. COMPARISON OF CARBON AND NITROGEN FLUXES IN TIDEFLAT FOOD WEBS DOMINATED BY BURROWING SHRIMP OR BY CULTURED OYSTERS

    Science.gov (United States)

    Two species of indigenous, thalassinid burrowing shrimps are pests to the benthic culture of Pacific oysters (Crassostrea gigas) because deposition of sediment excavated by the shrimps buries or smothers the oysters. Carbaryl pesticide is used to reduce burrowing shrimp densitie...

  10. Burrowing behavior as an indicator of post-laparotomy pain in mice

    Directory of Open Access Journals (Sweden)

    Paulin Jirkof

    2010-10-01

    Full Text Available Detection of persistent pain of a mild-to-moderate degree in laboratory mice is difficult because mice do not show unambiguous symptoms of pain or suffering using standard methods of short-term observational or clinical monitoring. This study investigated the potential use of burrowing performance — a spontaneous and highly motivated behavior — as a measure of post-operative pain in laboratory mice. The influence of minor surgery on burrowing was investigated in adult C57BL/6J mice of both genders in a modified rodent burrowing test (displacement of food pellets from a pellet-filled tube within the animal’s home cage. Almost all (98% healthy mice burrowed (mean latency 1.3 h, SEM 0.5 h. After surgery without pain treatment, latency of burrowing was significantly prolonged (mean ∆ latency 10 h. Analgesic treatment using the anti-inflammatory drug carprofen (5 mg/kg bodyweight decreased latency of burrowing after surgery (mean ∆ latency 5.5 h to the level found in mice that had been anaesthetised (mean ∆ latency 5.3 h or had received anaesthesia and analgesia (mean ∆ latency 4.6 h. Analgesia during surgery was associated with a significantly earlier onset of burrowing compared to surgery without pain treatment. A distinct gradation in burrowing performance was found ranging from the undisturbed pre-operative status to the intermediate level following anaesthesia/analgesia and surgery with analgesia, to the pronounced prolongation of latency to burrow after surgery without pain relief. In conclusion, post-surgical impairment of general condition, probably mainly attributable to pain, can be conveniently assessed in laboratory mice on the basis of the burrowing test.

  11. Priming effect in topsoil and subsoil induced by earthworm burrows

    Science.gov (United States)

    Thu, Duyen Hoang Thi

    2017-04-01

    Earthworms (Lumbricus terrestris L.) not only affect soil physics, but they also boost microbial activities and consequently important hotspots of microbial mediated carbon and C turnover through their burrowing activity. However, it is still unknown to which extend earthworms affect priming effect in top- and subsoil horizons. More labile C inputs in earthworm burrows were hypothesized to trigger higher priming of soil organic matter (SOM) decomposition compared to rhizosphere and bulk soil. Moreover, this effect was expected to be more pronounced in subsoil due to its greater C and nutrient limitation. To test these hypotheses, biopores and bulk soil were sampled from topsoil (0-30 cm) and two subsoil depths (45-75 and 75-105 cm). Additionally, rhizosphere samples were taken from the topsoil. Total organic C (Corg), total N (TN), total P (TP) and enzyme activities involved in C-, N-, and P-cycling (cellobiohydrolase, β-glucosidase, xylanase, chitinase, leucine aminopeptidase and phosphatase) were measured. Priming effects were calculated as the difference in SOM-derived CO2 from soil with or without 14C-labelled glucose addition. Enzyme activities in biopores were positively correlated with Corg, TN and TP, but in bulk soil this correlation was negative. The more frequent fresh and labile C inputs to biopores caused 4 to 20 time higher absolute priming of SOM turnover due to enzyme activities that were one order of magnitude higher than in bulk soil. In subsoil biopores, reduced labile C inputs and lower N availability stimulated priming twofold greater than in topsoil. In contrast, a positive priming effect in bulk soil was only detected at 75-105 cm depth. We conclude that earthworm burrows provide not only the linkage between top- and subsoil for C and nutrients, but strongly increase microbial activities and accelerate SOM turnover in subsoil, contributing to nutrient mobilization for roots and CO2 emission increase as a greenhouse gas. Additionally, the

  12. Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

    NARCIS (Netherlands)

    Groenhuis, Vincent; Stramigioli, Stefano

    2018-01-01

    In this paper we show that pneumatic stepper motors for MR safe robots can be constructed using rapid prototyping techniques such as 3-D printing and laser-cutting. The designs are lightweight, completely metal-free and fully customizable. Besides MR safe robotic systems, other potential

  13. Amooty, a stair climbing intelligent maintenance robot

    International Nuclear Information System (INIS)

    Anon.

    1985-01-01

    Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants. (author)

  14. Amooty, a stair climbing intelligent maintenance robot

    Energy Technology Data Exchange (ETDEWEB)

    1985-04-01

    Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants.

  15. 3D Printed Robotic Hand

    Science.gov (United States)

    Pizarro, Yaritzmar Rosario; Schuler, Jason M.; Lippitt, Thomas C.

    2013-01-01

    Dexterous robotic hands are changing the way robots and humans interact and use common tools. Unfortunately, the complexity of the joints and actuations drive up the manufacturing cost. Some cutting edge and commercially available rapid prototyping machines now have the ability to print multiple materials and even combine these materials in the same job. A 3D model of a robotic hand was designed using Creo Parametric 2.0. Combining "hard" and "soft" materials, the model was printed on the Object Connex350 3D printer with the purpose of resembling as much as possible the human appearance and mobility of a real hand while needing no assembly. After printing the prototype, strings where installed as actuators to test mobility. Based on printing materials, the manufacturing cost of the hand was $167, significantly lower than other robotic hands without the actuators since they have more complex assembly processes.

  16. Drum inspection robots: Application development

    International Nuclear Information System (INIS)

    Hazen, F.B.; Warner, R.D.

    1996-01-01

    Throughout the Department of Energy (DOE), drums containing mixed and low level stored waste are inspected, as mandated by the Resource Conservation and Recovery Act (RCRA) and other regulations. The inspections are intended to prevent leaks by finding corrosion long before the drums are breached. The DOE Office of Science and Technology (OST) has sponsored efforts towards the development of robotic drum inspectors. This emerging application for mobile and remote sensing has broad applicability for DOE and commercial waste storage areas. Three full scale robot prototypes have been under development, and another project has prototyped a novel technique to analyze robotically collected drum images. In general, the robots consist of a mobile, self-navigating base vehicle, outfitted with sensor packages so that rust and other corrosion cues can be automatically identified. They promise the potential to lower radiation dose and operator effort required, while improving diligence, consistency, and documentation

  17. Spilled oil and infaunal activity - Modification of burrowing behavior and redistribution of oil

    Science.gov (United States)

    Clifton, H.E.; Kvenvolden, K.A.; Rapp, J.B.

    1984-01-01

    A series of experiments in Willapa Bay, Washington, indicates the degree to which the presence of spilled oil modifies the burrowing behavior of infauna and the extent to which the animals redistribute oil into intertidal sediment. Small amounts of North Slope crude oil introduced at low tide directly into burrow openings (mostly made by the crustacean Callianassa) resulted in a limited and temporary reduction in the number of burrow openings. In contrast, a layer of oil-saturated sand 1 cm thick buried about 5 cm below the sediment surface sharply reduced the number of burrow openings. After a year, the few new burrows penetrated only the margins of the experimental plot, and bioturbation below the buried oil-saturated sand layer declined dramatically. The experiments suggest that small amounts of oil temporarily stranded by tides in themselves have no long-range effect on burrowing behavior. The fauna, however, are capable of introducing measurable amounts of oil into the subsurface, where it is retained long after the rest of the stranded oil had washed away. A buried layer of oil-saturated sand greatly reduces infaunal activity; the oil presents an effective barrier that can persist for years. The oil incorporated into the sediment from burrow openings showed evidence of degradation after 7 months. In contrast the layer of buried oil remained essentially undergraded after a period of two years, even though oil in lower concentrations above the layer was degraded after a period of one year. This variation in degree of degradation of the buried oil, as well as the heterogeneity of oil distribution wherever the oil has been incorporated from the surface, emphasises the importance of careful sampling in any attempt to locate or monitor the presence of spilled oil in the substrate.In a series of experiments in Willapa Bay, Washington, small amounts of North Slope crude oil introduced at low tide directly into burrow openings resulted in a limited and temporary

  18. Medical Robotic and Tele surgical Simulation Education Research

    Science.gov (United States)

    2017-05-01

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

  19. 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...

  20. The influence of small mammal burrowing activity on water storage at the Hanford Site

    International Nuclear Information System (INIS)

    Landeen, D.S.

    1994-09-01

    The amount and rate at which water may penetrate a protective barrier and come into contact with buried radioactive waste is a major concern. Because burrowing animals eventually will reside on the surface of any protective barrier, the effect these burrow systems may have on the loss or retention of water needs to be determined. The first section of this document summarizes the known literature relative to small mammals and the effects that burrowing activities have on water distribution, infiltration, and the overall impact of burrows on the ecosystem. Topics that are summarized include burrow air pressures, airflow, burrow humidity, microtopography, mounding, infiltration, climate, soil evaporation, and discussions of large pores relative to water distribution. The second section of this document provides the results of the study that was conducted at the Hanford Site to determine what effect small mammal burrows have on water storage. This Biointrusion task is identified in the Permanent Isolation Surface Barrier Development Plan in support of protective barriers. This particular animal intrusion task is one part of the overall animal intrusion task identified in Animal Intrusion Test Plan

  1. Large-Diameter Burrows of the Triassic Ischigualasto Basin, NW Argentina: Paleoecological and Paleoenvironmental Implications

    Science.gov (United States)

    Colombi, Carina E.; Fernández, Eliana; Currie, Brian S.; Alcober, Oscar A.; Martínez, Ricardo; Correa, Gustavo

    2012-01-01

    Large-diameter ichnofossils comprising three morphotypes have been identified in the Upper Triassic Ischigualasto and Los Colorados formations of northwestern Argentina. These burrows add to the global record of the early appearance of fossorial behavior during early Mesozoic time. Morphotypes 1 and 2 are characterized by a network of tunnels and shafts that can be assigned to tetrapod burrows given similarities with previously described forms. However, differences in diameter, overall morphology, and stratigraphic occurrence allow their independent classification. Morphotype 3 forms a complex network of straight branches that intersect at oblique angles. Their calcareous composition and surface morphology indicate these structures have a composite biogenic origin likely developed due to combined plant/animal interactions. The association of Morphotypes 1 and 2 with fluvial overbank lithologies deposited under an extremely seasonal arid climate confirms interpretations that the early appearance of burrowing behavior was employed by vertebrates in response to both temperature and moisture-stress associated with seasonally or perpetually dry Pangean paleoclimates. Comparisons of burrow morphology and biomechanical attributes of the abundant paleovertebrate fauna preserved in both formations permit interpretations regarding the possible burrow architects for Morphotypes 1 and 2. In the case of the Morphotype 1, the burrow constructor could be one of the small carnivorous cynodonts, Ecteninion or Probelesodon. Assigning an architect for Morphotype 2 is more problematic due to mismatches between the observed burrow morphology and the size of the known Los Colorados vertebrates. PMID:23227195

  2. Synchrotron Reveals Early Triassic Odd Couple: Injured Amphibian and Aestivating Therapsid Share Burrow.

    Directory of Open Access Journals (Sweden)

    Vincent Fernandez

    Full Text Available Fossorialism is a beneficial adaptation for brooding, predator avoidance and protection from extreme climate. The abundance of fossilised burrow casts from the Early Triassic of southern Africa is viewed as a behavioural response by many tetrapods to the harsh conditions following the Permo-Triassic mass-extinction event. However, scarcity of vertebrate remains associated with these burrows leaves many ecological questions unanswered. Synchrotron scanning of a lithified burrow cast from the Early Triassic of the Karoo unveiled a unique mixed-species association: an injured temnospondyl amphibian (Broomistega that sheltered in a burrow occupied by an aestivating therapsid (Thrinaxodon. The discovery of this rare rhinesuchid represents the first occurrence in the fossil record of a temnospondyl in a burrow. The amphibian skeleton shows signs of a crushing trauma with partially healed fractures on several consecutive ribs. The presence of a relatively large intruder in what is interpreted to be a Thrinaxodon burrow implies that the therapsid tolerated the amphibian's presence. Among possible explanations for such unlikely cohabitation, Thrinaxodon aestivation is most plausible, an interpretation supported by the numerous Thrinaxodon specimens fossilised in curled-up postures. Recent advances in synchrotron imaging have enabled visualization of the contents of burrow casts, thus providing a novel tool to elucidate not only anatomy but also ecology and biology of ancient tetrapods.

  3. A Project-based Learning approach for teaching Robotics to ...

    African Journals Online (AJOL)

    In this research we used a project-based learning approach to teach robotics basics to undergraduate business computing students. The course coverage includes basic electronics, robot construction and programming using arduino. Students developed and tested a robot prototype. The project was evaluated using a ...

  4. Compact Tactile Sensors for Robot Fingers

    Science.gov (United States)

    Martin, Toby B.; Lussy, David; Gaudiano, Frank; Hulse, Aaron; Diftler, Myron A.; Rodriguez, Dagoberto; Bielski, Paul; Butzer, Melisa

    2004-01-01

    Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

  5. Burrow characteristics and habitat associations of armadillos in Brazil and the United States of America

    OpenAIRE

    Colleen M. McDonough; Michael J. DeLaney; Phu Quoc Le; Mark S. Blackmore; W. J. Loughry

    2000-01-01

    We censused and measured armadillo burrows in ten 10 m x 40 m plots in each of four habitat types at a study site in northern Florida and one in the Atlantic coastal rainforest of Brazil. The nine-banded armadillo (Dasypus novemcinctus) was the only species of armadillo found in Florida, but several additional species were present in Brazil. Burrows were more numerous but smaller in Brazil than in the U. S., probably due to the inclusion of burrows dug by the smaller congener D. septemcinctus...

  6. Observations on burrowing rates and comments on host specificity in the endangered mussel Lampsilis higginsi

    Science.gov (United States)

    Sylvester, J.R.; Holland, L.E.; Kamer, T.K.

    1984-01-01

    In preliminary laboratory studies, the endangered mussel Lampsilis higginsi was unable to burrow into rocky substrates, but did burrow into substrates comprised of silt, clay, sand, and/or pebble-gravel. Burrowing times were shortest in silt and longest in pebble-gravel. As judged by longevity of glochidial infection, walleye (Stizostedion vitreum) and largemouth bass (Micropterus salmoides) may be suitable hosts for the parasitic stage. When glochidia were placed in water without host fish, half had died after 48 hours, and all had died after 72 hours. (DBO).

  7. 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.

  8. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  9. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  10. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  11. Online Gait Learning for Modular Robots with Arbitrary Shapes and Sizes

    NARCIS (Netherlands)

    Weel, Berend; D'Angelo, M.; Haasdijk, Evert; Eiben, A. E.

    2017-01-01

    Evolutionary robotics using real hardware is currently restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. Rapid prototyping (3D printing) and automated assembly are the main enablers of robotic systems where robot offspring can be produced

  12. Behavioural adaptations to moisture as an environmental constraint in a nocturnal burrow-inhabiting Kalahari detritivore Parastizopus armaticeps Peringuey (Coleoptera: Tenebrionidae

    Directory of Open Access Journals (Sweden)

    O.A.E. Rasa

    1994-08-01

    Full Text Available The nocturnal desert detritivore Parastiz.opus armaticeps shows differences in surface activity patterns and burrow fidelity depending on surface humidity. After rain approximately half of the beetle population, independent of sex, is highly vagile and disperses over long distances. During drought, beetles are more sedentary and show higher burrow fidelity. They also inhabit burrows that are longer and deeper than non-inhabited ones, such burrows being relatively scarce. Burrow fidelity and the adoption of a more sedentary habit during drought are considered strategies to avoid the risks of not locating a suitable burrow before sunrise and subsequent desiccation in shallow burrows.

  13. Genetic characterization of the burrowing shrimp (Neotrypaea californiensis) in Washington and Oregon estuaries

    Science.gov (United States)

    The Ghost shrimp, (Neotrypaea californiensis) are burrowers, which have a wide demographic distribution along the United States Pacific Coast. Our study used genetic analysis to estimate the source populations of larvae recruiting into estuaries to allow a greater understanding ...

  14. Design and Rolling Analysis of a Novel Deformable Polyhedron Robot

    Directory of Open Access Journals (Sweden)

    Yaobin Tian

    2014-10-01

    Full Text Available In this paper, a new rolling robot is proposed. The mechanism of the robot consists of eight links with three degrees of freedom (DOFs. The shape of each link of the robot is an equilateral triangle. The robot realizes its direction switching function by deforming into different modes of planar parallelogram mechanisms (PPM. In any deterministic mode, the robot can roll on the ground. The motion of the robot is studied based on the kinematic and zero moment point (ZMP analyses. Though the robot has three DOFs, we show that it can realize flexible mobility via direction switching and rolling functions with two DOFs and one DOF, respectively. A prototype robot was manufactured. A series of simulations and experiments done using this prototype is reported, verifying the feasibility of the design.

  15. Mechanics and Energetics of Excavation by Burrowing Wolf Spiders, Geolycosa spp.

    Science.gov (United States)

    Suter, Robert B.; Stratton, Gail E.; Miller, Patricia R.

    2011-01-01

    Burrowing wolf spiders, Geolycosa sp. (Araneae:Lycosidae), excavate vertical burrows and inhabit them throughout their lives or, in the case of males, until they mature and wander in search of mates. Three species: G. fatifera Kurata, G. missouriensis Banks, and G. rogersi Wallace were studied to understand how and at what expense the burrowing is accomplished. Normal and high-speed videography coupled with scanning electron microscopy revealed (a) that the convex surfaces of the two fangs, together, constitute the digging tool, (b) that boluses of soil are transported to the burrow entrance on the anterior surfaces of the chelicerae held there by the pedipalps, and (c) that each bolus is either incorporated into the growing turret or flung away, propelled by the forelegs. To elucidate the energetics of burrow construction, burrow volumes were calculated and then the costs associated with dislodging, elevating, and throwing the known volumes of soil were measured. A typical Geolycosa burrow, at a volume of 23.6 ± 2.0 ml and a depth of 13.2 ± 0.7 cm, required the removal of 918 boluses each weighing about 34 mg. The aggregate dislodging cost was close to 1.9 Joules in sand/sandy loam and 5.6 J in clayey subsoil, the work against gravity necessary to raise all of the boluses to the surface was about 0.13 J, and the aggregate cost of flinging the boluses was close to 0.014 J. Assuming that the ratio of external work to metabolic cost of external work is between 0.20 and 0.25 in spiders, the real cost of burrow construction would be between 8 J and 29 J, depending primarily on soil type. This is a small but not negligible cost when placed in the context of reproductive effort: a single Geolycosa egg, dozens to hundreds of which are produced in a clutch, contains about 10 J. PMID:21529154

  16. Burrow characteristics and habitat associations of armadillos in Brazil and the United States of America

    Directory of Open Access Journals (Sweden)

    Colleen M. McDonough

    2000-03-01

    Full Text Available We censused and measured armadillo burrows in ten 10 m x 40 m plots in each of four habitat types at a study site in northern Florida and one in the Atlantic coastal rainforest of Brazil. The nine-banded armadillo (Dasypus novemcinctus was the only species of armadillo found in Florida, but several additional species were present in Brazil. Burrows were more numerous but smaller in Brazil than in the U. S., probably due to the inclusion of burrows dug by the smaller congener D. septemcinctus. In Brazil, burrows were larger and more numerous in swamp and forest habitats than in grassland or disturbed areas, suggesting that D. novemcinctus is found primarily in forests and swamps while D. septemcinctus is located in the other areas. This was supported by data from sightings of live animals. In Florida, burrows were more numerous in hardwood hammocks than in wetlands, fields or upland pine areas, but burrow dimensions did not vary across habitat types. In Florida, armadillos were seen more frequently than expected in hammocks and wetlands and less frequently than expected in fields and upland pine areas. There were also age (juvenile versus adult, sex, and yearly differences in habitat use in Florida. Biomass, abundance, and species diversity of terrestrial invertebrates did not vary significantly between habitat types in Florida, suggesting that habitat associations of armadillos were not influenced by prey availability.

  17. A Modular Approach for a Family of Ground Mobile Robots

    Directory of Open Access Journals (Sweden)

    Giuseppe Quaglia

    2013-07-01

    Full Text Available This paper deals with Epi.q, a family of mobile robots whose main characteristic is a wheel-legged hybrid locomotion. These multi-purpose robots can be successfully exploited for security and surveillance tasks. The document presents state of the art security robotics, the Epi.q mechanical architecture, the concept behind the robot driving unit, three prototypes and the design of a new one.

  18. Population models of burrowing mayfly recolonization in Western Lake Erie

    Science.gov (United States)

    Madenjian, C.P.; Schloesser, D.W.; Krieger, K.A.

    1998-01-01

    Burrowing mayflies, Hexagenia spp. (H. limbata and H. rigida), began recolonizing western Lake Erie during the 1990s. Survey data for mayfly nymph densities indicated that the population experienced exponential growth between 1991 and 1997. To predict the time to full recovery of the mayfly population, we fitted logistic models, ranging in carrying capacity from 600 to 2000 nymphs/m2, to these survey data. Based on the fitted logistic curves, we forecast that the mayfly population in western Lake Erie would achieve full recovery between years 1998 and 2000, depending on the carrying capacity of the western basin. Additionally, we estimated the mortality rate of nymphs in western Lake Erie during 1994 and then applied an age-based matrix model to the mayfly population. The results of the matrix population modeling corroborated the exponential growth model application in that both methods yielded an estimate of the population growth rate, r, in excess of 0.8 yr-1. This was the first evidence that mayfly populations are capable of recolonizing large aquatic ecosystems at rates comparable with those observed in much smaller lentic ecosystems. Our model predictions should prove valuable to managers of power plant facilities along the western basin in planning for mayfly emergences and to managers of the yellow perch (Perca flavescens) fishery in western Lake Erie.

  19. Fundamentals of ergonomic exoskeleton robots

    NARCIS (Netherlands)

    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

  20. Virtual Prototyping at CERN

    Science.gov (United States)

    Gennaro, Silvano De

    The VENUS (Virtual Environment Navigation in the Underground Sites) project is probably the largest Virtual Reality application to Engineering design in the world. VENUS is just over one year old and offers a fully immersive and stereoscopic "flythru" of the LHC pits for the proposed experiments, including the experimental area equipment and the surface models that are being prepared for a territorial impact study. VENUS' Virtual Prototypes are an ideal replacement for the wooden models traditionally build for the past CERN machines, as they are generated directly from the EUCLID CAD files, therefore they are totally reliable, they can be updated in a matter of minutes, and they allow designers to explore them from inside, in a one-to-one scale. Navigation can be performed on the computer screen, on a stereoscopic large projection screen, or in immersive conditions, with an helmet and 3D mouse. By using specialised collision detection software, the computer can find optimal paths to lower each detector part into the pits and position it to destination, letting us visualize the whole assembly probess. During construction, these paths can be fed to a robot controller, which can operate the bridge cranes and build LHC almost without human intervention. VENUS is currently developing a multiplatform VR browser that will let the whole HEP community access LHC's Virtual Protoypes over the web. Many interesting things took place during the conference on Virtual Reality. For more information please refer to the Virtual Reality section.

  1. A Recipe for Soft Fluidic Elastomer Robots.

    Science.gov (United States)

    Marchese, Andrew D; Katzschmann, Robert K; Rus, Daniela

    2015-03-01

    This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes.

  2. Burrow architecture, family composition and habitat characteristics of the largest social African mole-rat: the giant mole-rat constructs really giant burrow systems

    Czech Academy of Sciences Publication Activity Database

    Šumbera, R.; Mazoch, V.; Patzenhauerová, Hana; Lövy, M.; Šklíba, J.; Bryja, Josef; Burda, H.

    2012-01-01

    Roč. 57, č. 2 (2012), s. 121-130 ISSN 0001-7051 R&D Projects: GA AV ČR IAA601410802 Institutional research plan: CEZ:AV0Z60930519 Keywords : Fukomys mechowii * subterranean rodent * burrow system * kin structure * Bathyergidae Subject RIV: EG - Zoology Impact factor: 0.949, year: 2012

  3. The burrows of Parastacus defossus (Decapoda: Parastacidae, a fossorial freshwater crayfish from southern Brazil

    Directory of Open Access Journals (Sweden)

    Clarissa K. Noro

    2010-06-01

    Full Text Available Parastacus defossus Faxon, 1898 is a fossorial crayfish species, which constructs its burrows in swampy areas in southeast Uruguay and in the state of Rio Grande do Sul, Brazil. The present field study was carried out in Lami, Porto Alegre, Rio Grande do Sul, Brazil, from May 2003 through August 2005. Environmental measurements (temperature, pH, dissolved oxygen, and water-table depth of the water in the galleries were made monthly. Burrow morphology was analyzed by means of resin and gypsum casts. The spatial distribution and changes in the number and shape of the surface openings over time were observed in a 100 m² area. To estimate the spatial distribution of the openings, the observed distribution was compared with the expected distribution predicted by the Poisson and Negative Binomial frequency-distribution models. The adult population density was estimated by direct observation of burrows and counts in the study area. Inside the burrows of P. defossus, the water temperature ranged between 16.6°C (autumn 2004 and 23°C (spring 2003. The water was hypoxic and slightly acidic, and the dissolved oxygen content was very low (mean 1.43 mg/l (18.2% saturation. The soil with burrows had higher percentages of coarse sand, fine sand, and silt. The spatial distribution of the openings showed a significant fit to the Negative Binomial distribution, indicating that the distribution of the openings is aggregated, as confirmed from the burrow morphology. The galleries are always formed by a central tunnel with multiple branchings that connect the underground water to the soil surface by one or more openings, which can be recognized by the chimneys. From knowledge of the burrow morphology, the population density was estimated to be about 120 individuals/100 m².

  4. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  5. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

  6. Map-Based Repowering and Reorganization of a Wind Resource Area to Minimize Burrowing Owl and Other Bird Fatalities

    Directory of Open Access Journals (Sweden)

    Lee Neher

    2009-10-01

    Full Text Available Wind turbines in the Altamont Pass Wind Resource Area (Alameda/Contra Costa Counties, California, USA generate about 730 GWh of electricity annually, but have been killing thousands of birds each year, including >2,000 raptors and hundreds of burrowing owls. We have developed collision hazard maps and hazard ratings of wind turbines to guide relocation of existing wind turbines and careful repowering to modern turbines to reduce burrowing owl fatalities principally, and other birds secondarily. Burrowing owls selected burrow sites lower on slopes and on smaller, shallower slopes than represented by the average 10 × 10 m2 grid cell among 187,908 grid cells sampled from 2,281,169 grid cells comprising a digital elevation model (DEM of the study area. Fuzzy logic and discriminant function analysis produced likelihood surfaces encompassing most burrowing owl burrows within a fraction of the study area, and the former corresponded with burrowing owl fatalities and the latter with other raptor fatalities. Our ratings of wind turbine hazard were more predictive of burrowing owl fatalities, but would be more difficult to implement. Careful repowering to modern wind turbines would most reduce fatalities of burrowing owls and other birds while adding about 1,000 GWh annually toward California’s 33% Renewable Portfolio Standard.

  7. BURROW ARCHITECTURE OF RED GHOST CRAB OCYPODE MACROCERA (H. MILNE-EDWARDS, 1852) : A CASE STUDY IN INDIAN SUNDARBANS

    OpenAIRE

    Sourabh Kumar Dubey; Deep Chandan Chakraborty; Sudipta Chakraborty; Amalesh Choudhury

    2013-01-01

    A study on burrow architecture and burrow morphology of the red ghost crab (Ocypode macrocera) was carried out at the southern proximity of the Sagar island (21°37.973' N, to E 88° 04.195'), western sector of Indian Sundarbans that faces the regular tidal influences of Bay of Bengal. Ocypode macrocera constructs burrows that are highly species specific and used by single individual. Four types of burrow patterns were observed like ‘I’, ‘J’ ‘U’ and ‘semi-U’ type with different size...

  8. Map-based repowering and reorganization of a wind resource area to minimize burrowing owl and other bird fatalities

    Energy Technology Data Exchange (ETDEWEB)

    Smallwood, K. S. [Research Ecologist, 3108 Finch Street, Davis, CA 95616 (United States); Neher, L. [Gis Specialist, Neher Consulting, 7241 34th Street, North Highlands, CA 95660 (United States); Bell, D. A. [East Bay Regional Park District, 2950 Peralta Oaks Court, Oakland, CA 94605-0381 (United States)

    2009-07-01

    Wind turbines in the Altamont Pass Wind Resource Area (Alameda/Contra Costa Counties, California, USA) generate about 730 GWh of electricity annually, but have been killing thousands of birds each year, including >2,000 raptors and hundreds of burrowing owls. We have developed collision hazard maps and hazard ratings of wind turbines to guide relocation of existing wind turbines and careful repowering to modern turbines to reduce burrowing owl fatalities principally, and other birds secondarily. Burrowing owls selected burrow sites lower on slopes and on smaller, shallower slopes than represented by the average 10 x 10 m{sup 2} grid cell among 187,908 grid cells sampled from 2,281,169 grid cells comprising a digital elevation model (DEM) of the study area. Fuzzy logic and discriminant function analysis produced likelihood surfaces encompassing most burrowing owl burrows within a fraction of the study area, and the former corresponded with burrowing owl fatalities and the latter with other raptor fatalities. Our ratings of wind turbine hazard were more predictive of burrowing owl fatalities, but would be more difficult to implement. Careful repowering to modern wind turbines would most reduce fatalities of burrowing owls and other birds while adding about 1,000 GWh annually toward California's 33% Renewable Portfolio Standard. (author)

  9. INVESTIGATING PECTORAL SHAPES AND LOCOMOTIVE STRATEGIES FOR CONCEPTUAL DESIGNING BIO-INSPIRED ROBOTIC FISH

    Directory of Open Access Journals (Sweden)

    A. I. MAINONG

    2017-01-01

    Full Text Available This paper describes the performance analysis of a conceptual bio-inspired robotic fish design, which is based on the morphology similar to the boxfish (Ostracion melagris. The robotic fish prototype is driven by three micro servos; two on the pectoral fins, and one on the caudal fin. Two electronic rapid prototyping boards were employed; one for the movement of robotic fish, and one for the force sensors measurements. The robotic fish were built using fused deposition modeling (FDM, more popularly known as the 3D printing method. Several designs of pectoral fins (rectangular, triangular and quarter-ellipse with unchanging the value of aspect ratio (AR employed to measure the performance of the prototype robotic fish in terms of hydrodynamics, thrust and maneuvering characteristics. The analysis of the unmanned robotic system performance is made experimentally and the results show that the proposed bioinspired robotic prototype opens up the possibility of design optimization research for future work.

  10. Concept design of robotic modules for needlescopic surgery.

    Science.gov (United States)

    Sen, Shin; Harada, Kanako; Hewitt, Zackary; Susilo, Ekawahyu; Kobayashi, Etsuko; Sakuma, Ichiro

    2017-08-01

    Many minimally invasive surgical procedures and assisting robotic systems have been developed to further minimize the number and size of incisions in the body surface. This paper presents a new idea combining the advantages of modular robotic surgery, single incision laparoscopic surgery and needlescopic surgery. In the proposed concept, modules carrying therapeutic or diagnostic tools are inserted in the abdominal cavity from the navel as in single incision laparoscopic surgery and assembled to 3-mm needle shafts penetrating the abdominal wall. A three degree-of-freedom robotic module measuring 16 mm in diameter and 51 mm in length was designed and prototyped. The performance of the three connected robotic modules was evaluated. A new idea of modular robotic surgery was proposed, and demonstrated by prototyping a 3-DOF robotic module. The performance of the connected robotic modules was evaluated, and the challenges and future work were summarized.

  11. Burrowing inhibition by fine textured beach fill: Implications for recovery of beach ecosystems

    Science.gov (United States)

    Viola, Sloane M.; Hubbard, David M.; Dugan, Jenifer E.; Schooler, Nicholas K.

    2014-10-01

    Beach nourishment is often considered the most environmentally sound method of maintaining eroding shorelines. However, the ecological consequences are poorly understood. Fill activities cause intense disturbance and high mortality and have the potential to alter the diversity, abundance, and distribution of intertidal macroinvertebrates for months to years. Ecological recovery following fill activities depends on successful recolonization and recruitment of the entire sandy intertidal community. The use of incompatible sediments as fill material can strongly affect ecosystem recovery. We hypothesized that burrowing inhibition of intertidal animals by incompatible fine fill sediments contributes to ecological impacts and limits recovery in beach ecosystems. We experimentally investigated the influence of intertidal zone and burrowing mode on responses of beach invertebrates to altered sediment texture (28-38% fines), and ultimately the potential for colonization and recovery of beaches disturbed by beach filling. Using experimental trials in fill material and natural beach sand, we found that the mismatched fine fill sediments significantly inhibited burrowing of characteristic species from all intertidal zones, including sand crabs, clams, polychaetes, isopods, and talitrid amphipods. Burrowing performance of all five species we tested was consistently reduced in the fill material and burrowing was completely inhibited for several species. The threshold for burrowing inhibition by fine sediment content in middle and lower beach macroinvertebrates varied by species, with highest sensitivity for the polychaete (4% fines, below the USA regulatory limit of 10% fines), followed by sand crabs and clams (20% fines). These results suggest broader investigation of thresholds for burrowing inhibition in fine fill material is needed for beach animals. Burrowing inhibition caused by mismatched fill sediments exposes beach macroinvertebrates to stresses, which could depress

  12. Observations on the use of tarantula burrows by the anurans Leptodactylus bufonius (Leptodactylidae and Rhinella major (Bufonidae in the Dry Chaco ecoregion of Bolivia

    Directory of Open Access Journals (Sweden)

    Christopher M. Schalk

    2014-06-01

    Full Text Available Some species of anurans have been observed utilizing burrows of other animals, such as rodents and tarantulas. Here we report the observations of two anuran species, Leptodactylus bufonius and Rhinella major, utilizing the burrows of tarantulas (Acanthoscurria sp.; Family Theraphosidae in the dry Chaco ecoregion of Bolivia. Both species of anurans never co-occurred with tarantulas in the burrows and used burrows that were wider in diameter and closer to breeding ponds as compared to the total available tarantula burrows in the area. These burrows may serve as refuges from predators, especially for conspicuous, calling males.

  13. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

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

  14. Footprints in the sand: independent reduction of subdigital lamellae in the Namib–Kalahari burrowing geckos

    Science.gov (United States)

    Lamb, Trip; Bauer, Aaron M

    2005-01-01

    Many desert organisms exhibit convergence, and certain physical factors such as windblown sands have generated remarkably similar ecomorphs across divergent lineages. The burrowing geckos Colopus, Chondrodactylus and Palmatogecko occupy dune ecosystems in the Namib and Kalahari deserts of southwest Africa. Considered closely related, they share several putative synapomorphies, including reduced subdigital pads (toe pads) and spinose digital scales. Though recognized as part of Africa's ecologically diverse Pachydactylus Group, the burrowing geckos' precise phylogenetic affinities remain elusive. Convergent pedal modification provides a tenable alternative explaining the geckos' derived terrestriality and adaptation to Namib and Kalahari sands. We generated a molecular phylogeny for the Pachydactylus Group to examine evolutionary relationships among the burrowing geckos and infer historical patterns of pedal character change. Bayesian and parsimony analyses revealed all three burrowing genera to be deeply nested within Pachydactylus, each genus belonging to a separate clade. Strong support for these distinct clades indicates ecomorphological adaptations for burrowing have evolved independently three times in the southern Pachydactylus Group. We argue that the physical properties of Namib and Kalahari sands played a principal role in selecting for pedal similarity. PMID:16618680

  15. Footprints in the sand: independent reduction of subdigital lamellae in the Namib-Kalahari burrowing geckos.

    Science.gov (United States)

    Lamb, Trip; Bauer, Aaron M

    2006-04-07

    Many desert organisms exhibit convergence, and certain physical factors such as windblown sands have generated remarkably similar ecomorphs across divergent lineages. The burrowing geckos Colopus, Chondrodactylus and Palmatogecko occupy dune ecosystems in the Namib and Kalahari deserts of southwest Africa. Considered closely related, they share several putative synapomorphies, including reduced subdigital pads (toe pads) and spinose digital scales. Though recognized as part of Africa's ecologically diverse Pachydactylus Group, the burrowing geckos' precise phylogenetic affinities remain elusive. Convergent pedal modification provides a tenable alternative explaining the geckos' derived terrestriality and adaptation to Namib and Kalahari sands. We generated a molecular phylogeny for the Pachydactylus Group to examine evolutionary relationships among the burrowing geckos and infer historical patterns of pedal character change. Bayesian and parsimony analyses revealed all three burrowing genera to be deeply nested within Pachydactylus, each genus belonging to a separate clade. Strong support for these distinct clades indicates ecomorphological adaptations for burrowing have evolved independently three times in the southern Pachydactylus Group. We argue that the physical properties of Namib and Kalahari sands played a principal role in selecting for pedal similarity.

  16. Dusk but not dawn burrow emergence rhythms of Nephrops norvegicus (Crustacea: Decapoda

    Directory of Open Access Journals (Sweden)

    Valerio Sbragaglia

    2013-10-01

    Full Text Available The Norway lobster, Nephrops norvegicus, can be captured by haul nets only during the emergence from its burrow. In the last few decades, an extensive field research revealed distinct diel (24-h–based catchability patterns at different depths. Laboratory experiments suggested that burrow emergence (used as a proxy of catchability is endogenously controlled via a circadian system. Results were usually presented in terms of mean effects without a quantification of inter-individual variability and arrhythmia. Here, we studied the burrow emergence of 52 adult Nephrops by an infrared actograph endowed with an artificial burrow. Animals were exposed to 12-12 h light-darkness cycle, simulating photic condition of the lower shelf. Forty-five animals showed rhythmic emergence (87%, while seven were arrhythmic (13%. Rhythmic animals were clustered according to their timing of emergence: 54% at dusk and 4% at dawn. Moreover, other animals showed fully diurnal or nocturnal emergence (10% and 19%, respectively. The comparison of our results with those derived from temporally scheduled trawling indicates that bimodal catch patterns observed in shelf populations are poorly observed during individual experiments in the laboratory, where the same light conditions are simulated. Nephrops burrow emergence seems to be the result of a mixed endogenous-exogenous control, while arrhythmia could also be present in the wild.

  17. Robot Futures

    DEFF Research Database (Denmark)

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

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

  18. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  19. Burrow ventilation and associated porewater irrigation by the polychaete Marenzelleria viridis

    DEFF Research Database (Denmark)

    Quintana, Cintia Organo; Hansen, Torben; Delefosse, Matthieu

    2011-01-01

    presented muscular pumping in time averaged rates of 0.15 ml min−1. Oxygen needle electrodes positioned above the burrow openings revealed that muscular undulation of the worm body pumps anoxic water out of the burrow. On the other hand, microscope observations of the animal showed that ventilation...... be about 0.16 ml min−1. Since the cilia pumping into the burrow occurs in periods of 24±12 min and at 50–70% of the measured time, considerable amounts of water from deeper sediments may percolate upwards to the sediment surface. This water is rich in reduced compounds and nutrients and may have important...

  20. Influence of vegetation on the nocturnal foraging behaviors and vertebrate prey capture by endangered Burrowing Owls

    Directory of Open Access Journals (Sweden)

    Alan Marsh

    2014-06-01

    Full Text Available Restrictions in technology have limited past habitat selection studies for many species to the home-range level, as a finer-scale understanding was often not possible. Consequently, these studies may not identify the true mechanism driving habitat selection patterns, which may influence how such results are applied in conservation. We used GPS dataloggers with digital video recorders to identify foraging modes and locations in which endangered Burrowing Owls (Athene cunicularia captured prey. We measured the coarse and fine-scale characteristics of vegetation at locations in which owls searched for, versus where they caught, vertebrate prey. Most prey items were caught using hover-hunting. Burrowing Owls searched for, and caught, vertebrate prey in all cover types, but were more likely to kill prey in areas with sparse and less dense vegetative cover. Management strategies designed to increase Burrowing Owl foraging success in the Canadian prairies should try to ensure a mosaic of vegetation heights across cover types.

  1. Habitat requirements and burrowing depths of rodents in relation to shallow waste burial sites

    Energy Technology Data Exchange (ETDEWEB)

    Gano, K.A.; States, J.B.

    1982-05-01

    The purpose of this paper is to provide a review of the literature and summarize information on factors affecting habitat selection and maximum recorded burrowing depths for representative small mammals that we consider most likely to inhibit waste burial sites in arid and semi-arid regions of the West. The information is intended for waste management designers who need to know what to expect from small mammals that may be present at a particular site. Waste repositories oculd be designed to exclude the deep burrowing rodents of a region by creating an unattractive habitat over the waste. Summaries are given for habitat requirements of each group along with generalized modifications that could be employed to deter habitation. Representatives from the major groups considered to be deep burrowers are discussed. Further, detailed information about a particular species can be obtained from the references cited.

  2. Habitat requirements and burrowing depths of rodents in relation to shallow waste burial sites

    International Nuclear Information System (INIS)

    Gano, K.A.; States, J.B.

    1982-05-01

    The purpose of this paper is to provide a review of the literature and summarize information on factors affecting habitat selection and maximum recorded burrowing depths for representative small mammals that we consider most likely to inhibit waste burial sites in arid and semi-arid regions of the West. The information is intended for waste management designers who need to know what to expect from small mammals that may be present at a particular site. Waste repositories oculd be designed to exclude the deep burrowing rodents of a region by creating an unattractive habitat over the waste. Summaries are given for habitat requirements of each group along with generalized modifications that could be employed to deter habitation. Representatives from the major groups considered to be deep burrowers are discussed. Further, detailed information about a particular species can be obtained from the references cited

  3. Breeding-season food habits of burrowing owls (Athene cunicularia) in southwestern Dominican Republic

    Science.gov (United States)

    Wiley, J.W.

    1998-01-01

    Diet data from 20 Burrowing Owl (Athene cunicularia) nests were collected in southwestern Dominican Republic in 1976, 1982, and 1996. Invertebrates (53.3%) comprised the most numerous prey items (N = 396) delivered to nests by adult owls, but vertebrates (46.7%) were much better represented than in other studies of Burrowing Owl diet. Among vertebrates, birds (28.3% of all items) and reptiles (14.9%) were most important, whereas mammals (1.0%) and amphibians (2.5%) were less commonly delivered to nests. Vertebrates, however, comprised more than twice (69.2%) of the total biomass as invertebrates (30.8%), with birds (50.4%) and reptiles (12.8%) the most important of the vertebrate prey classes. A positive relationship was observed between bird species abundance and number of individuals taken as prey by Burrowing Owls.

  4. 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...

  5. Lunar Wormbot: Design and Development of a Ground Base Robotic Tunneling Worm for Operation in Harsh Environments

    Science.gov (United States)

    Boyles, Charles; Eledui, Emory; Gasser, Ben; Johnson, Josh; Long, Jay " Ben" Toy, Nathan; Murphy, Gloria

    2011-01-01

    From 1969 to 1972, the National Aeronautics and Space Administration (NASA) sent Apollo missions to the moon to conduct various exploration experiment. A few of the missions were directed to the study and sampling of moon soil, otherwise known as lunar regolith. The extent of the sample acquisition was limited due to the astronauts' limited ability to penetrate the moon's surface to a depth greater than three meters. However. the samples obtained were sufficient enough to provide key information pertaining to lunar regolith material properties that would further assist in future exploration endeavors. Analysis of the collected samples showed that the properties of lunar regolith may lead to knowledge of processed materials that will be beneficial for future human exploration or colonization. However, almost 40 years after the last Apollo mission, limited infonnation is known about regions underneath the moon's surface. Future lunar missions will require hardware that possesses the ability to burrow to greater depths in order to collect samples for subsequent analysis. During the summer of 2010, a team (Dr. Jessica Gaskin, Michael Kuhlman. Blaze Sanders, and Lafe Zabowski) from the NASA Robotics Academy at Marshall Space Flight Center (MSFC) was given the task of designing a robot to function as a soil collection and analysis device. Working with the National Space Science and Technology Center (NSSTC), the team was able to propose an initial design, build a prototype, and test the various subsystems of the prototype to be known as the "Lunar Wormbot" (LW). The NASA/NSSTC team then transferred the project to a University of Alabama in Huntsville (UAH) Mechanical and Aerospace Engineering (MAE) senior design class for further development. The UAH team was to utilize the NASA Systems Engineering Engine Design Process in the continuance of the Lunar Wormbot project. This process was implemented in order to coordinate the efforts of the team and guide the design of the

  6. Belted kingfishers: Under surveillance and sampled in the privacy of their own burrow

    International Nuclear Information System (INIS)

    Baron, L.A.; Ashwood, T.L.

    1995-01-01

    The belted kingfisher, a common piscivore of the Oak Ridge Reservation (ORR), bioaccumulates contaminants from consumption of aquatic prey. Three kingfisher carcasses found near contaminated streams on the ORR were analyzed. Mercury, cadmium, and selenium bioaccumulated within the liver, kidney, and feathers. Additionally, PCB-1254 accumulated in muscle and lipid tissue, while Cesium-137 accumulated within the muscle and whole body. These contaminant levels have been shown to produce a variety of toxicological effects (i.e., reproductive impairment, central nervous system dysfunction) within other species of birds. In addition to use of this data for ecological risk assessment, kingfishers can also be monitored as a viable bioindicator species reflecting environmental contaminant levels over time. However, current sampling methods of burrow excavation or the use of mist nets can be detrimental to the reproductive success of the birds. The authors present a method for obtaining adequate samples of feathers and other remnants (i.e., egg shells, dried regurgitant) found in the burrow during or following the nesting season. The collection of samples following surveillance of the burrow and its contents was performed with the use of a 15 ft-long flexible, portable probe containing a video camera. Once sighted with the probe, contents of the burrow were collected by insertion of an additional tube attached to a hand held vacuum cleaner (Dirt Devil reg-sign). Feathers collected from a nest at an uncontaminated site contained selenium, lead and mercury. Cesium-137 was found in an egg shell collected from a nest at a radiologically contaminated site. Close-up photos of a kingfisher mother incubating her eggs and nestlings within two burrows will also be shown. This surveillance and sampling technique can also be used for monitoring other burrowing terrestrial species

  7. Pisodonophis boro (ophichthidae: anguilliformes): specialization for head-first and tail-first burrowing?

    Science.gov (United States)

    De Schepper, Natalie; De Kegel, Barbara; Adriaens, Dominique

    2007-02-01

    The rice paddy eel, Pisodonophis boro (P. boro), is of special interest because of its peculiar burrowing habits. P. boro penetrates the substrate tail-first, a technique common for ophichthids, but it is able to burrow head-first as well. P. boro exhibits three feeding modes: inertial feeding, grasping, and spinning. Rotational feeding is a highly specialized feeding mode, adopted by several elongate, aquatic vertebrates and it is likely that some morphological modifications are related to this feeding mode. The detailed morphology of the head and tail of P. boro is examined with the goal to apportion the anatomical specializations among head-first burrowing, tail-first burrowing, and rotational feeding. The reduced eyes, covered with thick corneas may be beneficial for protection during head-first burrowing, but at the same time decreased visual acuity may have an impact on other sensory systems (e.g. cephalic lateral line system). The elongated and pointed shape of the skull is beneficial for substrate penetration. The cranial bones and their joints, which are fortified, are advantageous for resisting high mechanical loads during head-first burrowing. The aponeurotic connection between epaxial and jaw muscles is considered beneficial for transferring these forces from the body to the head during rotational feeding. Hypertrophied jaw muscles facilitate a powerful bite, which is required to hold prey during spinning movements and variability in the fiber angles of subdivisions of jaw muscles may be beneficial for preventing the lower jaw from being dislodged or opened. Furthermore, firm upper (premaxillo-ethmovomerine complex) and lower jaws (with robust coronoid processes) and high neurocranial rigidity are advantageous for a solid grip to hold prey during rotational feeding. The pointed shape of the tail and the consolidated caudal skeleton are beneficial for their tail-first burrowing habits. It is quite likely that the reduction of the caudal musculature is

  8. Variations in the Foraging Behaviour and Burrow Structures of the Damara Molerat Cryptomys damarensis in the Kalahari Gemsbok National Park

    Directory of Open Access Journals (Sweden)

    B.G. Lovegrove

    1987-10-01

    Full Text Available Aspects of two habitat-specific foraging behaviours of the social subterranean rodent Cryptomys damarensis, are discussed in terms of burrow structure, resource dispersion patterns, sand moisture content, burrow temperature regimes, and predatory pressures, in the Kalahari Gemsbok National Park, South Africa.

  9. Non-Native Suckermouth Armored Catfishes in Florida: Description of Nest Borrows and Burrow Colonies with Assessment of Shoreline Conditions

    Science.gov (United States)

    2009-04-01

    clubhouses and other residences with boat docks, and a mix of other land uses. Most waterway reaches surveyed were located in rural or low-density...were excavated to obtain in- formation on burrow dimensions. In contrast to what Grier (1980) had described for Hypostomus burrows in Florida, Devick

  10. Detecting plague-host abundance from space: Using a spectral vegetation index to identify occupancy of great gerbil burrows

    NARCIS (Netherlands)

    Wilschut, Liesbeth I.; Heesterbeek, Johan A.P.; Begon, Mike; de Jong, Steven M.; Ageyev, Vladimir; Laudisoit, Anne; Addink, Elisabeth A.

    2018-01-01

    In Kazakhstan, plague outbreaks occur when its main host, the great gerbil, exceeds an abundance threshold. These live in family groups in burrows, which can be mapped using remote sensing. Occupancy (percentage of burrows occupied) is a good proxy for abundance and hence the possibility of an

  11. Detecting plague-host abundance from space: Using a spectral vegetation index to identify occupancy of great gerbil burrows

    Science.gov (United States)

    Wilschut, Liesbeth I.; Heesterbeek, Johan A. P.; Begon, Mike; de Jong, Steven M.; Ageyev, Vladimir; Laudisoit, Anne; Addink, Elisabeth A.

    2018-02-01

    In Kazakhstan, plague outbreaks occur when its main host, the great gerbil, exceeds an abundance threshold. These live in family groups in burrows, which can be mapped using remote sensing. Occupancy (percentage of burrows occupied) is a good proxy for abundance and hence the possibility of an outbreak. Here we use time series of satellite images to estimate occupancy remotely. In April and September 2013, 872 burrows were identified in the field as either occupied or empty. For satellite images acquired between April and August, 'burrow objects' were identified and matched to the field burrows. The burrow objects were represented by 25 different polygon types, then classified (using a majority vote from 10 Random Forests) as occupied or empty, using Normalized Difference Vegetation Indices (NDVI) calculated for all images. Throughout the season NDVI values were higher for empty than for occupied burrows. Occupancy status of individual burrows that were continuously occupied or empty, was classified with producer's and user's accuracy values of 63 and 64% for the optimum polygon. Occupancy level was predicted very well and differed 2% from the observed occupancy. This establishes firmly the principle that occupancy can be estimated using satellite images with the potential to predict plague outbreaks over extensive areas with much greater ease and accuracy than previously.

  12. Current status, distribution, and conservation of the Burrowing Owl (Speotyto cunicularia) in midwestern and western North America

    Science.gov (United States)

    Steven R. Sheffield

    1997-01-01

    The Burrowing Owl (Speotyto cunicularia) inhabits open prairie grassland habitat in the midwestern and western US and Canada. For several years now, numbers of this species in North America have been declining at an alarming rate. Currently, Burrowing Owls are listed as endangered in Canada and threatened in Mexico. In the United States, the...

  13. The Middlesex University rehabilitation robot.

    Science.gov (United States)

    Parsons, B; White, A; Prior, S; Warner, P

    2005-01-01

    This paper describes the development of an electrically powered wheelchair-mounted manipulator for use by severely disabled persons. A detailed review is given explaining the specification. It describes the construction of the device and its control architecture. The prototype robot used several gesture recognition and other input systems. The system has been tested on disabled and non-disabled users. They observed that it was easy to use but about 50% slower than comparable systems before design modifications were incorporated. The robot has a payload of greater than 1 kg with a maximum reach of 0.7-0.9 m.

  14. Biointrusion test plan for the Permanent Isolation Surface Barrier Prototype

    International Nuclear Information System (INIS)

    Link, S.O.; Cadwell, L.L.; Brandt, C.A.; Downs, J.L.; Rossi, R.E.; Gee, G.W.

    1994-04-01

    This document provides a testing and monitoring plan for the biological component of the prototype barrier slated for construction at the Hanford Site. The prototype barrier is an aboveground structure engineered to demonstrate the basic features of an earthen cover system. It is designed to permanently isolate waste from the biosphere. The features of the barrier include multiple layers of soil and rock materials and a low-permeability asphalt sublayer. The surface of the barrier consists of silt loam soil, covered with plants. The barrier sides are reinforced with rock or coarse earthen-fill to protect against wind and water erosion. The sublayers inhibit plant and animal intrusion and percolation of water. A series of tests will be conducted on the prototype barrier over the next several years to evaluate barrier performance under extreme climatic conditions. Plants and animals will play a significant role in the hydrologic and water and wind erosion characteristics of the prototype barrier. Studies on the biological component of the prototype barrier will include work on the initial revegetation of the surface, continued monitoring of the developing plant community, rooting depth and dispersion in the context of biointrusion potential, the role of plants in the hydrology of the surface and toe regions of the barrier, the role of plants in stabilizing the surface against water and wind erosion, and the role of burrowing animals in the hydrology and water and wind erosion of the barrier

  15. Burrows of the semi-terrestrial crab Ucides cordatus enhance CO2 release in a North Brazilian mangrove forest.

    Directory of Open Access Journals (Sweden)

    Nathalie Pülmanns

    Full Text Available Ucides cordatus is an abundant mangrove crab in Brazil constructing burrows of up to 2 m depth. Sediment around burrows may oxidize during low tides. This increase in sediment-air contact area may enhance carbon degradation processes. We hypothesized that 1 the sediment CO2 efflux rate is greater with burrows than without and 2 the reduction potential in radial profiles in the sediment surrounding the burrows decreases gradually, until approximating non-bioturbated conditions. Sampling was conducted during the North Brazilian wet season at neap tides. CO2 efflux rates of inhabited burrows and plain sediment were measured with a CO2/H2O gas analyzer connected to a respiration chamber. Sediment redox potential, pH and temperature were measured in the sediment surrounding the burrows at horizontal distances of 2, 5, 8 and 15 cm at four sediment depths (1, 10, 30 and 50 cm and rH values were calculated. Sediment cores (50 cm length were taken to measure the same parameters for plain sediment. CO2 efflux rates of plain sediment and individual crab burrows with entrance diameters of 7 cm were 0.7-1.3 µmol m(-2 s(-1 and 0.2-0.4 µmol burrows(-1 s(-1, respectively. CO2 released from a Rhizophora mangle dominated forest with an average of 1.7 U. cordatus burrows(-1 m(-2 yielded 1.0-1.7 µmol m(-2 s(-1, depending on the month and burrow entrance diameter. Laboratory experiments revealed that 20-60% of the CO2 released by burrows originated from crab respiration. Temporal changes in the reduction potential in the sediment surrounding the burrows did not influence the CO2 release from burrows. More oxidized conditions of plain sediment over time may explain the increase in CO2 release until the end of the wet season. CO2 released by U. cordatus and their burrows may be a significant pathway of CO2 export from mangrove sediments and should be considered in mangrove carbon budget estimates.

  16. Burrows of the semi-terrestrial crab Ucides cordatus enhance CO2 release in a North Brazilian mangrove forest.

    Science.gov (United States)

    Pülmanns, Nathalie; Diele, Karen; Mehlig, Ulf; Nordhaus, Inga

    2014-01-01

    Ucides cordatus is an abundant mangrove crab in Brazil constructing burrows of up to 2 m depth. Sediment around burrows may oxidize during low tides. This increase in sediment-air contact area may enhance carbon degradation processes. We hypothesized that 1) the sediment CO2 efflux rate is greater with burrows than without and 2) the reduction potential in radial profiles in the sediment surrounding the burrows decreases gradually, until approximating non-bioturbated conditions. Sampling was conducted during the North Brazilian wet season at neap tides. CO2 efflux rates of inhabited burrows and plain sediment were measured with a CO2/H2O gas analyzer connected to a respiration chamber. Sediment redox potential, pH and temperature were measured in the sediment surrounding the burrows at horizontal distances of 2, 5, 8 and 15 cm at four sediment depths (1, 10, 30 and 50 cm) and rH values were calculated. Sediment cores (50 cm length) were taken to measure the same parameters for plain sediment. CO2 efflux rates of plain sediment and individual crab burrows with entrance diameters of 7 cm were 0.7-1.3 µmol m(-2) s(-1) and 0.2-0.4 µmol burrows(-1) s(-1), respectively. CO2 released from a Rhizophora mangle dominated forest with an average of 1.7 U. cordatus burrows(-1) m(-2) yielded 1.0-1.7 µmol m(-2) s(-1), depending on the month and burrow entrance diameter. Laboratory experiments revealed that 20-60% of the CO2 released by burrows originated from crab respiration. Temporal changes in the reduction potential in the sediment surrounding the burrows did not influence the CO2 release from burrows. More oxidized conditions of plain sediment over time may explain the increase in CO2 release until the end of the wet season. CO2 released by U. cordatus and their burrows may be a significant pathway of CO2 export from mangrove sediments and should be considered in mangrove carbon budget estimates.

  17. Rethink! prototyping transdisciplinary concepts of prototyping

    CERN Document Server

    Nagy, Emilia; Stark, Rainer

    2016-01-01

    In this book, the authors describe the findings derived from interaction and cooperation between scientific actors employing diverse practices. They reflect on distinct prototyping concepts and examine the transformation of development culture in their fusion to hybrid approaches and solutions. The products of tomorrow are going to be multifunctional, interactive systems – and already are to some degree today. Collaboration across multiple disciplines is the only way to grasp their complexity in design concepts. This underscores the importance of reconsidering the prototyping process for the development of these systems, particularly in transdisciplinary research teams. “Rethinking Prototyping – new hybrid concepts for prototyping” was a transdisciplinary project that took up this challenge. The aim of this programmatic rethinking was to come up with a general concept of prototyping by combining innovative prototyping concepts, which had been researched and developed in three sub-projects: “Hybrid P...

  18. Architectures of prototypes and architectural prototyping

    DEFF Research Database (Denmark)

    Hansen, Klaus Marius; Christensen, Michael; Sandvad, Elmer

    1998-01-01

    together as a team, but developed a prototype that more than fulfilled the expectations of the shipping company. The prototype should: - complete the first major phase within 10 weeks, - be highly vertical illustrating future work practice, - continuously live up to new requirements from prototyping......This paper reports from experience obtained through development of a prototype of a global customer service system in a project involving a large shipping company and a university research group. The research group had no previous knowledge of the complex business of shipping and had never worked...... sessions with users, - evolve over a long period of time to contain more functionality - allow for 6-7 developers working intensively in parallel. Explicit focus on the software architecture and letting the architecture evolve with the prototype played a major role in resolving these conflicting...

  19. Nelson's big horn sheep (Ovis canadensis nelsoni) trample Agassiz's desert tortoise (Gopherus agassizii) burrow at a California wind energy facility

    Science.gov (United States)

    Agha, Mickey; Delaney, David F.; Lovich, Jeffrey E.; Briggs, Jessica; Austin, Meaghan; Price, Steven J.

    2015-01-01

    Research on interactions between Agassiz's desert tortoises (Gopherus agassizii) and ungulates has focused exclusively on the effects of livestock grazing on tortoises and their habitat (Oldemeyer, 1994). For example, during a 1980 study in San Bernardino County, California, 164 desert tortoise burrows were assessed for vulnerability to trampling by domestic sheep (Ovis aries). Herds of grazing sheep damaged 10% and destroyed 4% of the burrows (Nicholson and Humphreys 1981). In addition, a juvenile desert tortoise was trapped and an adult male was blocked from entering a burrow due to trampling by domestic sheep. Another study found that domestic cattle (Bos taurus) trampled active desert tortoise burrows and vegetation surrounding burrows (Avery and Neibergs 1997). Trampling also has negative impacts on diversity of vegetation and intershrub soil crusts in the desert southwest (Webb and Stielstra 1979). Trampling of important food plants and overgrazing has the potential to create competition between desert tortoises and domestic livestock (Berry 1978; Coombs 1979; Webb and Stielstra 1979).

  20. Development and test of prototype components for ITER

    International Nuclear Information System (INIS)

    Biel, Wolfgang; Behr, Wilfried; Castano-Bardawil, David

    2015-08-01

    The scientific program of the project is divided into the following partial projects: (1.) ITER Diagnostic Port Plug for the charge-exchange spectroscopy (CXRS) with the subthemes: (a) Development of prototypes for critical mechanical components, (b) development of a roboter for the laser welding of vacuum seals and pipings at the Port Plug, (c) mirror studies, (d) CXRS prototype spectrometer, (2.) ITER tritium retention diagnostics (TR), (3.) ITER disruption mitigation ventile (DMV).

  1. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

  2. National project : advanced robot for nuclear power plant

    International Nuclear Information System (INIS)

    Tsunemi, T.; Takehara, K.; Hayashi, T.; Okano, H.; Sugiyama, S.

    1993-01-01

    The national project 'Advanced Robot' has been promoted by the Agency of Industrial science and Technology, MITI for eight years since 1983. The robot for a nuclear plant is one of the projects, and is a prototype intelligent one that also has a three dimensional vision system to generate an environmental model, a quadrupedal walking mechanism to work on stairs and four fingered manipulators to disassemble a valve with a hand tool. Many basic technologies such as an actuator, a tactile sensor, autonomous control and so on progress to high level. The prototype robot succeeded functionally in official demonstration in 1990. More refining such as downsizing and higher intelligence is necessary to realize a commercial robot, while basic technologies are useful to improve conventional robots and systems. This paper presents application studies on the advanced robot technologies. (author)

  3. A human-oriented framework for developing assistive service robots.

    Science.gov (United States)

    McGinn, Conor; Cullinan, Michael F; Culleton, Mark; Kelly, Kevin

    2018-04-01

    Multipurpose robots that can perform a range of useful tasks have the potential to increase the quality of life for many people living with disabilities. Owing to factors such as high system complexity, as-yet unresolved research questions and current technology limitations, there is a need for effective strategies to coordinate the development process. Integrating established methodologies based on human-centred design and universal design, a framework was formulated to coordinate the robot design process over successive iterations of prototype development. An account is given of how the framework was practically applied to the problem of developing a personal service robot. Application of the framework led to the formation of several design goals which addressed a wide range of identified user needs. The resultant prototype solution, which consisted of several component elements, succeeded in demonstrating the performance stipulated by all of the proposed metrics. Application of the framework resulted in the development of a complex prototype that addressed many aspects of the functional and usability requirements of a personal service robot. Following the process led to several important insights which directly benefit the development of subsequent prototypes. Implications for Rehabilitation This research shows how universal design might be used to formulate usability requirements for assistive service robots. A framework is presented that guides the process of designing service robots in a human-centred way. Through practical application of the framework, a prototype robot system that addressed a range of identified user needs was developed.

  4. Lizard burrows provide thermal refugia for larks in the Arabian desert

    NARCIS (Netherlands)

    Williams, JB; Tieleman, BI; Shobrak, M

    A common perception is that desert birds experience greater extremes of heat and aridity than their mammalian counterparts, in part, because birds do not use burrows as a refuge from the desert environment. We report observations of Dunn's Larks (Eremalauda dunni), Bar-tailed Desert Larks (Ammomanes

  5. Strong population genetic structure and larval dispersal capability of the burrowing ghost shrimp (Neotrypaea californiensis)

    Science.gov (United States)

    The burrowing ghost shrimp, Neotrypaea californiensis, is a vital member of the estuarine benthic community. Dense populations of shrimp are found in the major estuaries of Washington and Oregon. Our study determines the genetic structure of shrimp populations in order to gain ...

  6. Burrowing Behavior of a Deposit Feeding Bivalve Predicts Change in Intertidal Ecosystem State

    NARCIS (Netherlands)

    Compton, T.J.; Bodnar, W.; Koolhaas, A.; Dekinga, A.; Holthuijsen, S.; Ten Horn, J.; McSweeney, N.; van Gils, J.A.; Piersma, T.

    2016-01-01

    Behavior has a predictive power that is often underutilized as a tool for signaling ecological change. The burrowing behavior of the deposit feeding bivalve Macoma balthica reflects a typical food-safety trade-off. The choice to live close to the sediment surface comes at a risk of predation and is

  7. Burrowing behavior of a deposit feeding bivalve predicts change in intertidal ecosystem state

    NARCIS (Netherlands)

    Compton, Tanya J.; Bodnar, Wanda; Koolhaas, Anita; Dekinga, Anne; Holthuijsen, Sander; ten Horn, Job; McSweeney, Niamh; van Gils, Jan; Piersma, Theunis

    2016-01-01

    Behavior has a predictive power that is often underutilized as a tool for signaling ecological change. The burrowing behavior of the deposit feeding bivalve Macoma balthica reflects a typical food-safety trade-off. The choice to live close to the sediment surface comes at a risk of predation and is

  8. The influence of small-mammal burrowing activity on water storage at the Hanford Site

    International Nuclear Information System (INIS)

    Landeen, D.S.

    1994-01-01

    This paper summarizes the activities that were conducted in support of the long-term surface barrier development program by Westinghouse Hanford Company to determine the degree that small-mammal burrow systems affect the loss or retention of water in the soils at the Hanford Site in Washington state. An animal intrusion lysimeter facility was constructed, consisting of two outer boxes buried at grade, which served as receptacles for six animal intrusion lysimeters. Small burrowing animals common the Hanford Site were introduced over a 3- to 4-month period. Supplemental precipitation was added monthly to three of the lysimeters with a rainfall simulator (rainulator). Information collected from the five tests indicated that (1) during summer months, water was lost in all the lysimeters, including the supplemental precipitation added with the rainulator; and (2) during winter months, all lysimeters gained water. The data indicate little difference in the amount of water stored between control and animal lysimeters. The overall water loss was attributed to surface evaporation, a process that occurred equally in control and treatment lysimeters. Other causes of water loss are a result of (1) constant soil turnover and subsequent drying, and (2) burrow ventilation effects. This suggests that burrow systems will not contribute to any significant water storage at depth and, in fact, may enhance the removal of water from the soil

  9. Burrowing herbivores alter soil carbon and nitrogen dynamics in a semi-arid ecosystem, Argentina

    Science.gov (United States)

    Kenneth L. Clark; Lyn C. Branch; Jose L. Hierro; Diego Villarreal

    2016-01-01

    Activities of burrowing herbivores, including movement of soil and litter and deposition of waste material, can alter the distribution of labile carbon (C) and nitrogen (N) in soil, affecting spatial patterning of nutrient dynamics in ecosystems where they are abundant. Their role in ecosystem processes in surface soil has been studied extensively, but effects of...

  10. Burrowing and avoidance behaviour in marine organisms exposed to pesticide-contaminated sediment

    DEFF Research Database (Denmark)

    Møhlenberg, Flemming; Kiørboe, Thomas

    1983-01-01

    Behavioural effects of marine sediment contaminated with pesticides (6000 ppm parathion, 200 ppm methyl parathion, 200 ppm malathion) were studied in a number of marine organisms in laboratory tests and in situ. The burrowing behaviour in Macoma baltica, Cerastoderma edule, Abra alba, Nereis...

  11. Living in a ``stethoscope'': burrow-acoustics promote auditory specializations in subterranean rodents

    Science.gov (United States)

    Lange, Simone; Burda, Hynek; Wegner, Regina E.; Dammann, Philip; Begall, Sabine; Kawalika, Mathias

    2007-02-01

    Subterranean mammals rely to a great extent on audition for communication and to be alerted to danger. The only hitherto published report on burrow acoustics revealed that in tunnels of blind mole-rats ( Spalax ehrenbergi), airborne sounds of 440 Hz propagated best whereas lower and higher frequencies were effectively attenuated. Morpho-functional analyses classify the ear of subterranean mammals as a low-sensitivity and low-frequency device. Concordantly, hearing is characterized by low sensitivity and a restricted frequency range tuned to low frequencies (0.5-4 kHz). Some authors considered the restricted hearing in subterranean mammals vestigial and degenerate due to under-stimulation. In contrast to this view stand a rich (mostly low-frequency) vocal repertoire and progressive structural specializations of the middle and inner ear. Thus, other authors considered these hearing characteristics adaptive. To test the hypothesis that acoustical environment in burrows of different species of subterranean mammals is similar, we measured sound attenuation in burrows of Fukomys mole-rats (formerly known as Cryptomys, cf. Kock et al. 2006) of two differently sized species at different locations in Zambia. We show that in these burrows, low-frequency sounds (200-800 Hz) are not only least attenuated but also their amplitude may be amplified like in a stethoscope (up to two times over 1 m). We suggest that hearing sensitivity has decreased during evolution of subterranean mammals to avoid over-stimulation of the ear in their natural environment.

  12. Organic matter composition and the protist and nematode communities around anecic earthworm burrows

    NARCIS (Netherlands)

    Andriuzzi, Walter S.; Ngo, Phuong-Thi; Geisen, Stefan; Keith, Aidan M.; Dumack, Kenneth; Bolger, Thomas; Bonkowski, Michael; Brussaard, Lijbert; Faber, Jack H.; Chabbi, Abad; Rumpel, Cornelia; Schmidt, Olaf

    2016-01-01

    By living in permanent burrows and incorporating organic detritus from the soil surface, anecic earthworms contribute to soil heterogeneity, but their impact is still under-studied in natural field conditions. We investigated the effects of the anecic earthworm Lumbricus centralis on fresh carbon

  13. Development of earthworm burrow systems and the influence of earthworms on soil hydrology

    NARCIS (Netherlands)

    Ligthart, T.N.

    1996-01-01


    Inoculation of earthworms can help to restore or ameliorate land qualities. Earthworms create burrows and alter the structure of the soil matrix, which influence the water infiltration, drainage, water retention and the aeration of the soil. The way and rate of the development of

  14. State Estimation for Tensegrity Robots

    Science.gov (United States)

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

    2016-01-01

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

  15. Sedimentary organic matter distributions, burrowing activity, and biogeochemical cycling: Natural patterns and experimental artifacts

    Science.gov (United States)

    Michaud, Emma; Aller, Robert, C.; Stora, Georges

    2010-11-01

    The coupling between biogenic reworking activity and reactive organic matter patterns within deposits is poorly understood and often ignored. In this study, we examined how common experimental treatments of sediment affect the burrowing behavior of the polychaete Nephtys incisa and how these effects may interact with reactive organic matter distributions to alter diagenetic transport - reaction balances. Sediment and animals were recovered from a subtidal site in central Long Island Sound, USA. The upper 15 cm of the sediment was sectioned into sub-intervals, and each interval separately sieved and homogenized. Three initial distributions of sediment and organic substrate reactivity were setup in a series of microcosms: (1) a reconstituted natural pattern with surface-derived sediment overlying sediment obtained from progressively deeper material to a depth of 15 cm (Natural); (2) a 15 cm thick sediment layer composed only of surface-derived sediment (Rich); and (3) a 15 cm thick layer composed of uniformally mixed sediment from the original 15 cm sediment profile (Averaged). The two last treatments are comparable to that used in microcosms in many previous studies of bioturbation and interspecific functional interaction experiments. Sediment grain size distributions were 97.5% silt-clay and showed no depth dependent patterns. Sediment porosity gradients were slightly altered by the treatments. Nepthys were reintroduced and aquariums were X-rayed regularly over 5 months to visualize and quantify spatial and temporal dynamics of burrows. The burrowing behaviour of adult populations having similar total biovolume, biomass, abundance, and individual sizes differed substantially as a function of treatment. Burrows in sediment with natural property gradients were much shallower and less dense than those in microcosms with altered gradients. The burrow volume/biovolume ratio was also lower in the substrate with natural organic reactivity gradients. Variation in food

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

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

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

  17. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  18. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  19. Effect of mangrove restoration on crab burrow density in Luoyangjiang Estuary, China

    Directory of Open Access Journals (Sweden)

    Wei Li

    2015-07-01

    Full Text Available Background Mangrove restoration seeks to restore or rebuild degraded mangrove systems. The methods of mangrove restoration include ecological projects and restoration-oriented technologies, the latter of which are designed to restore the structure, processes as well as related physical, chemical and biological characteristics of wetlands and to ensure the provision of ecosystem services. As important components of mangrove ecosystem, benthic organisms and crabs play a key role in nutrient cycling. In addition, mangrove restoration, such as vegetation restoration measures, can lead to changes in the benthic faunal communities. This study investigates whether the presence of different mangrove species, age and canopy cover of mangrove communities affect the density of crab burrows. Methods The Luoyangjiang Estuary, in the southeast of Fujian Province, was selected as our research area. A survey, covering 14 sites, was conducted to investigate the impacts of mangrove restoration on the density of crab burrows in four rehabilitated forests with different stand ages and canopy. Results It was found that differences in vegetation types had a large impact on crab density and that the density of crab burrows was lower on exposed beaches (non-mangrove than under mature Kandelia candel, Aegiceras corniculatum and Avicennia marina communities. In general, the amount of leaf litter and debris on mangrove mudflats was greater than on the beaches as food sources for crabs. Two-factor analysis of variance (ANOVA shows that changes in mangrove species and age since restoration had different effects on crab burrow density. The effect of canopy cover was highly significant on crab burrow density. Conclusions The results suggest that in the process of mangrove restoration the combined effects of mangrove stand age, canopy cover and other factors should be taken into account. This study further supports the findings of the future scientific research and practice on

  20. Burrowing with a kinetic snout in a snake (Elapidae: Aspidelaps scutatus).

    Science.gov (United States)

    Deufel, Alexandra

    2017-12-01

    Of the few elongate, fossorial vertebrates that have been examined for their burrowing mechanics, all were found to use an akinetic, reinforced skull to push into the soil, powered mostly by trunk muscles. Reinforced skulls were considered essential for head-first burrowing. In contrast, I found that the skull of the fossorial shield-nosed cobra (Aspidelaps scutatus) is not reinforced and retains the kinetic potential typical of many non-fossorial snakes. Aspidelaps scutatus burrows using a greatly enlarged rostral scale that is attached to a kinetic snout that is independently mobile with respect to the rest of the skull. Two mechanisms of burrowing are used: (1) anteriorly directed head thrusts from a loosely bent body that is anchored against the walls of the tunnel by friction, and (2) side-to-side shovelling using the head and rostral scale. The premaxilla, to which the rostral scale is attached, lacks any direct muscle attachments. Rostral scale movements are powered by, first, retractions of the palato-pterygoid bar, mediated by a ligament that connects the anterior end of the palatine to the transverse process of the premaxilla and, second, by contraction of a previously undescribed muscle slip of the m. retractor pterygoidei that inserts on the skin at the edge of the rostral scale. In derived snakes, palatomaxillary movements are highly conserved and power prey capture and transport behaviors. Aspidelaps scutatus has co-opted those mechanisms for the unrelated function of burrowing without compromising the original feeding functions, showing the potential for evolution of functional innovations in highly conserved systems. © 2017 Wiley Periodicals, Inc.

  1. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  2. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  3. Social Robots

    DEFF Research Database (Denmark)

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

  4. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  5. Prototypical Rod Consolidation Demonstration Project

    International Nuclear Information System (INIS)

    1993-05-01

    The objective of Phase 3 of the Prototypical Rod consolidation Demonstration Project (PRCDP) was to procure, fabricate, assemble, and test the Prototypical Rod consolidation System as described in the NUS Phase 2 Final Design Report. This effort required providing the materials, components, and fabricated parts which makes up all of the system equipment. In addition, it included the assembly, installation, and setup of this equipment at the Cold Test Facility. During the Phase 3 effort the system was tested on a component, subsystem, and system level. This volume 1, discusses the PRCDP Phase 3 Test Program that was conducted by the HALLIBURTON NUS Environmental Corporation under contract AC07-86ID12651 with the United States Department of Energy. This document, Volume 1, Book 5 discusses the following topics: Lower Cutting System Test Results and Analysis Report; NFBC Loading System Test Results and Analysis Report; Robotic Bridge Transporter Test Results and Analysis Report; RM-10A Remotec Manipulator Test Results and Analysis Report; and Manipulator Transporter Test Results and Analysis Report

  6. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  7. 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.

  8. 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.

  9. 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....

  10. No pain, no gain: Male plasticity in burrow digging according to female rejection in a sand-dwelling wolf spider.

    Science.gov (United States)

    Carballo, Matilde; Baldenegro, Fabiana; Bollatti, Fedra; Peretti, Alfredo V; Aisenberg, Anita

    2017-07-01

    Behavioral plasticity allows individuals to reversibly respond to short-term variations in their ecological and social environment in order to maximize their fitness. Allocosa senex is a burrow-digging spider that inhabits the sandy coasts of South America. This species shows a reversal in typical sex roles expected in spiders: females are wanderers that visit males at their burrows and initiate courtship. They prefer males with long burrows for mating, and males prefer virgin over mated females. We tested whether female sexual rejection induced males to enlarge their burrows and if female reproductive status affected males' responses. We exposed males who had constructed burrows to: a) virgin females or b) mated females, (n=16 for each category). If female rejection occurred, we repeated the trial 48h later with the same female. As control, we maintained a group of males without female exposure (unexposed group, n=32). Rejected males enlarged their burrows more frequently and burrows were longer compared to unexposed males. However, frequency and length of enlargement did not differ according to female reproductive status. Males of A. senex showed plasticity in digging behavior in response to the availability of females, as a way to maximize the possibilities of future mating. Copyright © 2017 Elsevier B.V. All rights reserved.

  11. BURROW ARCHITECTURE OF RED GHOST CRAB OCYPODE MACROCERA (H. MILNE-EDWARDS, 1852 : A CASE STUDY IN INDIAN SUNDARBANS

    Directory of Open Access Journals (Sweden)

    Sourabh Kumar Dubey

    2013-12-01

    Full Text Available A study on burrow architecture and burrow morphology of the red ghost crab (Ocypode macrocera was carried out at the southern proximity of the Sagar island (21°37.973' N, to E 88° 04.195', western sector of Indian Sundarbans that faces the regular tidal influences of Bay of Bengal. Ocypode macrocera constructs burrows that are highly species specific and used by single individual. Four types of burrow patterns were observed like ‘I’, ‘J’ ‘U’ and ‘semi-U’ type with different sizes as revealed by POP casting. Important physic-chemical parameters like air temperature, temperature and salinity of the water were significantly varied (P < 0.05 throughout seasons in the Ocypode zone. Burrow sand column temperature were also significantly varied from ambient air temperature thus exhibiting preference for cooler subterranean residential compartment. The digging behaviour of Ocypodes enhances oxygenation in the ground soil and facilitates decomposition of organic materials, nutrient recycling, entrapping the sediments and mangrove seedlings and helps the process of bioturbation. As per the preliminary observations it was suggested that burrow shape is directly related to tidal action and metabolic activities of the crab are strongly correlated with burrow microenvironment. They are adapted to the different sediment conditions, tidal fluctuations, varying salinity gradients, air and water temperatures and other environmental fluctuations.

  12. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, John Min; Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Yeong; Lee, Young Bum; Sohn, Suk Won; Kim, Woon Gi

    1990-01-01

    The project of this study is to develop a real time controller applying autonomous robotic systems operated in hostile environment. Developed control system is designed with a multiprocessor to get independency and reliability as well as to extend the system easily. The control system is designed in three distinct subsystems (supervisory control part, functional control part, and remote control part). To review the functional performance of developed controller, a prototype mobile robot, which was installed 4 DOF mainpulator, was designed and manufactured. Initial tests showed that the robot could turn with a radius of 38 cm and a maximum speed of 1.26 km/hr and go over obstacle of 18 cm in height. (author)

  13. Development of Multiple Capsule Robots in Pipe

    Directory of Open Access Journals (Sweden)

    Shuxiang Guo

    2018-05-01

    Full Text Available Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenges to practical application. To address the fundamental challenges of narrow body cavities, a different-frequency driven approach for multiple capsule robots with screw structure manipulated by external electromagnetic field is proposed in this paper. The multiple capsule robots are composed of driven permanent magnets, joint permanent magnets, and a screw body. The screw body generates a propulsive force in a fluidic environment. Moreover, robots can form new constructions via mutual docking and release. To provide manipulation guidelines for active locomotion, a dynamic model of axial propulsion and circumferential torque is established. The multiple start and step-out frequencies for multiple robots are defined theoretically. Moreover, the different-frequency driven approach based on geometrical parameters of screw structure and the overlap angles of magnetic polarities is proposed to drive multiple robots in an identical electromagnetic field. Finally, two capsule robots were prototyped and experiments in a narrow pipe were conducted to verify the different motions such as docking, release, and cooperative locomotion. The experimental results demonstrated the validity of the driven approach for multiple capsule robots in narrow body cavities.

  14. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    International Nuclear Information System (INIS)

    Pessi, Pekka; Wu, Huapeng; Handroos, Heikki; Jones, Lawrence

    2007-01-01

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  15. A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

    Energy Technology Data Exchange (ETDEWEB)

    Pessi, Pekka [Lappeenranta University of Technology, Lappeenranta (Finland)], E-mail: pessi@lut.fi; Wu, Huapeng; Handroos, Heikki [Lappeenranta University of Technology, Lappeenranta (Finland); Jones, Lawrence [EFDA Close Support Unit, Boltzmannstrasse 2, Garching D-85748 (Germany)

    2007-10-15

    The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

  16. Burrows of the Semi-Terrestrial Crab Ucides cordatus Enhance CO2 Release in a North Brazilian Mangrove Forest

    Science.gov (United States)

    Pülmanns, Nathalie; Diele, Karen; Mehlig, Ulf; Nordhaus, Inga

    2014-01-01

    Ucides cordatus is an abundant mangrove crab in Brazil constructing burrows of up to 2 m depth. Sediment around burrows may oxidize during low tides. This increase in sediment-air contact area may enhance carbon degradation processes. We hypothesized that 1) the sediment CO2 efflux rate is greater with burrows than without and 2) the reduction potential in radial profiles in the sediment surrounding the burrows decreases gradually, until approximating non-bioturbated conditions. Sampling was conducted during the North Brazilian wet season at neap tides. CO2 efflux rates of inhabited burrows and plain sediment were measured with a CO2/H2O gas analyzer connected to a respiration chamber. Sediment redox potential, pH and temperature were measured in the sediment surrounding the burrows at horizontal distances of 2, 5, 8 and 15 cm at four sediment depths (1, 10, 30 and 50 cm) and rH values were calculated. Sediment cores (50 cm length) were taken to measure the same parameters for plain sediment. CO2 efflux rates of plain sediment and individual crab burrows with entrance diameters of 7 cm were 0.7–1.3 µmol m−2 s−1 and 0.2–0.4 µmol burrows−1 s−1, respectively. CO2 released from a Rhizophora mangle dominated forest with an average of 1.7 U. cordatus burrows−1 m−2 yielded 1.0–1.7 µmol m−2 s−1, depending on the month and burrow entrance diameter. Laboratory experiments revealed that 20–60% of the CO2 released by burrows originated from crab respiration. Temporal changes in the reduction potential in the sediment surrounding the burrows did not influence the CO2 release from burrows. More oxidized conditions of plain sediment over time may explain the increase in CO2 release until the end of the wet season. CO2 released by U. cordatus and their burrows may be a significant pathway of CO2 export from mangrove sediments and should be considered in mangrove carbon budget estimates. PMID:25313661

  17. Design of a Robust Stair Climbing Compliant Modular Robot to Tackle Overhang on Stairs

    OpenAIRE

    Bhole, Ajinkya; Turlapati, Sri Harsha; S, Rajashekhar V.; Dixit, Jay; Shah, Suril V.; Krishna, K Madhava

    2016-01-01

    This paper discusses the concept and parameter design of a Robust Stair Climbing Compliant Modular Robot, capable of tackling stairs with overhangs. Modifying the geometry of the periphery of the wheels of our robot helps in tackling overhangs. Along with establishing a concept design, robust design parameters are set to minimize performance variation. The Grey-based Taguchi Method is adopted for providing an optimal setting for the design parameters of the robot. The robot prototype is shown...

  18. Space Robotics Challenge

    Data.gov (United States)

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

  19. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  20. Robotic surgery

    Science.gov (United States)

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

  1. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  2. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  3. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  4. Imagining the prototype

    OpenAIRE

    Brouwer, C. E.; Bhomer, ten, M.; Melkas, H.; Buur, J.

    2013-01-01

    This article reports on the analysis of a design session, employing conversation analysis. In the design session three experts and a designer discuss a prototype of a shirt, which has been developed with the input from these experts. The analysis focuses on the type of involvement of the participants with the prototype and how they explicate the points they make in the discussion with or without making use of the prototype. Three techniques for explicating design issues that exploit the proto...

  5. Rapid Prototyping Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — The ARDEC Rapid Prototyping (RP) Laboratory was established in December 1992 to provide low cost RP capabilities to the ARDEC engineering community. The Stratasys,...

  6. Fabrication and Prototyping Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Purpose: The Fabrication and Prototyping Lab for composite structures provides a wide variety of fabrication capabilities critical to enabling hands-on research and...

  7. A documentation on burrows in hard substrates of ferromanganese crusts and associated soft sediments from the Central Indian Ocean

    Digital Repository Service at National Institute of Oceanography (India)

    Banerjee, R

    , which are extensively bioturbated. Both the ferromanganese-coated and uncoated relict burrows have been collected from the same locality. Mobile epibenthic megafauna, e.g. molluscs, echinoderms, etc. seem to be main bioturbating organisms. The adjacent...

  8. Water pumping and analysis of flow in burrowing zoobenthos - a short overview

    DEFF Research Database (Denmark)

    Riisgård, Hans Ulrik; Larsen, Poul Scheel

    2005-01-01

    with the measuring of water pumping and the analysis of flow generated by burrowing deposit- and filter-feeding zoobenthos in order to determine the type of pump and mechanisms involved, flow rate, pump pressure, and pumping power. The practical use of fluid mechanical principles is examined, and it is stressed......-feeding animals. In stagnant situations the near-bottom water may be depleted of food particles, depending on the population filtration rate and the intensity of the biomixing induced by the filtering activity. But moderate currents and the biomixing can presumably generate enough turbulence to facilitate mixing...... of water layers at the sea bed with the layers above where food particle concentrations are relatively higher. Following a brief summary of types of burrowing benthic animals, common methods for measuring pumping rates are described along with examples. For estimating the required pump pressure, biofluid...

  9. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

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

  10. Black-footed ferrets and recreational shooting influence the attributes of black-tailed prairie dog burrows

    Science.gov (United States)

    Biggins, Dean E.; Ramakrishnan, Shantini; Goldberg, Amanda R.; Eads, David A.

    2012-01-01

    Black-tailed prairie dogs (Cynomys ludovicianus) plug burrows occupied by black-footed ferrets (Mustela nigripes), and they also plug burrows to entomb dead prairie dogs. We further evaluated these phenomena by sampling connectivity and plugging of burrow openings on prairie dog colonies occupied by ferrets, colonies where recreational shooting was allowed, and colonies with neither shooting nor ferrets. We counted burrow openings on line surveys and within plots, classified surface plugging, and used an air blower to examine subsurface connectivity. Colonies with ferrets had lower densities of openings, fewer connected openings (suggesting increased subsurface plugging), and more surface plugs compared to colonies with no known ferrets. Colonies with recreational shooting had the lowest densities of burrow openings, and line-survey data suggested colonies with shooting had intermediate rates of surface plugging. The extent of surface and subsurface plugging could have consequences for the prairie dog community by changing air circulation and escape routes of burrow systems and by altering energetic relationships. Burrow plugging might reduce prairie dogs' risk of predation by ferrets while increasing risk of predation by American badgers (Taxidea taxus); however, the complexity of the trade-off is increased if plugging increases the risk of predation on ferrets by badgers. Prairie dogs expend more energy plugging and digging when ferrets or shooting are present, and ferrets increase their energy expenditures when they dig to remove those plugs. Microclimatic differences in plugged burrow systems may play a role in flea ecology and persistence of the flea-borne bacterium that causes plague (Yersinia pestis).

  11. Effects of pocket gopher burrowing on cesium-133 distribution on engineered test plots

    International Nuclear Information System (INIS)

    Gonzales, G.J.; Saladen, M.T.; Hakonson, T.E.

    1995-01-01

    Very low levels of radionuclides exist on soil surfaces. Biological factors including vegetation and animal burrowing can influence the fate of these surface contaminants. Animal burrowing introduces variability in radionuclide migration that confounds estimation of nuclide migration pathways, risk assessment, and assessment of waste burial performance. A field study on the surface and subsurface erosional transport of surface-applied 133 Cs as affected by pocket gopher (Thomomys bottae) burrowing was conducted on simulated waste landfill caps at the Los Alamos National Laboratory in north central New Mexico. Surface loss of Cs, adhered to five soil particle size ranges, was measured several times over an 18-mo period while simulated rainfalls were in progress. Gophers reduced Cs surface loss by significant amounts, 43%. Cesium surface loss on plots with only gophers was 0.8 kg totalled for the study period. This compared with 1.4 kg for control plots, 0.5 kg for vegetated plots, and 0.2 kg for plots with both gophers and vegetation. The change in Cs surface loss over time was significant (P -1 ). Vegetation-bearing plots bad significant more total subsurface Cs (μ = 1.7 g kg -1 ) than plots without vegetation (μ = 0.8 g kg -1 ). An average of 97% of the subsurface Cs in plots with vegetation was located in the upper 15 cm of soil (SDR1 + SDR2) compared with 67% for plots without vegetation. Vegetation moderated the influence of gopher activity on the transport of Cs to soil subsurface, and stabilized subsurface Cs by concentrating it in the rhizosphere. Gopher activity may have caused Cs transport to depths below that sampled, 30 cm. The results provide distribution coefficients for models of contaminant migration where animal burrowing occurs. 35 refs., 2 figs., 3 tabs

  12. Burrowing by Sailfin Catfish (Pterygoplichthys sp.): A Potential Cause of Erosion in Disturbed Environments

    Science.gov (United States)

    2014-03-01

    originates at a large levee, which was built to create a water retention (to control excess water) and water bird management area. The levee and canal...each sample was dried in stainless steel trays in a 60 °C convection oven . Two methods of quantitative analysis were performed to determine the...ERDC/TN ANSRP-14-1 March 2014 Approved for public release; distribution is unlimited. Burrowing by Sailfin Catfish (Pterygoplichthys sp.): A

  13. Burrowing Owl and Other Migratory Bird Mitigation for a Runway Construction Project at Edwards AFB

    OpenAIRE

    Hoehn, Amber L.; Hagan, Mark; Bratton, Mark

    2009-01-01

    Edwards Air Force Base (AFB) scheduled the construction of a runway in the spring of 2007. The runway would be in an area that contained migratory birds and their habitat. The construction project would be near Edwards AFB main runway and had the potential not only to impact species protected under the Migratory Bird Treaty Act (MBTA), including the burrowing owl (Athene cunicularia), but also to increase bird and wildlife–aircraft strike hazards in the active flightline areas. To discourage ...

  14. Long-term population dynamics of a managed burrowing owl colony

    Science.gov (United States)

    Barclay, John H.; Korfanta, Nicole M.; Kauffman, Matthew J.

    2011-01-01

    We analyzed the population dynamics of a burrowing owl (Athene cunicularia) colony at Mineta San Jose International Airport in San Jose, California, USA from 1990-2007. This colony was managed by using artificial burrows to reduce the occurrence of nesting owls along runways and within major airport improvement projects during the study period. We estimated annual reproduction in natural and artificial burrows and age-specific survival rates with mark-recapture techniques, and we estimated the relative contribution of these vital rates to population dynamics using a life table response experiment. The breeding colony showed 2 distinct periods of change: high population growth from 7 nesting pairs in 1991 to 40 pairs in 2002 and population decline to 17 pairs in 2007. Reproduction was highly variable: annual nesting success (pairs that raised =1 young) averaged 79% and ranged from 36% to 100%, whereas fecundity averaged 3.36 juveniles/pair and ranged from 1.43 juveniles/pair to 4.54 juveniles/pair. We estimated annual adult survival at 0.710 during the period of colony increase from 1996 to 2001 and 0.465 during decline from 2002 to 2007, but there was no change in annual survival of juveniles between the 2 time periods. Long-term population growth rate (lambda) estimated from average vital rates was lambdaa=1.072 with lambdai=1.288 during colony increase and lambdad=0.921 (DELTA lambda=0.368) during decline. A life table response experiment showed that change in adult survival rate during increasing and declining phases explained more than twice the variation in growth rate than other vital rates. Our findings suggest that management and conservation of declining burrowing owl populations should address factors that influence adult survival.

  15. Unibot, a Universal Agent Architecture for Robots

    Directory of Open Access Journals (Sweden)

    Saša Mladenović

    2017-01-01

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

  16. Distribution of the Chuckwalla, Western Burrowing Owl, and Six Bat Species on the Nevada Test Site

    Energy Technology Data Exchange (ETDEWEB)

    Cathy A. Willis

    1997-05-01

    Field Surveys were conducted in 1996 to determine the current distribution of several animal species of concern on the Nevada Test Site (NTS). They included the chuckwall (Sauromalus obesus), western burrowing owl (Speotyto cunicularia), and six species of bats. Nineteen chuckwallas and 118 scat locations were found during the chuckwalla field study. Eighteen western burrowing owls were found at 12 sighting locations during the 1996 field study. Of the eleven bat species of concern which might occur on the NTS, five, and possibly six, were captured during this survey. The U.S. Department of Energy, Nevada Operations Office, takes certain management actions to protect and conserve the chuckwalla, western burrowing owl, and bats on the NTS. These actions are described and include: (1) conducting surveys at sites of proposed land-disturbing activities (2) altering projects whenever possible to avoid or minimize impacts to these species (3) maintaining a geospatial database of known habitat for species of concern (4) sharing sighting and trap location data gathered on the NTS with other local land and resource managers, and (5) conducting periodic field surveys to monitor these species distribution and relative abundance on the NTS.

  17. Regional and Seasonal Diet of the Western Burrowing Owl in South-Central Nevada

    Energy Technology Data Exchange (ETDEWEB)

    Derek B. Hall, Paul D. Greger, Jeffrey R. Rosier

    2009-04-01

    We examined diets of Western Burrowing Owls (Athene cunicularia hypugaea) based on contents of pellets and large prey remains collected year-round at burrows in each of the 3 regions in south central Nevada (Mojave Desert, Great Basin Desert, and Transition region). The most common prey items, based on percent frequency of occurrence, were crickets and grasshoppers, beetles, rodents, sun spiders, and scorpions. The most common vertebrate prey was kangaroo rats (Dipodomys spp.). True bugs (Hemiptera), scorpions, and western harvest mice (Reithrodontomys megalotis) occurred most frequently in pellets from the Great Basin Desert region. Kangaroo rats (Dipodomys spp.) and pocket mice (Perognathinae) were the most important vertebrate prey items in the Transition and Mojave Desert regions, respectively. Frequency of occurrence of any invertebrate prey was high (>80%) in samples year-round but dropped in winter samples, with scorpions and sun spiders exhibiting the steepest declines. Frequency of occurrence of any vertebrate prey peaked in spring samples, was intermediate for winter and summer samples, and was lowest in fall samples. With the possible exception of selecting for western harvest mice in the Great Basin Desert region, Western Burrowing Owls in our study appeared to be opportunistic foragers with a generalist feeding strategy.

  18. N2 production and fixation in deep-tier burrows of Squilla empusa in muddy sediments of Great Peconic Bay

    Science.gov (United States)

    Waugh, Stuart; Aller, Robert C.

    2017-11-01

    Global marine N budgets often show deficits due to dominance of benthic N2 production relative to pelagic N2 fixation. Recent studies have argued that benthic N2 fixation in shallow water environments has been underestimated. In particular, N2 fixation associated with animal burrows may be significant as indicated by high rates of N2 fixation reported in muddy sands populated by the ghost shrimp, Neotrypaea californiensis (Bertics et al., 2010). We investigated whether N2 fixation occurs at higher rates in the burrow-walls of the deep-burrowing ( 0.5-4 m) mantis shrimp, Squilla empusa, compared to ambient, estuarine muds and measured seasonal in-situ N2 concentrations in burrow-water relative to bottom-water. Acetylene reduction assays showed lower N2 fixation in burrow-walls than in un-populated sediments, likely due to inhibitory effects of O2 on ethylene production. Dissolved N2 was higher in burrow-water than proximate bottom-water at all seasons, demonstrating a consistent balance of net N2 production relative to fixation in deep-tier biogenic structures.

  19. 2nd International Conference on Cable-Driven Parallel Robots

    CERN Document Server

    Bruckmann, Tobias

    2015-01-01

    This volume presents the outcome of the second forum to cable-driven parallel robots, bringing the cable robot community together. It shows the new ideas of the active researchers developing cable-driven robots. The book presents the state of the art, including both summarizing contributions as well as latest research and future options. The book cover all topics which are essential for cable-driven robots: Classification Kinematics, Workspace and Singularity Analysis Statics and Dynamics Cable Modeling Control and Calibration Design Methodology Hardware Development Experimental Evaluation Prototypes, Application Reports and new Application concepts

  20. Designing and testing prototypes

    NARCIS (Netherlands)

    Vereijken, P.; Wijnands, F.; Stol, W.

    1995-01-01

    This second progress report focuses on designing a theoretical prototype by linking parameters to methods and designing the methods in this context until they are ready for initial testing. The report focuses also on testing and improving the prototype in general and the methods in particular until

  1. EUCLID ARCHIVE SYSTEM PROTOTYPE

    NARCIS (Netherlands)

    Belikov, Andrey; Williams, Owen; Droge, Bob; Tsyganov, Andrey; Boxhoorn, Danny; McFarland, John; Verdoes Kleijn, Gijs; Valentijn, E; Altieri, Bruno; Dabin, Christophe; Pasian, F.; Osuna, Pedro; Soille, P.; Marchetti, P.G.

    2014-01-01

    The Euclid Archive System prototype is a functional information system which is used to address the numerous challenges in the development of fully functional data processing system for Euclid. The prototype must support the highly distributed nature of the Euclid Science Ground System, with Science

  2. Specifications in software prototyping

    OpenAIRE

    Luqi; Chang, Carl K.; Zhu, Hong

    1998-01-01

    We explore the use of software speci®cations for software prototyping. This paper describes a process model for software prototyping, and shows how specifications can be used to support such a process via a cellular mobile phone switch example.

  3. EPCiR prototype

    DEFF Research Database (Denmark)

    2003-01-01

    A prototype of a residential pervasive computing platform based on OSGi involving among other a mock-up of an health care bandage.......A prototype of a residential pervasive computing platform based on OSGi involving among other a mock-up of an health care bandage....

  4. Cooperative Prototyping Experiments

    DEFF Research Database (Denmark)

    Bødker, Susanne; Grønbæk, Kaj

    1989-01-01

    This paper describes experiments with a design technique that we denote cooperative prototyping. The experiments consider design of a patient case record system for municipal dental clinics in which we used HyperCard, an off the shelf programming environment for the Macintosh. In the ecperiments we...... tried to achieve a fluent work-like evaluation of prototypes where users envisioned future work with a computer tool, at the same time as we made on-line modifications of prototypes in cooperation with the users when breakdown occur in their work-like evaluation. The experiments showed...... that it was possible to make a number of direct manipulation changes of prototypes in cooperation with the users, in interplay with their fluent work-like evaluation of these. However, breakdown occurred in the prototyping process when we reached the limits of the direct manipulation support for modification. From...

  5. Soft Robotics Week

    CERN Document Server

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

    2017-01-01

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

  6. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  7. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  8. 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.

  9. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  10. ROBOSIM, a simulator for robotic systems

    Science.gov (United States)

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

    1991-01-01

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

  11. Robotized Surface Mounting of Permanent Magnets

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2014-10-01

    Full Text Available Using permanent magnets on a rotor can both simplify the design and increase the efficiency of electric machines compared to using electromagnets. A drawback, however, is the lack of existing automated assembly methods for large machines. This paper presents and motivates a method for robotized surface mounting of permanent magnets on electric machine rotors. The translator of the Uppsala University Wave Energy Converter generator is used as an example of a rotor. The robot cell layout, equipment design and assembly process are presented and validated through computer simulations and experiments with prototype equipment. A comparison with manual assembly indicates substantial cost savings and an improved work environment. By using the flexibility of industrial robots and a scalable equipment design, it is possible for this assembly method to be adjusted for other rotor geometries and sizes. Finally, there is a discussion on the work that remains to be done on improving and integrating the robot cell into a production line.

  12. 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.

  13. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

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

  14. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  15. Service Robots

    DEFF Research Database (Denmark)

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

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

  16. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  17. PRMS Data Warehousing Prototype

    Science.gov (United States)

    Guruvadoo, Eranna K.

    2002-01-01

    Project and Resource Management System (PRMS) is a web-based, mid-level management tool developed at KSC to provide a unified enterprise framework for Project and Mission management. The addition of a data warehouse as a strategic component to the PRMS is investigated through the analysis, design and implementation processes of a data warehouse prototype. As a proof of concept, a demonstration of the prototype with its OLAP's technology for multidimensional data analysis is made. The results of the data analysis and the design constraints are discussed. The prototype can be used to motivate interest and support for an operational data warehouse.

  18. 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.

  19. Ceramic Prototypes – Design, Computation, and Digital Fabrication

    Directory of Open Access Journals (Sweden)

    M. Bechthold

    2016-12-01

    Full Text Available Research in ceramic material systems at Harvard University has introduced a range of novel applications which combine digital manufacturing technologies and robotics with imaginative design and engineering methods. Prototypes showcase the new performative qualities of ceramics and the integration of this material in today’s construction culture. Work ranges from daylight control systems to structural applications and a robotic tile placement system. Emphasis is on integrating novel technologies with tried and true manufacturing methods. The paper describes two distinct studies – one on 3D print-ing of ceramics, the other on structural use of large format thin tiles.

  20. 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)

  1. Robotics in scansorial environments

    Science.gov (United States)

    Autumn, Kellar; Buehler, Martin; Cutkosky, Mark; Fearing, Ronald; Full, Robert J.; Goldman, Daniel; Groff, Richard; Provancher, William; Rizzi, Alfred A.; Saranli, Uluc; Saunders, Aaron; Koditschek, Daniel E.

    2005-05-01

    We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.

  2. Smart Material-Actuated Flexible Tendon-Based Snake Robot

    Directory of Open Access Journals (Sweden)

    Mohiuddin Ahmed

    2016-05-01

    Full Text Available A flexible snake robot has better navigation ability compare with the existing electrical motor-based rigid snake robot, due to its excellent bending capability during navigation inside a narrow maze. This paper discusses the modelling, simulation and experiment of a flexible snake robot. The modelling consists of the kinematic analysis and the dynamic analysis of the snake robot. A platform based on the Incompletely Restrained Positioning Mechanism (IRPM is proposed, which uses the external force provided by a compliant flexible beam in each of the actuators. The compliant central column allows the configuration to achieve three degrees of freedom (3DOFs with three tendons. The proposed flexible snake robot has been built using smart material, such as electroactive polymers (EAPs, which can be activated by applying power to it. Finally, the physical prototype of the snake robot has been built. An experiment has been performed in order to justify the proposed model.

  3. Field Tested Service Oriented Robotic Architecture: Case Study

    Science.gov (United States)

    Flueckiger, Lorenzo; Utz, Hanz

    2012-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

  4. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  5. 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

  6. Like night and day: Reversals of thermal gradients across ghost crab burrows and their implications for thermal ecology

    Science.gov (United States)

    Watson, Gregory S.; Gregory, Emily A.; Johnstone, Charmaine; Berlino, Manuel; Green, David W.; Peterson, Nicola R.; Schoeman, David S.; Watson, Jolanta A.

    2018-04-01

    Ghost crabs, Ocypode cordimanus, inhabit relatively hostile environments subject to thermal fluctuations, including both diurnal and seasonal cycles. For many ectotherms, including ghost crabs, a major challenge is to remain cool during hot daytime temperatures. This can be achieved by adopting a fossorial lifestyle, taking advantage of thermal refuge afforded by burrows of sufficient depth. Another consideration, often overlooked, is the potential advantage associated with ready access to a thermal energy source (a "charging station") when surface temperatures are cooler. Being able to rapidly elevate body temperature during cool periods would enhance the crab's ability to maintain rate processes and carry out essential activities. We have measured ghost crab burrow temperature profiles at two times of the day with contrasting sun exposure (06:00 and 14:00), demonstrating how effective burrow depth (up to a maximum of 40 cm) provides thermal regulation below the surface of the sand (e.g., at dawn (06:00) and early afternoon (14:00) at a depth of 5 cm, temperatures (±SD) of 16.32 ± 0.96 °C and 25.04 ± 1.47 °C were recorded, respectively. Corresponding temperatures at a depth of 30 cm were 19.17 ± 0.59 °C and 19.78 ± 1.60 °C, respectively). This demonstrates that while temperature conditions at the surface vary dramatically from night to day, ghost crab burrows can maintain relatively constant temperatures at the burrow base throughout the diurnal cycle, at least during winter. As a consequence, the burrow heat signatures undergo a corresponding thermal gradient reversal between night and day, as revealed by infra-red photography. Complementing these field observations, we also determined heating and cooling times/constants for O. cordimanus in the laboratory (τ = 17.54 and 16.59 JK-1, respectively), and analysed chemical composition of their carapace (external (with β Chitin evident) and internal (predominance of α Chitin)), which is the primary thermal

  7. Theseus: tethered distributed robotics (TDR)

    Science.gov (United States)

    Digney, Bruce L.; Penzes, Steven G.

    2003-09-01

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

  8. Burrowing behavior of a deposit feeding bivalve predicts change in intertidal ecosystem state

    Directory of Open Access Journals (Sweden)

    Tanya Joan Compton

    2016-03-01

    Full Text Available Behavior has a predictive power that is often underutilized as a tool for signaling ecological change. The burrowing behavior of the deposit feeding bivalve Macoma balthica reflects a typical food-safety trade-off. The choice to live close to the sediment surface comes at a risk of predation and is a decision made when predation danger, food intake rates or future fitness prospects are low. In parts of the Dutch Wadden Sea, Macoma populations declined by 90% in the late 1990s, in parallel with large-scale mechanical cockle-dredging activities. During this decline, the burrowing depth of Macoma became shallow and was correlated with the population decline in the following year, indicating that it forecasted population change. Recently, there has been a series of large recruitment events in Macoma. According to the food-safety trade-off, we expected that Macoma should now live deeper, and have a higher body condition in association with this change in depth of living. Indeed, we observed that Macoma now lives deeper and that living depth in a given year forecasted population growth to the next year, especially in individuals larger than 14 mm. As living depth and body condition were strongly correlated in individuals larger than 14 mm, larger Macoma could be living deeper to protect their reproductive assets. Our results confirmed that burrowing depth signals impending population change and, together with body condition, can provide an early warning signal of ecological change. We suggest that population recovery is being driven by improved intertidal habitat quality in the Dutch Wadden Sea, rather than by the proposed climate-change related effects. This shift in ecosystem state is suggested to include the recovery of diatom habitat in the top layer of the sediment after cockle-dredging ended.

  9. Importance of agricultural landscapes to nesting burrowing owls in the Northern Great Plains, USA

    Science.gov (United States)

    Restani, M.; Davies, J.M.; Newton, W.E.

    2008-01-01

    Anthropogenic habitat loss and fragmentation are the principle factors causing declines of grassland birds. Declines in burrowing owl (Athene cunicularia) populations have been extensive and have been linked to habitat loss, primarily the decline of black-tailed prairie dog (Cynomys ludovicianus) colonies. Development of habitat use models is a research priority and will aid conservation of owls inhabiting human-altered landscapes. From 2001 to 2004 we located 160 burrowing owl nests on prairie dog colonies on the Little Missouri National Grassland in North Dakota. We used multiple linear regression and Akaike's Information Criterion to estimate the relationship between cover type characteristics surrounding prairie dog colonies and (1) number of owl pairs per colony and (2) reproductive success. Models were developed for two spatial scales, within 600 m and 2,000 m radii of nests for cropland, crested wheatgrass (Agropyron cristatum), grassland, and prairie dog colonies. We also included number of patches as a metric of landscape fragmentation. Annually, fewer than 30% of prairie dog colonies were occupied by owls. None of the models at the 600 m scale explained variation in number of owl pairs or reproductive success. However, models at the 2,000 m scale did explain number of owl pairs and reproductive success. Models included cropland, crested wheatgrass, and prairie dog colonies. Grasslands were not included in any of the models and had low importance values, although percentage grassland surrounding colonies was high. Management that protects prairie dog colonies bordering cropland and crested wheatgrass should be implemented to maintain nesting habitat of burrowing owls. ?? 2008 Springer Science+Business Media B.V.

  10. Mechatronics Education: From Paper Design to Product Prototype Using LEGO NXT Parts

    Science.gov (United States)

    Lofaro, Daniel M.; Le, Tony Truong Giang; Oh, Paul

    The industrial design cycle starts with design then simulation, prototyping, and testing. When the tests do not match the design requirements the design process is started over again. It is important for students to experience this process before they leave their academic institution. The high cost of the prototype phase, due to CNC/Rapid Prototype machine costs, makes hands on study of this process expensive for students and the academic institutions. This document shows that the commercially available LEGO NXT Robot kit is a viable low cost surrogate to the expensive industrial CNC/Rapid Prototype portion of the industrial design cycle.

  11. Micro Robotics Lab

    Data.gov (United States)

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

  12. Robots of the Future

    Indian Academy of Sciences (India)

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

  13. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  14. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

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

  15. Designing a social and assistive robot for seniors.

    Science.gov (United States)

    Eftring, H; Frennert, S

    2016-06-01

    The development of social assistive robots is an approach with the intention of preventing and detecting falls among seniors. There is a need for a relatively low-cost mobile robot with an arm and a gripper which is small enough to navigate through private homes. User requirements of a social assistive robot were collected using workshops, a questionnaire and interviews. Two prototype versions of a robot were designed, developed and tested by senior citizens (n = 49) in laboratory trials for 2 h each and in the private homes of elderly persons (n = 18) for 3 weeks each. The user requirement analysis resulted in a specification of tasks the robot should be able to do to prevent and detect falls. It was a challenge but possible to design and develop a robot where both the senior and the robot arm could reach the necessary interaction points of the robot. The seniors experienced the robot as happy and friendly. They wanted the robot to be narrower so it could pass through narrow passages in the home and they also wanted it to be able to pass over thresholds without using ramps and to drive over carpets. User trials in seniors' homes are very important to acquire relevant knowledge for developing robots that can handle real life situations in the domestic environment. Very high reliability of a robot is needed to get feedback about how seniors experience the overall behavior of the robot and to find out if the robot could reduce falls and improve the feeling of security for seniors living alone.

  16. Experiments in Neural-Network Control of a Free-Flying Space Robot

    National Research Council Canada - National Science Library

    Wilson, Edward

    1995-01-01

    Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype...

  17. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  18. Habitat selection by two species of burrowing mayfly nymphs in the Les Cheneaux Islands region of northern Lake Huron

    Science.gov (United States)

    Blouin, Marc A.; Hudson, Patrick; Chriscinske, Margret

    2004-01-01

    This study focused primarily on the habitat preferences of Hexagenia limbata andEphemera simulans, two species prevalent in northern Lake Huron, to gain a better understanding of the key components that determined their distribution and abundance. Both species preferred habitats based upon depth and sediment type. In addition, the burrowing activity of H. limbata was examined using in-situ, underwater sampling techniques specifically designed for the study. SCUBA divers made resin casts and took clear sediment cores in order to study how the burrow densities of H. limbata related to the sediment: water volume ratios. H. limbata contributed to the bioturbation and sediment porosity in specific, fine-sediment habitats. Younger age classes of this species utilized the burrows of their larger cohorts, an adaptation that could allow for energy savings and optimized growth.

  19. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  20. From prototype to product

    DEFF Research Database (Denmark)

    Andersen, Tariq Osman; Bansler, Jørgen P.; Kensing, Finn

    2017-01-01

    This paper delves into the challenges of engaging patients, clinicians and industry stakeholders in the participatory design of an mHealth platform for patient-clinician collaboration. It follows the process from the development of a research prototype to a commercial software product. In particu......This paper delves into the challenges of engaging patients, clinicians and industry stakeholders in the participatory design of an mHealth platform for patient-clinician collaboration. It follows the process from the development of a research prototype to a commercial software product....... In particular, we draw attention to four major challenges of (a) aligning the different concerns of patients and clinicians, (b) designing according to clinical accountability, (c) ensuring commercial interest, and (d) dealing with regulatory constraints when prototyping safety critical health Information...... Technology. Using four illustrative cases, we discuss what these challenges entail and the implications they pose to Participatory Design. We conclude the paper by presenting lessons learned....

  1. Traces and burrowing behaviors of the Cicada nymph Cicadetta calliope: Neoichnology and paleoecological significance of extant soil-dwelling insects

    Science.gov (United States)

    Smith, J.J.; Hasiotis, S.T.

    2008-01-01

    This study documents the traces and burrowing behaviors of nymphs of the prairie cicada Cicadetta calliope (Hemiptera: Cicadidae), as observed in neoichnological experiments. Cicada nymphs were collected from the C horizons of sandy Fluvents along the Kansas River east of Lawrence, Kansas. The nymphs appeared to be fifth instars, 13-17 mm long and 6-7 mm wide. Nymphs were placed in plastic enclosures containing layers of colored, moist, very fine-grained sand. They burrowed immediately, excavating air-filled, sediment-enclosed cells between 20 mm and 40 mm long and averaging 9 mm wide. Burrowing was completed in three stages: (1) sediment in the forward portion of the cell was excavated and rolled into a ball with the forelimbs; (2) the nymph turned 180?? using a forward roll, and moved to the back of the cell; and (3) the sediment ball was pushed up against the back wall of the cell and kneaded with the forelimbs into a thin layer. Resulting burrow traces are sinuous and distinctly meniscate and demonstrate that insect larvae construct meniscate, backfilled burrows in well-drained terrestrial settings. Cicadetta calliope nymphs and their traces are excellent analogs for meniscate trace fossils commonly found in late Paleozoic-Cenozoic alluvial deposits and paleosols. Such meniscate trace fossils are useful for interpreting the paleoenvironment and paleohydrogeology of the units in which they are found. In addition, such backfilled burrows can be used to supplement the fossil record of cicada-like hemipterans, currently known only from the latest Permian to the Early Triassic. Copyright ?? 2008, SEPM (Society for Sedimentary Geology).

  2. The Analysis of Burrows Recognition Accuracy in XINJIANG'S Pasture Area Based on Uav Visible Images with Different Spatial Resolution

    Science.gov (United States)

    Sun, D.; Zheng, J. H.; Ma, T.; Chen, J. J.; Li, X.

    2018-04-01

    The rodent disaster is one of the main biological disasters in grassland in northern Xinjiang. The eating and digging behaviors will cause the destruction of ground vegetation, which seriously affected the development of animal husbandry and grassland ecological security. UAV low altitude remote sensing, as an emerging technique with high spatial resolution, can effectively recognize the burrows. However, how to select the appropriate spatial resolution to monitor the calamity of the rodent disaster is the first problem we need to pay attention to. The purpose of this study is to explore the optimal spatial scale on identification of the burrows by evaluating the impact of different spatial resolution for the burrows identification accuracy. In this study, we shoot burrows from different flight heights to obtain visible images of different spatial resolution. Then an object-oriented method is used to identify the caves, and we also evaluate the accuracy of the classification. We found that the highest classification accuracy of holes, the average has reached more than 80 %. At the altitude of 24 m and the spatial resolution of 1cm, the accuracy of the classification is the highest We have created a unique and effective way to identify burrows by using UAVs visible images. We draw the following conclusion: the best spatial resolution of burrows recognition is 1 cm using DJI PHANTOM-3 UAV, and the improvement of spatial resolution does not necessarily lead to the improvement of classification accuracy. This study lays the foundation for future research and can be extended to similar studies elsewhere.

  3. Seasonal temperature acclimatization in a semi-fossorial mammal and the role of burrows as thermal refuges

    Science.gov (United States)

    Rachlow, Janet L.; Chappell, Mark A.; Camp, Meghan J.; Johnson, Timothy R.; Shipley, Lisa A.; Paul, David R.; Forbey, Jennifer S.

    2018-01-01

    Small mammals in habitats with strong seasonal variation in the thermal environment often exhibit physiological and behavioral adaptations for coping with thermal extremes and reducing thermoregulatory costs. Burrows are especially important for providing thermal refuge when above-ground temperatures require high regulatory costs (e.g., water or energy) or exceed the physiological tolerances of an organism. Our objective was to explore the role of burrows as thermal refuges for a small endotherm, the pygmy rabbit (Brachylagus idahoensis), during the summer and winter by quantifying energetic costs associated with resting above and below ground. We used indirect calorimetry to determine the relationship between energy expenditure and ambient temperature over a range of temperatures that pygmy rabbits experience in their natural habitat. We also measured the temperature of above- and below-ground rest sites used by pygmy rabbits in eastern Idaho, USA, during summer and winter and estimated the seasonal thermoregulatory costs of resting in the two microsites. Although pygmy rabbits demonstrated seasonal physiological acclimatization, the burrow was an important thermal refuge, especially in winter. Thermoregulatory costs were lower inside the burrow than in above-ground rest sites for more than 50% of the winter season. In contrast, thermal heterogeneity provided by above-ground rest sites during summer reduced the role of burrows as a thermal refuge during all but the hottest periods of the afternoon. Our findings contribute to an understanding of the ecology of small mammals in seasonal environments and demonstrate the importance of burrows as thermal refuge for pygmy rabbits. PMID:29576977

  4. Real estate ads in Emei music frog vocalizations: female preference for calls emanating from burrows.

    Science.gov (United States)

    Cui, Jianguo; Tang, Yezhong; Narins, Peter M

    2012-06-23

    During female mate choice, both the male's phenotype and resources (e.g. his nest) contribute to the chooser's fitness. Animals other than humans are not known to advertise resource characteristics to potential mates through vocal communication; although in some species of anurans and birds, females do evaluate male qualities through vocal communication. Here, we demonstrate that calls of the male Emei music frog (Babina dauchina), vocalizing from male-built nests, reflect nest structure information that can be recognized by females. Inside-nest calls consisted of notes with energy concentrated at lower frequency ranges and longer note durations when compared with outside-nest calls. Centre frequencies and note durations of the inside calls positively correlate with the area of the burrow entrance and the depth of the burrow, respectively. When given a choice between outside and inside calls played back alternately, more than 70 per cent of the females (33/47) chose inside calls. These results demonstrate that males of this species faithfully advertise whether or not they possess a nest to potential mates by vocal communication, which probably facilitates optimal mate selection by females. These results revealed a novel function of advertisement calls, which is consistent with the wide variation in both call complexity and social behaviour within amphibians.

  5. Using ground penetrating radar in levee assessment to detect small scale animal burrows

    Science.gov (United States)

    Chlaib, Hussein K.; Mahdi, Hanan; Al-Shukri, Haydar; Su, Mehmet M.; Catakli, Aycan; Abd, Najah

    2014-04-01

    Levees are civil engineering structures built to protect human lives, property, and agricultural lands during flood events. To keep these important structures in a safe condition, continuous monitoring must be performed regularly and thoroughly. Small rodent burrows are one of the major defects within levees; however, their early detection and repair helps in protecting levees during flooding events. A set of laboratory experiments was conducted to analyze the polarity change in GPR signals in the presence of subsurface voids and water-filled cavities. Ground Penetrating Radar (GPR) surveys using multi frequency antennas (400 MHz and 900 MHz) were conducted along an 875 meter section of the Lollie Levee near Conway, Arkansas, USA, to assess the levee's structural integrity. Many subsurface animal burrows, water-filled cavities, clay clasts, and metallic objects were investigated and identified. These anomalies were located at different depths and have different sizes. To ground truth the observations, hand dug trenches were excavated to confirm several anomalies. Results show an excellent match between GPR interpreted anomalies and the observed features. In-situ dielectric constant measurements were used to calculate the feature depths. The results of this research show that the 900 MHz antenna has more advantages over the 400 MHz antenna.

  6. From LZ77 to the run-length encoded burrows-wheeler transform, and back

    DEFF Research Database (Denmark)

    Policriti, Alberto; Prezza, Nicola

    2017-01-01

    The Lempel-Ziv factorization (LZ77) and the Run-Length encoded Burrows-Wheeler Transform (RLBWT) are two important tools in text compression and indexing, being their sizes z and r closely related to the amount of text self-repetitiveness. In this paper we consider the problem of converting the t......(r + z) words of working space. Note that r and z can be constant if the text is highly repetitive, and our algorithms can operate with (up to) exponentially less space than naive solutions based on full decompression.......The Lempel-Ziv factorization (LZ77) and the Run-Length encoded Burrows-Wheeler Transform (RLBWT) are two important tools in text compression and indexing, being their sizes z and r closely related to the amount of text self-repetitiveness. In this paper we consider the problem of converting the two...... representations into each other within a working space proportional to the input and the output. Let n be the text length. We show that RLBWT can be converted to LZ77 in O(n log r) time and O(r) words of working space. Conversely, we provide an algorithm to convert LZ77 to RLBWT in O(n(log r + log z)) time and O...

  7. 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....

  8. Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance

    OpenAIRE

    Raj, Anil K.; Neuhaus, Peter D.; Moucheboeuf, Adrien M.; Noorden, Jerryll H.; Lecoutre, David V.

    2011-01-01

    While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC) has developed the Mina, a prototype sensorimotor robotic ort...

  9. Design on a Composite Mobile System for Exploration Robot

    OpenAIRE

    Shang, Weiyan; Yang, Canjun; Liu, Yunping; Wang, Junming

    2016-01-01

    In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been st...

  10. 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.

  11. PANDA Muon System Prototype

    Science.gov (United States)

    Abazov, Victor; Alexeev, Gennady; Alexeev, Maxim; Frolov, Vladimir; Golovanov, Georgy; Kutuzov, Sergey; Piskun, Alexei; Samartsev, Alexander; Tokmenin, Valeri; Verkheev, Alexander; Vertogradov, Leonid; Zhuravlev, Nikolai

    2018-04-01

    The PANDA Experiment will be one of the key experiments at the Facility for Antiproton and Ion Research (FAIR) which is under construction now in the territory of the GSI Helmholtz Centre for Heavy Ion Research in Darmstadt, Germany. PANDA is aimed to study hadron spectroscopy and various topics of the weak and strong forces. Muon System is chosen as the most suitable technology for detecting the muons. The Prototype of the PANDA Muon System is installed on the test beam line T9 at the Proton Synchrotron (PS) at CERN. Status of the PANDA Muon System prototype is presented with few preliminary results.

  12. Prototyping a Smart City

    DEFF Research Database (Denmark)

    Korsgaard, Henrik; Brynskov, Martin

    In this paper, we argue that by approaching the so-called Smart City as a design challenge, and an interaction design perspective, it is possible to both uncover existing challenges in the interplay between people, technology and society, as well as prototype possible futures. We present a case...... in which we exposed data about the online communication between the citizens and the municipality on a highly visible media facade, while at the same time prototyped a tool that enabled citizens to report ‘bugs’ within the city....

  13. PANDA Muon System Prototype

    Directory of Open Access Journals (Sweden)

    Abazov Victor

    2018-01-01

    Full Text Available The PANDA Experiment will be one of the key experiments at the Facility for Antiproton and Ion Research (FAIR which is under construction now in the territory of the GSI Helmholtz Centre for Heavy Ion Research in Darmstadt, Germany. PANDA is aimed to study hadron spectroscopy and various topics of the weak and strong forces. Muon System is chosen as the most suitable technology for detecting the muons. The Prototype of the PANDA Muon System is installed on the test beam line T9 at the Proton Synchrotron (PS at CERN. Status of the PANDA Muon System prototype is presented with few preliminary results.

  14. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

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

    2013-01-01

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

  15. The effects of two free-floating plants (Eichhornia crassipes and Pistia stratiotes on the burrow morphology and water quality characteristics of pond loach (Misgurnus anguillicaudatus habitat

    Directory of Open Access Journals (Sweden)

    Jinqing Wang

    2018-01-01

    Full Text Available Loach exhibit conspicuous drilling behaviors in the mud of shallow waters, yet their burrow morphology and the factors affecting this behavior have received little attention. We characterized the burrow morphology and water quality of the pond loach Misgurnus anguillicaudatus in three scenarios: in tanks without plants, tanks with the free-floating plant water hyacinth Eichhornia crassipes, and tanks with water lettuce Pistia stratiotes. Water hyacinth effectively removed water TN, COD, NO3-N and NH4-N, and water lettuce removed water TP and NH4-N. Water hyacinth and water lettuce markedly reduced water turbidity and DO, increased TOC and EC. Water hyacinth purified water more effectively than water lettuce, providing a suitable habitat for loach feeding, living and burrowing. The burrow structures were V-shaped, Y-shaped, inverted L-shaped, or complicated dendritic networks composed of multiple V shapes. The hyacinth treatment was characterized by the greatest burrow volume, length, depth, and structural complexity, but the opening size was reduced by dense root mat coverage. Burrows in the water lettuce treatment were characterized by intermediate volume, length, branches and sinuosity, but they had the largest opening and pit size. The control treatment had a flat bottom with the smallest, shortest burrows. This study indicates that free-floating plants improve habitat suitability and change burrow morphology and may be used to improve loach breeding methods.

  16. A study of burrow morphology in representative axiidean and gebiidean mud shrimps, from the Persian Gulf and Gulf of Oman, Iran

    Directory of Open Access Journals (Sweden)

    Vahid Sepahvand

    Full Text Available Mud shrimps (formerly Thalassinidea are common burrow dwelling decapod crustaceans in the littoral zone of the Persian Gulf and Gulf of Oman. Their burrow morphology was investigated using foam casting methods. The present study shows that the burrow morphology in Upogebia carinicauda is not consistent and the recorded variations are based on habitat type and some physical characteristics of sediments. Adult burrow morphology in sandy-muddy substrate with shells, and boulder field habitats were Y-shaped and complex burrows of horizontal channels with turning chambers and vertical connections to internal passages or crevices of boulders, respectively. In burrows of U. carinicauda, some narrow passages, connected to the upper part of adult burrows in sandy-muddy habitats, belong to juveniles. Another species, Neocallichirus jousseaumei was found under boulders in sandy-muddy habitats of the Gulf of Oman and Qeshm Island, Persian Gulf. Since this type of habitat is special in some features, no conspicuous ex-current openings (usually obvious as conical mounds of extruded sediment have been observed on the sediment surface; as these were hidden among the boulders surrounded by mixed sand and shells. The only method for observing this type of burrow was to remove the boulders by hand or lever.

  17. Effect of environmental conditions on variation in the sediment-water interface created by complex macrofaunal burrows on a tidal flat

    Science.gov (United States)

    Koo, Bon Joo; Kwon, Kae Kyoung; Hyun, Jung-Ho

    2007-11-01

    We quantified the increase in the sediment-water interface created by the burrowing activities of the resident macrofaunal community and its variation with respect to the physical conditions of the habitat on a tidal fat. We investigated environmental factors and dimensions of macrofaunal burrows with respect to tidal height and vegetation during spring and summer at three sites. A resin-casting method was used to quantify the dimensions of all burrows at each site. The dimensions of macrofaunal burrows varied both temporally and spatially and the increase in the sediment-water interface reached a maximum of 311%, ranging from 20 to 255% under different habitat conditions. The sediment-water interface depended on the duration of exposure resulting from tidal height, increased temperatures resulting from seasonality, and marsh plant density. Burrows were deeper and more expansive at both higher tidal levels and higher temperatures in summer. Burrow dimensions were sharply reduced with the disappearance of adult macrofauna in areas where the roots of the marsh plant Suaeda japonica were dense. The significance of this study lies in quantifying the burrow dimensions of the entire macrofaunal community, rather than just a single population, and confirming their spatial and temporal variation with respect to physical conditions of the habitat. Environmental factors responsible for variation in burrow dimensions are discussed.

  18. Parallel Robot for Lower Limb Rehabilitation Exercises

    Directory of Open Access Journals (Sweden)

    Alireza Rastegarpanah

    2016-01-01

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

  19. Laser assisted robotic surgery in cornea transplantation

    Science.gov (United States)

    Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

    2017-03-01

    Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

  20. A Multidisciplinary Industrial Robot Approach for Teaching Mechatronics-Related Courses

    Science.gov (United States)

    Garduño-Aparicio, Mariano; Rodríguez-Reséndiz, Juvenal; Macias-Bobadilla, Gonzalo; Thenozhi, Suresh

    2018-01-01

    This paper presents a robot prototype for an undergraduate laboratory program designed to fulfill the criteria laid out by ABET. The main objective of the program is for students to learn some basic concepts of embedded systems and robotics, and apply them in practice. For that purpose, various practical laboratory exercises were prepared to teach…

  1. Robot performing heavy gymnastics. Kikai taiso wo suru robot

    Energy Technology Data Exchange (ETDEWEB)

    Takashima, S. (Hosei Univ., Tokyo (Japan). Faculty of Engineering)

    1991-11-01

    Methods of simulation of the motion of human bodies and the control of the motion of bobots are sdudied in order to realize robots to perform gymnastics on a horizontal bar. A model of the human body structure is presented by dividing the human body into 8 parts: right and left arms, the head, the trunk, the right and left thighs, and the right and left foot, and a system is constructed by combination of the links of the rigid partswith an assumption on each link for simplification. A method to enhance the swing motion is devised in order to produce a suspension motionaas a basic movement of horizontal bar gymnastics. The basic condition to control the horizontal bar gynnastics and the control system of an articulation angle are considered. Two algorithms are presented in order to enhance the swing motion and to maintain suspension swing: excitation of the swing by a vertical motion of the center of gravity and excitation by the use of natural frequency. Computer simulation of suspension swing is executed and the results are shown in a figure. A prototype robot to perform horizontal bar gymnastics is manufactured and performs suspension swing, starting of swing, kip motion and giant swing. The concept of optimization is not included concretely in the prototype. 22 refs., 8 figs.

  2. LEP vacuum chamber, prototype

    CERN Multimedia

    CERN PhotoLab

    1983-01-01

    Final prototype for the LEP vacuum chamber, see 8305170 for more details. Here we see the strips of the NEG pump, providing "distributed pumping". The strips are made from a Zr-Ti-Fe alloy. By passing an electrical current, they were heated to 700 deg C.

  3. Imagining the prototype

    NARCIS (Netherlands)

    Brouwer, C. E.; Bhomer, ten M.; Melkas, H.; Buur, J.

    2013-01-01

    This article reports on the analysis of a design session, employing conversation analysis. In the design session three experts and a designer discuss a prototype of a shirt, which has been developed with the input from these experts. The analysis focuses on the type of involvement of the

  4. MIND performance and prototyping

    International Nuclear Information System (INIS)

    Cervera-Villanueva, A.

    2008-01-01

    The performance of MIND (Magnetised Iron Neutrino Detector) at a neutrino factory has been revisited in a new analysis. In particular, the low neutrino energy region is studied, obtaining an efficiency plateau around 5 GeV for a background level below 10 -3 . A first look has been given into the detector optimisation and prototyping

  5. The prototype fast reactor

    International Nuclear Information System (INIS)

    Broomfield, A.M.

    1985-01-01

    The paper concerns the Prototype Fast Reactor (PFR), which is a liquid metal cooled fast reactor power station, situated at Dounreay, Scotland. The principal design features of a Fast Reactor and the PFR are given, along with key points of operating history, and health and safety features. The role of the PFR in the development programme for commercial reactors is discussed. (U.K.)

  6. AGS Booster prototype magnets

    Energy Technology Data Exchange (ETDEWEB)

    Danby, G.; Jackson, J.; Lee, Y.Y.; Phillips, R.; Brodowski, J.; Jablonski, E.; Keohane, G.; McDowell, B.; Rodger, E.

    1987-03-19

    Prototype magnets have been designed and constructed for two half cells of the AGS Booster. The lattice requires 2.4m long dipoles, each curved by 10/sup 0/. The multi-use Booster injector requires several very different standard magnet cycles, capable of instantaneous interchange using computer control from dc up to 10 Hz.

  7. AGS booster prototype magnets

    International Nuclear Information System (INIS)

    Danby, G.; Jackson, J.; Lee, Y.Y.; Phillips, R.; Brodowski, J.; Jablonski, E.; Keohane, G.; McDowell, B.; Rodger, E.

    1987-01-01

    Prototype magnets have been designed and constructed for two half cells of the AGS Booster. The lattice requires 2.4m long dipoles, each curved by 10 0 . The multi-use Booster injector requires several very different standard magnet cycles, capable of instantaneous interchange using computer control from dc up to 10 Hz

  8. Cockroft Walton accelerator prototype

    International Nuclear Information System (INIS)

    Hutapea, Sumihar.

    1976-01-01

    Prototype of a Cockroft Walton generator using ceramic and plastic capacitors is discussed. Compared to the previous generator, the construction and components are much more improved. Pralon is used for the high voltage insulation column and plastic is used as a dielectric material for the high voltage capacitor. Cockroft Walton generator is used as a high tension supply for an accelerator. (author)

  9. Prompt and Precise Prototyping

    Science.gov (United States)

    2003-01-01

    For Sanders Design International, Inc., of Wilton, New Hampshire, every passing second between the concept and realization of a product is essential to succeed in the rapid prototyping industry where amongst heavy competition, faster time-to-market means more business. To separate itself from its rivals, Sanders Design aligned with NASA's Marshall Space Flight Center to develop what it considers to be the most accurate rapid prototyping machine for fabrication of extremely precise tooling prototypes. The company's Rapid ToolMaker System has revolutionized production of high quality, small-to-medium sized prototype patterns and tooling molds with an exactness that surpasses that of computer numerically-controlled (CNC) machining devices. Created with funding and support from Marshall under a Small Business Innovation Research (SBIR) contract, the Rapid ToolMaker is a dual-use technology with applications in both commercial and military aerospace fields. The advanced technology provides cost savings in the design and manufacturing of automotive, electronic, and medical parts, as well as in other areas of consumer interest, such as jewelry and toys. For aerospace applications, the Rapid ToolMaker enables fabrication of high-quality turbine and compressor blades for jet engines on unmanned air vehicles, aircraft, and missiles.

  10. Surrogates-based prototyping

    NARCIS (Netherlands)

    Du Bois, E.; Horvath, I.

    2014-01-01

    The research is situated in the system development phase of interactive software products. In this detailed design phase, we found a need for fast testable prototyping to achieve qualitative change proposals on the system design. In this paper, we discuss a literature study on current software

  11. Z Andromedae: the prototype

    International Nuclear Information System (INIS)

    Viotti, R.; Giangrande, A.; Ricciardi, O.; Cassatella, A.

    1982-01-01

    Z And is considered as the ''prototype'' of the symbiotic stars. Besides its symbiotic spectrum, the star is also known for its characteristic light curve (and for the related spectral variations). Since many theoretical speculations on Z And and similar objects have been based on the luminosity and spectral variations of this star, the authors critically analyse the observational data concerning it. (Auth.)

  12. Prototype ATLAS straw tracker

    CERN Multimedia

    Laurent Guiraud

    1998-01-01

    This is an early prototype of the straw tracking device for the ATLAS detector at CERN. This detector will be part of the LHC project, scheduled to start operation in 2008. The straw tracker will consist of thousands of gas-filled straws, each containing a wire, allowing the tracks of particles to be followed.

  13. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

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

  14. Courthouse Prototype Building

    Energy Technology Data Exchange (ETDEWEB)

    Malhotra, Mini [ORNL; New, Joshua Ryan [ORNL; Im, Piljae [ORNL

    2018-02-01

    As part of DOE's support of ANSI/ASHRAE/IES Standard 90.1 and IECC, researchers at Pacific Northwest National Laboratory (PNNL) apply a suite of prototype buildings covering 80% of the commercial building floor area in the U.S. for new construction. Efforts have started on expanding the prototype building suite to cover 90% of the commercial building floor area in the U.S., by developing prototype models for additional building types including place of worship, public order and safety, public assembly. Courthouse is courthouse is a sub-category under the “Public Order and Safety" building type category; other sub-categories include police station, fire station, and jail, reformatory or penitentiary.ORNL used building design guides, databases, and documented courthouse projects, supplemented by personal communication with courthouse facility planning and design experts, to systematically conduct research on the courthouse building and system characteristics. This report documents the research conducted for the courthouse building type and proposes building and system characteristics for developing a prototype building energy model to be included in the Commercial Building Prototype Model suite. According to the 2012 CBECS, courthouses occupy a total of 436 million sqft of floor space or 0.5% of the total floor space in all commercial buildings in the US, next to fast food (0.35%), grocery store or food market (0.88%), and restaurant or cafeteria (1.2%) building types currently included in the Commercial Prototype Building Model suite. Considering aggregated average, courthouse falls among the larger with a mean floor area of 69,400 sqft smaller fuel consumption intensity building types and an average of 94.7 kBtu/sqft compared to 77.8 kBtu/sqft for office and 80 kBtu/sqft for all commercial buildings.Courthouses range in size from 1000 sqft to over a million square foot building gross square feet and 1 courtroom to over 100 courtrooms. Small courthouses

  15. A parallel robot to assist vitreoretinal surgery

    Energy Technology Data Exchange (ETDEWEB)

    Nakano, Taiga; Sugita, Naohiko; Mitsuishi, Mamoru [University of Tokyo, School of Engineering, Tokyo (Japan); Ueta, Takashi; Tamaki, Yasuhiro [University of Tokyo, Graduate School of Medicine, Tokyo (Japan)

    2009-11-15

    This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. The manipulator was specifically designed to meet requirements such as size, precision, and sterilization; this has six-degree-of-freedom parallel architecture and provides positioning accuracy with micrometer resolution within the eye. The manipulator is controlled by an operator with a ''master manipulator'' consisting of multiple joints. Results of the in vitro experiments revealed that when compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved using the prototype robot. This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery. (orig.)

  16. 3D Printer Instrumentation to Create Varied Geometries of Robotic Limbs and Heterogeneous Granular Media

    Science.gov (United States)

    2015-05-20

    Transfer Robo Ant The 3D printer was used to rapidly prototype a robot ant . The robot ant was used to model the behavior of the fire ant and to model...computer models and 3D printed ant robots are shown below. Snake Bot We used the 3D printed to rapidly design a modular, easily-modified snake...living organism (modern mudskippers, a terrestrial fish) and extinct early tetrapods (e.g. Ichthyostega, Acanthostega) while allowing us to explore

  17. Service design in social robotics: Involving elderly care professionals into co-creation

    OpenAIRE

    Tarasova, Kseniya

    2015-01-01

    The global trend of the population ageing triggers the development of social robotics for the needs of elderly people in most European countries. After decades of being a subject of scientific research and a prototype in the lab, social robotics is finally becoming a consumer product. At the moment the logic of the consumer market points towards customer experience. Therefore, social robotics companies should follow this trend. This study considers service design as one of the best approache...

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

    Science.gov (United States)

    Erikson, Jon D.

    1994-01-01

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

  19. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  20. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  1. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

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

  2. Robotic Hand

    Science.gov (United States)

    1993-01-01

    The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.

  3. Robots and cyborgs: to be or to have a body?

    Science.gov (United States)

    Palese, Emma

    2012-06-01

    Starting with service robotics and industrial robotics, this paper aims to suggest philosophical reflections about the relationship between body and machine, between man and technology in our contemporary world. From the massive use of the cell phone to the robots which apparently "feel" and show emotions like humans do. From the wearable exoskeleton to the prototype reproducing the artificial sense of touch, technological progress explodes to the extent of embodying itself in our nakedness. Robotics, indeed, is inspired by biology in order to develop a new kind of technology affecting human life. This is a bio-robotic approach, which is fulfilled in the figure of the cyborg and consequently in the loss of human nature. Today, humans have reached the possibility to modify and create their own body following their personal desires. But what is the limit of this achievement? For this reason, we all must question ourselves whether we have or whether we are a body.

  4. 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.

  5. Performance of the Improvements of the CAESAR Robot

    Directory of Open Access Journals (Sweden)

    Riaan Stopforth

    2010-09-01

    Full Text Available Robots are able to enter concealed and unstable environments inaccessible to rescuers. Previous Urban Search And Rescue (USAR robots have experienced problems with malfunction of communication systems, traction systems, control and telemetry. These problems were accessed and improved in developing a prototype robot called CAESAR, which is an acronym for Contractible Arms Elevating Search And Rescue. Problems encountered with previous USAR robots are discussed. The mechanical, sensory and communication systems that were used on CAESAR are briefly explained. Each system was separately tested by performed experiments. Results of field tests and the robot performance experienced during a disaster scenario that was created are discussed. The capabilities of CAESAR are explained in these tests to determine if some of the problems experienced previously are solved.

  6. Embodiment design of soft continuum robots

    Directory of Open Access Journals (Sweden)

    Rongjie Kang

    2016-04-01

    Full Text Available This article presents the results of a multidisciplinary project where mechatronic engineers worked alongside biologists to develop a soft robotic arm that captures key features of octopus anatomy and neurophysiology. The concept of embodiment (the dynamic coupling between sensory-motor control, anatomy, materials and environment that allows for the animal to achieve adaptive behaviours is used as a starting point for the design process but tempered by current engineering technologies and approaches. In this article, the embodied design requirements are first discussed from a robotic viewpoint by taking into account real-life engineering limitations; then, the motor control schemes inspired by octopus nervous system are investigated. Finally, the mechanical and control design of a prototype is presented that appropriately blends bio-inspiration and engineering limitations. Simulated and experimental results show that the developed continuum robotic arm is able to reproduce octopus-like motions for bending, reaching and grasping.

  7. Mobile robot motion estimation using Hough transform

    Science.gov (United States)

    Aldoshkin, D. N.; Yamskikh, T. N.; Tsarev, R. Yu

    2018-05-01

    This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot’s range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.

  8. Design of Lightweight e Attendance Prototype Using Raspberry Pi

    International Nuclear Information System (INIS)

    Mohd Dzul Aiman Aslan; Mohamad Safuan Sulaiman; Saaidi Ismail; Mohd Fauzi Haris; Nurbahyah Hamdan; Abdul Muin Abd Rahman

    2014-01-01

    E-Attendance is a system that has been extensively used to record attendance in most of the official ceremony of Nuclear Malaysia. Currently, a computer is used as the client to record the input from the proximity card. However, further study on Raspberry Pi, the single board computer that use system on a chip (SoC) in the current market, discover that it is capable of delivering a simple light task of the e-attendance. With a compact memory and in linux environment, a prototype for lightweight e-attendance is being developed. This prototype of Raspberry Pi is believe to have potential in computer based system of Nuclear Technology such as access control, monitoring system and even robotic assistance. This paper will discuss the design of the prototype that resemble e-attendance to improve the robustness of the system. (author)

  9. Piezoresistive pressure sensor array for robotic skin

    Science.gov (United States)

    Mirza, Fahad; Sahasrabuddhe, Ritvij R.; Baptist, Joshua R.; Wijesundara, Muthu B. J.; Lee, Woo H.; Popa, Dan O.

    2016-05-01

    Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, haptic communication is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots increase perception capabilities of their surrounding environments. Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability. In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

  10. PARTICLE REMOVAL RATES BY THE MUD SHRIMP UPOGEBIA PUGETTENSIS, ITS BURROW, AND A COMMENSAL CLAM: EFFECTS ON ESTUARINE PHYTOPLANKTON ABUNDANCE

    Science.gov (United States)

    The burrowing shrimp Upogebia pugettensis is an abundant intertidal inhabitant of Pacific Northwest bays and estuaries where it lives commensally with the bivalve Cryptomya californica. Suspension-feeding activities by the shrimp and by its commensal clam, as well as particle se...

  11. Distributional changes in the western Burrowing Owl (Athene cunicularia hypugaea) in North America from 1967 to 2008

    Science.gov (United States)

    Macias-Duarte, Alberto; Conway, Courtney J.

    2015-01-01

    The quantification of shifts in bird distributions in response to climate change provides an opportunity to gain a deeper understanding of the processes that influence species persistence. We used data from the North American Breeding Bird Survey (BBS) to document changes in the distributional limits of the western Burrowing Owl (Athene cunicularia hypugaea) from 1967 to 2008. We used logistic regression to model presence probability (p) as a function of longitude, latitude, and year. We modeled a linear trend in logit(p) through time with slope and intercept modeled as a double Fourier series of longitude and latitude. We found that the western Burrowing Owl has experienced an intriguing southward shift in the northern half of its breeding range, contrary to what is predicted by most species niche models and what has been observed for many other species in North America. The breeding range of the Burrowing Owl has been shrinking near its northern, western, and eastern edges. Our model detected the population declines that were observed in California and eastern Washington, in locations where maps based on route-specific estimating equations had predicted significant population increases. We suggest that the northern boundary of the breeding distribution of the western Burrowing Owl has contracted southward and the southern boundary of the species' breeding distribution has expanded southward into areas of northern Mexico that were formerly used only by wintering migrants.

  12. A maze-lover's dream: Burrow architecture, natural history and habitat characteristics of Ansell's mole-rat (Fukomys anselli)

    Czech Academy of Sciences Publication Activity Database

    Šklíba, J.; Mazoch, V.; Patzenhauerová, Hana; Hrouzková, E.; Lövy, M.; Kott, O.; Šumbera, R.

    2012-01-01

    Roč. 77, č. 6 (2012), s. 420-427 ISSN 1616-5047 R&D Projects: GA AV ČR IAA601410802 Institutional support: RVO:68081766 Keywords : Bathyergidae * Burrow system * Sociality * Habitat characteristics * Subterranean mammal * Fukomys anselli Subject RIV: EG - Zoology Impact factor: 1.246, year: 2012

  13. Development and test of prototype components for ITER; Entwicklung und Test von Prototypkomponenten fuer ITER

    Energy Technology Data Exchange (ETDEWEB)

    Biel, Wolfgang; Behr, Wilfried; Castano-Bardawil, David; and others

    2015-08-15

    The scientific program of the project is divided into the following partial projects: (1.) ITER Diagnostic Port Plug for the charge-exchange spectroscopy (CXRS) with the subthemes: (a) Development of prototypes for critical mechanical components, (b) development of a roboter for the laser welding of vacuum seals and pipings at the Port Plug, (c) mirror studies, (d) CXRS prototype spectrometer, (2.) ITER tritium retention diagnostics (TR), (3.) ITER disruption mitigation ventile (DMV).

  14. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  15. Burrow characteristics of the co-existing sibling species Mus booduga and Mus terricolor and the genetic basis of adaptation to hypoxic/hypercapnic stress

    Directory of Open Access Journals (Sweden)

    Narayan Gopeshwar

    2009-04-01

    Full Text Available Abstract Background The co-existing, sibling species Mus booduga and Mus terricolor show a difference in site-preference for burrows. The former build them in flat portion of the fields while the latter make burrows in earthen mounds raised for holding water in cultivated fields. In northern India which experiences great variation in climatic condition between summer and winter, M. booduga burrows have an average depth of 41 cm, as against 30 cm in southern India with less climatic fluctuation. M. terricolor burrows are about 20 cm deep everywhere. The three chromosomal species M. terricolor I, II and III have identical burrows, including location of the nest which is situated at the highest position. In contrast, in M. booduga burrows, the nest is at the lowest position. Results The nest chamber of M. booduga is located at greater depth than the nest chamber of M. terricolor. Also, in the burrows of M. booduga the exchange of air takes place only from one side (top surface in contrast to the burrows of M. terricolor where air exchange is through three sides. Hence, M. booduga lives in relatively more hypoxic and hypercapnic conditions than M. terricolor. We observed the fixation of alternative alleles in M. booduga and M. terricolor at Superoxide dismutase-1 (Sod-1, Transferrin (Trf and Hemoglobin beta chain (Hbb loci. All the three are directly or indirectly dependent on oxygen concentration for function. In addition to these, there are differences in burrow patterns and site-preference for burrows suggesting difference in probable adaptive strategy in these co-existing sibling species. Conclusion The burrow structure and depth of nest of the chromosomal species M. terricolor I, II and III are same everywhere probably due to the recency of their evolutionary divergence. Moreover, there is lack of competition for the well-adapted 'microhabitats' since they are non-overlapping in distribution. However, the co-existing sibling species M. booduga

  16. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

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

  17. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  18. Scent gland constituents of the Middle American burrowing python, Loxocemus bicolor (Serpentes: Loxocemidae).

    Science.gov (United States)

    Schulze, Thies; Weldon, Paul J; Schulz, Stefan

    2017-07-14

    Analysis by gas chromatography/mass spectrometry of the scent gland secretions of male and female Middle American burrowing pythons (Loxocemus bicolor) revealed the presence of over 300 components including cholesterol, fatty acids, glyceryl monoalkyl ethers, and alcohols. The fatty acids, over 100 of which were identified, constitute most of the compounds in the secretions and show the greatest structural diversity. They include saturated and unsaturated, unbranched and mono-, di-, and trimethyl-branched compounds ranging in carbon-chain length from 13 to 24. The glyceryl monoethers possess saturated or unsaturated, straight or methyl-branched alkyl chains ranging in carbon-chain length from 13 to 24. Alcohols, which have not previously been reported from the scent glands, possess straight, chiefly saturated carbon chains ranging in length from 13 to 24. Sex or individual differences in secretion composition were not observed. Compounds in the scent gland secretions of L. bicolor may deter offending arthropods, such as ants.

  19. The rhinoceros among Serpents: Comparative anatomy and experimental biophysics of Calabar burrowing python (Calabaria reinhardtii) skin.

    Science.gov (United States)

    Han, Dawei; Young, Bruce A

    2018-01-01

    The Calabar burrowing python (Calabaria reinhardtii) has a unique combination of marked thickness of the integumentary layers, a highly organized lamellate arrangement of the dermal collagen bundles, and a reduction in the size of the interscale hinge region of the integument. Biomechanical testing demonstrates that the skin of C. reinhardtii is more resistant to penetration than the skin of other snakes. The laminar arrangement of the collagen bundles provides for penetrative resistance, even while maintaining the flexibility characteristic of snake skin. Considering the life history of this species, it is hypothesized that the specialized integument of C. reinhardtii is a passive defensive mechanism against penetrative bites from maternal rodents and predators. © 2017 Wiley Periodicals, Inc.

  20. Effects of radiotransmitter necklaces on behaviors of adult male western burrowing owls

    Science.gov (United States)

    Chipman, E.D.; McIntyre, N.E.; Ray, J.D.; Wallace, M.C.; Boal, C.W.

    2007-01-01

    We studied the behavioral effects of necklace-style radiotransmitters on breeding male western burrowing owls (Athene cunicularia hypugaea) in 2 areas of northwestern Texas, USA, in 2004 and 2005. We tested the hypothesis that transmittered owls would spend time interacting with their necklaces and as a result spend less time in vigilance and resting activities than would nontransmittered owls. Nontransmittered owls (n = 6) spent significantly more time being vigilant (P = 0.007) than did transmittered owls (n = 3) in 2004, who spent significant amounts of time interacting with their necklaces. In 2005, behaviors of transmittered owls (n = 8) were significantly different (P of time interacting with their necklaces, they appeared to habituate to the presence of the transmitters within a relatively short period (<1 week), and necklaces did not affect survivorship or fitness in the short-term.

  1. Database Replication Prototype

    OpenAIRE

    Vandewall, R.

    2000-01-01

    This report describes the design of a Replication Framework that facilitates the implementation and com-parison of database replication techniques. Furthermore, it discusses the implementation of a Database Replication Prototype and compares the performance measurements of two replication techniques based on the Atomic Broadcast communication primitive: pessimistic active replication and optimistic active replication. The main contributions of this report can be split into four parts....

  2. Brachial Plexus Blocker Prototype

    OpenAIRE

    Stéphanie Coelho Monteiro

    2017-01-01

    Although the area of surgical simulation has been the subject of study in recent years, it is still necessary to develop artificial experimental models with a perspective to dismiss the use of biological models. Since this makes the simulators more real, transferring the environment of the health professional to a physical or virtual reality, an anesthetic prototype has been developed, where the motor response is replicated when the brachial plexus is subjected to a proximal nervous stimulus....

  3. SATBOT I: Prototype of a biomorphic autonomous spacecraft

    Energy Technology Data Exchange (ETDEWEB)

    Frigo, J.; Tilden, M.W.

    1995-12-01

    Our goal is to produce a prototype of an autonomous satellite robot, SATBOT. This robot differs from conventional robots in that it has three degrees of freedom, uses magnetics to direct the motion, and needs a zero gravity environment. The design integrates the robot`s structure and a biomorphic (biological morphology) control system to produce a survival-oriented vehicle that adapts to an unknown environment. Biomorphic systems, loosely modeled after biological systems, use simple analog circuitry, low power, and are microprocessor independent. These analog networks called Nervous Networks (Nv), are used to solve real-time controls problems. The Nv approach to problem solving in the robotics has produced many surprisingly capable machines which exhibit emergent behavior. The network can be designed to respond to positive or negative inputs from a sensor and produce a desired directed motion. The fluidity and direction of motion is set by the neurons and is inherent to the structure of the device. The robot is designed to orient itself with respect to a local magnetic field; to direct its attitude toward the greatest source of light; and robustly recover from variations in the local magnetic field, power source, or structural stability. This design uses a two neuron network which acts as a push-pull controller for the actuator (air core coil), and two sun sensors (photodiodes) as bias inputs to the neuron. The effect of sensor activation as it relates to an attractive or repulsive torque (directional motion) is studied. A discussion of this system`s power (energy) efficiency and frequency, noise immunity, and some dynamic characteristics is presented.

  4. Patterns of surface burrow plugging in a colony of black-tailed prairie dogs occupied by black-footed ferrets

    Science.gov (United States)

    Eads, David E.; Biggins, Dean E.

    2012-01-01

    Black-tailed prairie dogs (Cynomys ludovicianus) can surface-plug openings to a burrow occupied by a black-footed ferret (Mustela nigripes). At a coarse scale, surface plugs are more common in colonies of prairie dogs occupied by ferrets than in colonies without ferrets. However, little is known about spatial and temporal patterns of surface plugging in a colony occupied by ferrets. In a 452-ha colony of black-tailed prairie dogs in South Dakota, we sampled burrow openings for surface plugs and related those data to locations of ferrets observed during spotlight surveys. Of 67,574 burrow openings in the colony between June and September 2007, 3.7% were plugged. In a colony-wide grid of 80 m × 80 m cells, the occurrence of surface plugging (≥1 opening plugged) was greater in cells used by ferrets (93.3% of cells) than in cells not observably used by ferrets (70.6%). Rates of surface plugging (percentages of openings plugged) were significantly higher in cells used by ferrets (median = 3.7%) than in cells without known ferret use (median = 3.2%). Also, numbers of ferret locations in cells correlated positively with numbers of mapped surface plugs in the cells. To investigate surface plugging at finer temporal and spatial scales, we compared rates of surface plugging in 20-m-radius circle-plots centered on ferret locations and in random plots 1–4 days after observing a ferret (Jun–Oct 2007 and 2008). Rates of surface plugging were greater in ferret-plots (median = 12.0%) than in random plots (median = 0%). For prairie dogs and their associates, the implications of surface plugging could be numerous. For instance, ferrets must dig to exit or enter plugged burrows (suggesting energetic costs), and surface plugs might influence microclimates in burrows and consequently influence species that cannot excavate soil (e.g., fleas that transmit the plague bacterium Yersinia pestis).

  5. Burrowing as a novel voluntary strength training method for mice: A comparison of various voluntary strength or resistance exercise methods.

    Science.gov (United States)

    Roemers, P; Mazzola, P N; De Deyn, P P; Bossers, W J; van Heuvelen, M J G; van der Zee, E A

    2018-04-15

    Voluntary strength training methods for rodents are necessary to investigate the effects of strength training on cognition and the brain. However, few voluntary methods are available. The current study tested functional and muscular effects of two novel voluntary strength training methods, burrowing (digging a substrate out of a tube) and unloaded tower climbing, in male C57Bl6 mice. To compare these two novel methods with existing exercise methods, resistance running and (non-resistance) running were included. Motor coordination, grip strength and muscle fatigue were measured at baseline, halfway through and near the end of a fourteen week exercise intervention. Endurance was measured by an incremental treadmill test after twelve weeks. Both burrowing and resistance running improved forelimb grip strength as compared to controls. Running and resistance running increased endurance in the treadmill test and improved motor skills as measured by the balance beam test. Post-mortem tissue analyses revealed that running and resistance running induced Soleus muscle hypertrophy and reduced epididymal fat mass. Tower climbing elicited no functional or muscular changes. As a voluntary strength exercise method, burrowing avoids the confounding effects of stress and positive reinforcers elicited in forced strength exercise methods. Compared to voluntary resistance running, burrowing likely reduces the contribution of aerobic exercise components. Burrowing qualifies as a suitable voluntary strength training method in mice. Furthermore, resistance running shares features of strength training and endurance (aerobic) exercise and should be considered a multi-modal aerobic-strength exercise method in mice. Copyright © 2017 Elsevier B.V. All rights reserved.

  6. Estimating population size of a nocturnal burrow-nesting seabird using acoustic monitoring and habitat mapping

    Directory of Open Access Journals (Sweden)

    Steffen Oppel

    2014-04-01

    Full Text Available Population size assessments for nocturnal burrow-nesting seabirds are logistically challenging because these species are active in colonies only during darkness and often nest on remote islands where manual inspections of breeding burrows are not feasible. Many seabird species are highly vocal, and recent technological innovations now make it possible to record and quantify vocal activity in seabird colonies. Here we test the hypothesis that remotely recorded vocal activity in Cory’s shearwater (Calonectris borealis breeding colonies in the North Atlantic increases with nest density, and combined this relationship with cliff habitat mapping to estimate the population size of Cory’s shearwaters on the island of Corvo (Azores. We deployed acoustic recording devices in 9 Cory’s shearwater colonies of known size to establish a relationship between vocal activity and local nest density (slope = 1.07, R2 = 0.86, p < 0.001. We used this relationship to predict the nest density in various cliff habitat types and produced a habitat map of breeding cliffs to extrapolate nest density around the island of Corvo. The mean predicted nest density on Corvo ranged from 6.6 (2.1–16.2 to 27.8 (19.5–36.4 nests/ha. Extrapolation of habitat-specific nest densities across the cliff area of Corvo resulted in an estimate of 6326 Cory’s shearwater nests (95% confidence interval: 3735–10,524. This population size estimate is similar to previous assessments, but is too imprecise to detect moderate changes in population size over time. While estimating absolute population size from acoustic recordings may not be sufficiently precise, the strong positive relationship that we found between local nest density and recorded calling rate indicates that passive acoustic monitoring may be useful to document relative changes in seabird populations over time.

  7. Prototyping real-time systems

    OpenAIRE

    Clynch, Gary

    1994-01-01

    The traditional software development paradigm, the waterfall life cycle model, is defective when used for developing real-time systems. This thesis puts forward an executable prototyping approach for the development of real-time systems. A prototyping system is proposed which uses ESML (Extended Systems Modelling Language) as a prototype specification language. The prototyping system advocates the translation of non-executable ESML specifications into executable LOOPN (Language of Object ...

  8. MITRE sensor layer prototype

    Science.gov (United States)

    Duff, Francis; McGarry, Donald; Zasada, David; Foote, Scott

    2009-05-01

    The MITRE Sensor Layer Prototype is an initial design effort to enable every sensor to help create new capabilities through collaborative data sharing. By making both upstream (raw) and downstream (processed) sensor data visible, users can access the specific level, type, and quantities of data needed to create new data products that were never anticipated by the original designers of the individual sensors. The major characteristic that sets sensor data services apart from typical enterprise services is the volume (on the order of multiple terabytes) of raw data that can be generated by most sensors. Traditional tightly coupled processing approaches extract pre-determined information from the incoming raw sensor data, format it, and send it to predetermined users. The community is rapidly reaching the conclusion that tightly coupled sensor processing loses too much potentially critical information.1 Hence upstream (raw and partially processed) data must be extracted, rapidly archived, and advertised to the enterprise for unanticipated uses. The authors believe layered sensing net-centric integration can be achieved through a standardize-encapsulate-syndicateaggregate- manipulate-process paradigm. The Sensor Layer Prototype's technical approach focuses on implementing this proof of concept framework to make sensor data visible, accessible and useful to the enterprise. To achieve this, a "raw" data tap between physical transducers associated with sensor arrays and the embedded sensor signal processing hardware and software has been exploited. Second, we encapsulate and expose both raw and partially processed data to the enterprise within the context of a service-oriented architecture. Third, we advertise the presence of multiple types, and multiple layers of data through geographic-enabled Really Simple Syndication (GeoRSS) services. These GeoRSS feeds are aggregated, manipulated, and filtered by a feed aggregator. After filtering these feeds to bring just the type

  9. A prototype analysis of vengeance

    NARCIS (Netherlands)

    Elshout, Maartje; Nelissen, Rob; van Beest, Ilja

    2015-01-01

    The authors examined the concept of vengeance from a prototype perspective. In 6 studies, the prototype structure of vengeance was mapped. Sixty-nine features of vengeance were identified (Study 1), and rated on centrality (Study 2). Further studies confirmed the prototype structure. Compared to

  10. 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

  11. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  12. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  13. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  14. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  15. Infusion of low dose glyceryl trinitrate has no consistent effect on burrowing behavior, running wheel activity and light sensitivity in female rats

    DEFF Research Database (Denmark)

    Christensen, Sarah Louise T; Petersen, Steffen; Sørensen, Dorte Bratbo

    2016-01-01

    . In the current paper we have studied the effect of glyceryl trinitrate infusion on three different rat behaviors. Methods: The stability of burrowing behavior, running wheel activity and light sensitivity towards repeated testing was evaluated also with respect to estrous cycle. Finally, the effect of glyceryl...... trinitrate on these behaviors in female rats was observed. Results: Burrowing behavior and running wheel activity were stable in the individual rat between experiments. The burrowing behavior was significantly affected by the stage of estrous cycle. The other assays were stable throughout the cycle. None...

  16. Classification of robotic battery service systems for unmanned aerial vehicles

    Directory of Open Access Journals (Sweden)

    Ngo Tien

    2018-01-01

    Full Text Available Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: the type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed.

  17. Force-sensed interface for control and training space robot

    Science.gov (United States)

    Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

    2018-05-01

    A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

  18. Structural optimization for materially informed design to robotic production processes

    NARCIS (Netherlands)

    Bier, H.H.; Mostafavi, S.

    2015-01-01

    Hyperbody’s materially informed Design-to-Robotic-Production (D2RP) processes for additive and subtractive manufacturing aim to achieve performative porosity in architecture at various scales. An extended series of D2RP experiments aiming to produce prototypes at 1:1 scale wherein design materiality

  19. Rad-hard embedded computers for nuclear robotics

    International Nuclear Information System (INIS)

    Giraud, A.; Joffre, F.; Marceau, M.; Robiolle, M.; Brunet, J.P.; Mijuin, D.

    1994-01-01

    Nuclear industries require robots with embedded rad hard electronics and high reliability. The SYROCO research program allowed to perform efficient industrial prototypes, build according to MICADO architecture, and to design CADMOS architecture. MICADO architecture uses the auto healing property that have CMOS circuits when being switched off during irradiation. (D.L.). 8 refs., 5 figs

  20. Durable Tactile Glove for Human or Robot Hand

    Science.gov (United States)

    Butzer, Melissa; Diftler, Myron A.; Huber, Eric

    2010-01-01

    A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. The force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable than earlier models.

  1. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  2. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

  3. OPAL Jet Chamber Prototype

    CERN Multimedia

    OPAL was one of the four experiments installed at the LEP particle accelerator from 1989 - 2000. OPAL's central tracking system consists of (in order of increasing radius) a silicon microvertex detector, a vertex detector, a jet chamber, and z-chambers. All the tracking detectors work by observing the ionization of atoms by charged particles passing by: when the atoms are ionized, electrons are knocked out of their atomic orbitals, and are then able to move freely in the detector. These ionization electrons are detected in the dirfferent parts of the tracking system. This piece is a prototype of the jet chambers

  4. Prototyping Augmented Reality

    CERN Document Server

    Mullen, Tony

    2011-01-01

    Learn to create augmented reality apps using Processing open-source programming language Augmented reality (AR) is used all over, and you may not even realize it. Smartphones overlay data onto live camera views to show homes for sale, restaurants, or historical sites. American football broadcasts use AR to show the invisible first-down line on the field to TV viewers. Nike and Budweiser, among others, have used AR in ads. Now, you can learn to create AR prototypes using 3D data, Processing open-source programming language, and other languages. This unique book is an easy-to-follow guide on how

  5. Nightshade Prototype Experiments (Silverleaf)

    Energy Technology Data Exchange (ETDEWEB)

    Danielson, Jeremy [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Bauer, Amy L. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-12-23

    The Red Sage campaign is a series of subcritical dynamic plutonium experiments designed to measure ejecta. Nightshade, the first experiments in Red Sage scheduled for fiscal year 2019, will measure the amount of ejecta emission into vacuum from a double-­shocked plutonium surface. To address the major technical risks in Nightshade, a Level 2 milestone was developed for fiscal year 2016. Silverleaf, a series of four experiments, was executed at the Los Alamos National Laboratory in July and August 2016 to demonstrate a prototype of the Nightshade package and to satisfy this Level 2 milestone. This report is documentation that Red Sage Level 2 milestone requirements were successfully met.

  6. Scenario-Based Assessment of User Needs for Point-of-Care Robots.

    Science.gov (United States)

    Lee, Hyeong Suk; Kim, Jeongeun

    2018-01-01

    This study aimed to derive specific user requirements and barriers in a real medical environment to define the essential elements and functions of two types of point-of-care (POC) robot: a telepresence robot as a tool for teleconsultation, and a bedside robot to provide emotional care for patients. An analysis of user requirements was conducted; user needs were gathered and identified, and detailed, realistic scenarios were created. The prototype robots were demonstrated in physical environments for envisioning and evaluation. In all, three nurses and three clinicians participated as evaluators to observe the demonstrations and evaluate the robot systems. The evaluators were given a brief explanation of each scene and the robots' functionality. Four major functions of the teleconsultation robot were defined and tested in the demonstration. In addition, four major functions of the bedside robot were evaluated. Among the desired functions for a teleconsultation robot, medical information delivery and communication had high priority. For a bedside robot, patient support, patient monitoring, and healthcare provider support were the desired functions. The evaluators reported that the teleconsultation robot can increase support from and access to specialists and resources. They mentioned that the bedside robot can improve the quality of hospital life. Problems identified in the demonstration were those of space conflict, communication errors, and safety issues. Incorporating this technology into healthcare services will enhance communication and teamwork skills across distances and thereby facilitate teamwork. However, repeated tests will be needed to evaluate and ensure improved performance.

  7. BiLBIQ A Biologically Inspired Robot with Walking and Rolling Locomotion

    CERN Document Server

    King, Ralf Simon

    2013-01-01

    The book ‘BiLBIQ: A biologically inspired Robot with walking and rolling locomotion’ deals with implementing a locomotion behavior observed in the biological archetype Cebrennus villosus to a robot prototype whose structural design needs to be developed.   The biological sample is investigated as far as possible and compared to other evolutional solutions within the framework of nature’s inventions. Current achievements in robotics are examined and evaluated for their relation and relevance to the robot prototype in question. An overview of what is state of the art in actuation ensures the choice of the hardware available and most suitable for this project. Through a constant consideration of the achievement of two fundamentally different ways of locomotion with one and the same structure, a robot design is developed and constructed taking hardware constraints into account. The development of a special leg structure that needs to resemble and replace body elements of the biological archetype is a speci...

  8. Hydro-Quebec inspection robot RIT-LRG

    International Nuclear Information System (INIS)

    Champagne, D.; Rinfret, F.; Bourgault, Y.G.

    2008-01-01

    Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

  9. Development of a mobile robot for remote radiation measurement

    International Nuclear Information System (INIS)

    Sarkar, Ushnish; Saini, Surendra Singh; Swaroop, Tumapala Teja; Sreejith, P.; Kumar, Ravinder; Ray, Debasish Datta

    2016-01-01

    Remote measurement of radiation using mobile robots is recommended in nuclear installations. For this purpose various robots have been developed that carry a radiation sensor. However since the robot has to go very near to the source of radiation, the life of the robot's components is compromised due to high level of absorbed dose. It was earlier managed to increase the life expectancy of remote radiation measurement robots by allowing the sensor to be placed on an extendable telescopic assembly; analogous to a health physicist taking measurements using a Teletector. The first prototype developed had stair climbing capabilities but it was found to be over dimensioned for various potential applications. A significant use of such robots is in taking measurements at nuclear reprocessing facilities having narrow cluttered pathways. This required development of a new version of the robot capable of negotiating the narrow pathways of such facilities. This paper describes the different aspects of the development of the mobile robot system with flexible radiation sensing capabilities

  10. Hydro-Quebec inspection robot RIT-LRG

    Energy Technology Data Exchange (ETDEWEB)

    Champagne, D., E-mail: champagne.dominique@ireq.ca [Inst. de recherche d' Hydro-Quebec, Quebec (Canada); Rinfret, F.; Bourgault, Y.G., E-mail: rinfret.francois@hydro.qc.ca, E-mail: bourgault.yves.g@hydro.qc.ca [Hydro-Quebec, Becancour, Quebec (Canada)

    2008-07-01

    Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

  11. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots and rovers exploring planets need to autonomously navigate to specified locations. Advanced Scientific Concepts, Inc. (ASC) and the University of Minnesota...

  12. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

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

  13. DataCollection Prototyping

    CERN Multimedia

    Beck, H.P.

    DataCollection is a subsystem of the Trigger, DAQ & DCS project responsible for the movement of event data from the ROS to the High Level Triggers. This includes data from Regions of Interest (RoIs) for Level 2, building complete events for the Event Filter and finally transferring accepted events to Mass Storage. It also handles passing the LVL1 RoI pointers and the allocation of Level 2 processors and load balancing of Event Building. During the last 18 months DataCollection has developed a common architecture for the hardware and software required. This involved a radical redesign integrating ideas from separate parts of earlier TDAQ work. An important milestone for this work, now achieved, has been to demonstrate this subsystem in the so-called Phase 2A Integrated Prototype. This prototype comprises the various TDAQ hardware and software components (ROSs, LVL2, etc.) under the control of the TDAQ Online software. The basic functionality has been demonstrated on small testbeds (~8-10 processing nodes)...

  14. OMS FDIR: Initial prototyping

    Science.gov (United States)

    Taylor, Eric W.; Hanson, Matthew A.

    1990-01-01

    The Space Station Freedom Program (SSFP) Operations Management System (OMS) will automate major management functions which coordinate the operations of onboard systems, elements and payloads. The objectives of OMS are to improve safety, reliability and productivity while reducing maintenance and operations cost. This will be accomplished by using advanced automation techniques to automate much of the activity currently performed by the flight crew and ground personnel. OMS requirements have been organized into five task groups: (1) Planning, Execution and Replanning; (2) Data Gathering, Preprocessing and Storage; (3) Testing and Training; (4) Resource Management; and (5) Caution and Warning and Fault Management for onboard subsystems. The scope of this prototyping effort falls within the Fault Management requirements group. The prototyping will be performed in two phases. Phase 1 is the development of an onboard communications network fault detection, isolation, and reconfiguration (FDIR) system. Phase 2 will incorporate global FDIR for onboard systems. Research into the applicability of expert systems, object-oriented programming, fuzzy sets, neural networks and other advanced techniques will be conducted. The goals and technical approach for this new SSFP research project are discussed here.

  15. Live Piloting and Prototyping

    Directory of Open Access Journals (Sweden)

    Francesca Rizzo

    2013-07-01

    Full Text Available This paper presents current trends in service design research concerning large scale projects aimed at generating changes at a local scale. The strategy adopted to achieve this, is to co-design solutions including future users in the development process, prototyping and testing system of products and services before their actual implementation. On the basis of experience achieved in the European Project Life 2.0, this paper discusses which methods and competencies are applied in the development of these projects, eliciting the lessons learnt especially from the piloting phase in which the participatory design (PD approach plays a major role. In the first part, the topic is introduced jointly with the theoretical background where the user center design and participatory design methods are presented; then the Life 2.0 project development is described; finally the experience is discussed from a service design perspective, eliciting guidelines for piloting and prototyping services in a real context of use. The paper concludes reflecting on the designers’ role and competencies needed in this process.

  16. User-centric design of a personal assistance robot (FRASIER) for active aging.

    Science.gov (United States)

    Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

    2015-01-01

    We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications.

  17. Robotics and tele-operation technology for applications in nuclear fields

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Hirata, Yasuhisa; Takeo, Koji

    2002-01-01

    In this article, we introduce available robotics and tele-operation technology for applications in Nuclear Fields. First, robotics technology for manipulation of a large object is introduced which has been experimentally applied to ITER Maintenance Robot. Then, transportation technology of a large object by multiple mobile robots is reviewed. At last, recent tele-operation technologies and a prototype tele-operation system, referred to as VISIT (Visual Interface System for Interactive Task-execution), is introduced. Several experimental results are also introduced. (author)

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

    OpenAIRE

    Luo Haitao; Liu Yuwang; Chen Zhengcang; Leng Yuquan

    2013-01-01

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

  19. Adaptation of the IBM ECR [electric cantilever robot] robot to plutonium processing applications

    International Nuclear Information System (INIS)

    Armantrout, G.A.; Pedrotti, L.R.; Halter, E.A.; Crossfield, M.

    1990-12-01

    The changing regulatory climate in the US is adding increasing incentive to reduce operator dose and TRU waste for DOE plutonium processing operations. To help achieve that goal the authors have begun adapting a small commercial overhead gantry robot, the IBM electric cantilever robot (ECR), to plutonium processing applications. Steps are being taken to harden this robot to withstand the dry, often abrasive, environment within a plutonium glove box and to protect the electronic components against alpha radiation. A mock-up processing system for the reduction of the oxide to a metal was prepared and successfully demonstrated. Design of a working prototype is now underway using the results of this mock-up study. 7 figs., 4 tabs

  20. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

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

  1. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  2. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

    Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics......Description of the compulsary project tasks to be carried out as a part of DTU course 72238 Robotics...

  3. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

    Robots which are immune to the CMS cavern environment, wirelessly controlled: -One actuated by smart materials (Ionic Polymer-Metal Composites and Macro Fiber Composites) -One regular brushed DC rover -One servo-driven rover -Stair-climbing robot

  4. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  5. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

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

  6. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  7. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  8. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

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

  9. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

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

  10. Robots in the Roses

    OpenAIRE

    2014-01-01

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

  11. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs

  12. Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

    CERN Document Server

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

    2016-01-01

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

  13. Prototypes as Platforms for Participation

    DEFF Research Database (Denmark)

    Horst, Willem

    developers, and design it accordingly. Designing a flexible prototype in combination with supportive tools to be used by both interaction designers and non-designers during development is introduced as a way to open up the prototyping process to these users. Furthermore I demonstrate how such a flexible...... on prototyping, by bringing to attention that the prototype itself is an object of design, with its users and use context, which deserves further attention. Moreover, in this work I present concrete tools and methods that can be used by interaction designers in practice. As such this work addresses both......The development of interactive products in industry is an activity involving different disciplines – such as different kinds of designers, engineers, marketers and managers – in which prototypes play an important role. On the one hand, prototypes can be powerful boundary objects and an effective...

  14. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  15. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

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

  16. 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.

  17. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

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

  18. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  19. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

    Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

  20. Prototype Stilbene Neutron Collar

    Energy Technology Data Exchange (ETDEWEB)

    Prasad, M. K. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Shumaker, D. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Snyderman, N. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Verbeke, J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Wong, J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2016-10-26

    A neutron collar using stilbene organic scintillator cells for fast neutron counting is described for the assay of fresh low enriched uranium (LEU) fuel assemblies. The prototype stilbene collar has a form factor similar to standard He-3 based collars and uses an AmLi interrogation neutron source. This report describes the simulation of list mode neutron correlation data on various fuel assemblies including some with neutron absorbers (burnable Gd poisons). Calibration curves (doubles vs 235U linear mass density) are presented for both thermal and fast (with Cd lining) modes of operation. It is shown that the stilbene collar meets or exceeds the current capabilities of He-3 based neutron collars. A self-consistent assay methodology, uniquely suited to the stilbene collar, using triples is described which complements traditional assay based on doubles calibration curves.

  1. Brachial Plexus Blocker Prototype

    Directory of Open Access Journals (Sweden)

    Stéphanie Coelho Monteiro

    2017-08-01

    Full Text Available Although the area of surgical simulation has been the subject of study in recent years, it is still necessary to develop artificial experimental models with a perspective to dismiss the use of biological models. Since this makes the simulators more real, transferring the environment of the health professional to a physical or virtual reality, an anesthetic prototype has been developed, where the motor response is replicated when the brachial plexus is subjected to a proximal nervous stimulus. Using action-research techniques, with this simulator it was possible to validate that the human nerve response can be replicated, which will aid the training of health professionals, reducing possible risks in a surgical environment.

  2. I Show You How I Like You: Emotional Human-Robot Interaction through Facial Expression and Tactile Stimulation

    DEFF Research Database (Denmark)

    Canamero, Dolores; Fredslund, Jacob

    2001-01-01

    We report work on a LEGO robot that displays different emotional expressions in response to physical stimulation, for the purpose of social interaction with humans. This is a first step toward our longer-term goal of exploring believable emotional exchanges to achieve plausible interaction...... with a simple robot. Drawing inspiration from theories of human basic emotions, we implemented several prototypical expressions in the robot's caricatured face and conducted experiments to assess the recognizability of these expressions...

  3. Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

    Science.gov (United States)

    Phamduy, Paul

    The application of robotic fish in the fields of animal behavior and informal science learning are new and relatively untapped. In the context of animal behavior studies, robotic fish offers a consistent and customizable stimulus that could contribute to dissect the determinants of social behavior. In the realm of informal science learning, robotic fish are gaining momentum for the possibility of educating the general public simultaneously on fish physiology and underwater robotics. In this dissertation, the design and development of a number of robotic fish platforms and prototypes and their application in animal behavioral studies and informal science learning settings are presented. Robotic platforms for animal behavioral studies focused on the utilization replica or same scale prototypes. A novel robotic fish platform, featuring a three-dimensional swimming multi-linked robotic fish, was developed with three control modes varying in the level of robot autonomy offered. This platform was deployed at numerous science festivals and science centers, to obtain data on visitor engagement and experience.

  4. Synthesis of Pt nanoparticles and their burrowing into Si due to synergistic effects of ion beam energy losses

    Directory of Open Access Journals (Sweden)

    Pravin Kumar

    2014-10-01

    Full Text Available We report the synthesis of Pt nanoparticles and their burrowing into silicon upon irradiation of a Pt–Si thin film with medium-energy neon ions at constant fluence (1.0 × 1017 ions/cm2. Several values of medium-energy neon ions were chosen in order to vary the ratio of the electronic energy loss to the nuclear energy loss (Se/Sn from 1 to 10. The irradiated films were characterized using Rutherford backscattering spectroscopy (RBS, atomic force microscopy (AFM, scanning electron microscopy (SEM, X-ray diffraction (XRD and high resolution transmission electron microscopy (HRTEM. A TEM image of a cross section of the film irradiated with Se/Sn = 1 shows ≈5 nm Pt NPs were buried up to ≈240 nm into the silicon. No silicide phase was detected in the XRD pattern of the film irradiated at the highest value of Se/Sn. The synergistic effect of the energy losses of the ion beam (molten zones are produced by Se, and sputtering and local defects are produced by Sn leading to the synthesis and burrowing of Pt NPs is evidenced. The Pt NP synthesis mechanism and their burrowing into the silicon is discussed in detail.

  5. ECOBIOLOGICAL STUDY ON BURROWING MUD LOBSTER THALASSINA ANOMALA (HERBST, 1804 (DECAPODA : THALASSINIDEA IN THE INTERTIDAL MANGROVE MUDFLAT OF DELTAIC SUNDARBANS

    Directory of Open Access Journals (Sweden)

    S. K. Dubey

    2012-07-01

    Full Text Available Populations of mud lobster Thalassina anomala were studied on tidal flats in the Sagar island of Indian Sundarbans. Ecologically they are recognized as the 'friends of mangrove' and a 'Biological Marvel' of the system. They turn up the deep soil to the surface by regular night shift burrowing exercise and help to import aerated tidal water in the burrows 2 to 2.5 meter deep. They have extra ordinary morphological adaptation and structural changes and completely resort to detritivore diet. Being thigmotactic it seldom exposes to atmospheric oxygen and forms its palace underground with a central chamber having 5 to 6 radiated tunnels opening to the surface covered with earth mounds. It displays its engineering skill of bioturbation in tunneling. During tunneling the shrimp feeds on the mud packed with detritus and derived its required micronutrients. Being mud dwelling and mud eating habits, it's respiratory and food manipulating apparatus underwent transformations which demands intensive investigation. Thalassinid burrow associates comprising mieo and microorganisms also provide good subject of study of species specific interaction, exchanging of materials between associate partners.

  6. Incidence of plastic fragments among burrow-nesting seabird colonies on offshore islands in northern New Zealand.

    Science.gov (United States)

    Buxton, Rachel T; Currey, Caitlin A; Lyver, Philip O'B; Jones, Christopher J

    2013-09-15

    Marine plastic pollution is ubiquitous throughout the world's oceans, and has been found in high concentrations in oceanic gyres of both the northern and southern hemispheres. The number of studies demonstrating plastic debris at seabird colonies and plastic ingestion by adult seabirds has increased over the past few decades. Despite the recent discovery of a large aggregation of plastic debris in the South Pacific subtropical gyre, the incidence of plastics at seabird colonies in New Zealand is unknown. Between 2011 and 2012 we surveyed six offshore islands on the northeast coast of New Zealand's North Island for burrow-nesting seabird colonies and the presence of plastic fragments. We found non-research related plastic fragments (0.031 pieces/m(2)) on one island only, Ohinau, within dense flesh-footed shearwater (Puffinus carneipes) colonies. On Ohinau, we found a linear relationship between burrow density and plastic density, with 3.5 times more breeding burrows in areas with plastic fragments found. From these data we conclude that plastic ingestion is a potentially a serious issue for flesh-footed shearwaters in New Zealand. Although these results do not rule out plastic ingestion by other species, they suggest the need for further research on the relationship between New Zealand's pelagic seabirds and marine plastic pollution. Copyright © 2013 Elsevier Ltd. All rights reserved.

  7. Failure to Burrow and Tunnel Reveals Roles for jim lovell in the Growth and Endoreplication of the Drosophila Larval Tracheae.

    Directory of Open Access Journals (Sweden)

    Fanli Zhou

    Full Text Available The Drosophila protein Jim Lovell (Lov is a putative transcription factor of the BTB/POZ (Bric- a-Brac/Tramtrack/Broad/ Pox virus and Zinc finger domain class that is expressed in many elements of the developing larval nervous system. It has roles in innate behaviors such as larval locomotion and adult courtship. In performing tissue-specific knockdown with the Gal4-UAS system we identified a new behavioral phenotype for lov: larvae failed to burrow into their food during their growth phase and then failed to tunnel into an agarose substratum during their wandering phase. We determined that these phenotypes originate in a previously unrecognized role for lov in the tracheae. By using tracheal-specific Gal4 lines, Lov immunolocalization and a lov enhancer trap line, we established that lov is normally expressed in the tracheae from late in embryogenesis through larval life. Using an assay that monitors food burrowing, substrate tunneling and death we showed that lov tracheal knockdown results in tracheal fluid-filling, producing hypoxia that activates the aberrant behaviors and inhibits development. We investigated the role of lov in the tracheae that initiates this sequence of events. We discovered that when lov levels are reduced, the tracheal cells are smaller, more numerous and show lower levels of endopolyploidization. Together our findings indicate that Lov is necessary for tracheal endoreplicative growth and that its loss in this tissue causes loss of tracheal integrity resulting in chronic hypoxia and abnormal burrowing and tunneling behavior.

  8. Role of burrowing activities of the Great Basin pocket mouse (Perognathus parvus) in the dispersal of radionuclides on a decommissioned pond

    International Nuclear Information System (INIS)

    Landeen, D.S.; Mitchell, R.M.

    1982-08-01

    The intrusion of waste burial sites by animals is a common occurrence at nuclear waste facilities. This study identifies parameters associated with burrowing activities of the Great Basin Pocket Mouse at the Hanford Site in southeastern Washington. The objectives of the study were to: (1) document and compare burrow depths on a control site and a decommissioned radioactive waste pond and (2) document 137 Cs concentrations in pocket mice and the soil mounds created by their burrowing activities. Pocket mice burrowed deeper in the backfilled burial site (anti x = 72 cm) than they did in the control site (anti x = 38 cm). The small amounts of 137 Cs found in the mice were an order of magnitude below what was present in the mounds. This indicates that the burrowing habits of these mice and subsequent mound construction may be more important in terms of radionuclide dispersal than the small amounts contained within their bodies. The 137 Cs values reported in the mice and mounds are below Rockwell Hanford Operations (Rockwell) surface soil contamination limits. Information received from test plots will be used in formulating appropriate control mechanisms which may be deployed in the future. In the interim, surface stabilization efforts are being conducted on waste sites to control and deter burrowing animals

  9. Isotopic signatures (13C/12C; 15N/14N) of blue penguin burrow soil invertebrates : carbon sources and trophic relationships

    International Nuclear Information System (INIS)

    Hawke, D.J.; Clark, J.M.

    2010-01-01

    Seabird burrows provide a soil environment for processing discards such as feathers and guano, hence constituting a primary interface between the sea and the land. This study involved collection and culturing of soil invertebrates from three blue penguin (Eudyptula minor) burrows, and examined their 13 C/ 12 C and 15 N/ 14 N isotopic composition in relation to potential burrow resources (terrestrial plant litter, burrow soil, guano, blue penguin feathers). Two taxa (cerylonid beetles and small tineid moth larvae) had a depleted 13 C/ 12 C indicative of a level of dependence on C from terrestrial soil. Tineid moth larvae (Monopis crocicapitella and (or) M. ethelella) substantially increased their 13 C/ 12 C enrichment during development, implying increasing dependence on marine C. Remaining taxa, both decomposers and predators, had 13 C/ 12 C intermediate between guano and feathers. Larval and emergent fleas had the most enriched 13 C/ 12 C , indicative of a greater dependence on feather C and the likelihood of co-processing with guano. Pseudoscorpions and histerid beetles had overlapping isotopic enrichments implying competition for prey, but were spatially separated in burrow soil. With their highly enriched 15 N/ 14 N and marine 13 C/ 12 C, larvae and protonymphs of the histiostomatid mite Myianoetus antipodus stood alone. Blue penguin burrows therefore support a diverse invertebrate fauna that incorporates terrestrial soil as well as varying proportions of the various blue penguin discards. (author). 45 refs., 1 fig., 1 tab.

  10. Naval Prototype Optical Interferometer (NPOI)

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Used for astrometry and astronomical imaging, the Naval Prototype Optical Interferometer (NPOI) is a distributed aperture optical telescope. It is operated...

  11. Mobile prototyping with Axure 7

    CERN Document Server

    Hacker, Will

    2013-01-01

    This book is a step-by-step tutorial which includes hands-on examples and downloadable Axure files to get you started with mobile prototyping immediately. You will learn how to develop an application from scratch, and will be guided through each and every step.If you are a mobile-centric developer/designer, or someone who would like to take their Axure prototyping skills to the next level and start designing and testing mobile prototypes, this book is ideal for you. You should be familiar with prototyping and Axure specifically, before you read this book.

  12. A novel semi-automatic snake robot for natural orifice transluminal endoscopic surgery: preclinical tests in animal and human cadaver models (with video).

    Science.gov (United States)

    Son, Jaebum; Cho, Chang Nho; Kim, Kwang Gi; Chang, Tae Young; Jung, Hyunchul; Kim, Sung Chun; Kim, Min-Tae; Yang, Nari; Kim, Tae-Yun; Sohn, Dae Kyung

    2015-06-01

    Natural orifice transluminal endoscopic surgery (NOTES) is an emerging surgical technique. We aimed to design, create, and evaluate a new semi-automatic snake robot for NOTES. The snake robot employs the characteristics of both a manual endoscope and a multi-segment snake robot. This robot is inserted and retracted manually, like a classical endoscope, while its shape is controlled using embedded robot technology. The feasibility of a prototype robot for NOTES was evaluated in animals and human cadavers. The transverse stiffness and maneuverability of the snake robot appeared satisfactory. It could be advanced through the anus as far as the peritoneal cavity without any injury to adjacent organs. Preclinical tests showed that the device could navigate the peritoneal cavity. The snake robot has advantages of high transverse force and intuitive control. This new robot may be clinically superior to conventional tools for transanal NOTES.

  13. Current Capabilities and Development Potential in Surgical Robotics

    Directory of Open Access Journals (Sweden)

    Mathias Hoeckelmann

    2015-05-01

    Full Text Available Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

  14. Development of automatic inspection robot for nuclear power plants

    International Nuclear Information System (INIS)

    Yamada, K.; Suzuki, K.; Saitoh, K.; Sakaki, T.; Ohe, Y.; Mizutani, T.; Segawa, M.; Kubo, K.

    1987-01-01

    This robot system has been developed for automatic inspection of nuclear power plants. The system configuration is composed of vehicle that runs on monorail, the sensors on the vehicle, an image processer that processes the image information from the sensors, a computer that creates the inspection planning of the robot and an operation panel. This system has two main features, the first is the robot control system. The vehicle and the sensors are controlled by the output data calculated in the computer with the three dimensional plant data. The malfunction is recognized by the combination of the results of image processing, information from the microphone and infrared camera. Tests for a prototype automatic inspection robot system have been performed in the simulated main steam piping room of a nuclear power plant

  15. Supporting robotics technology requirements through research in intelligent machines

    Energy Technology Data Exchange (ETDEWEB)

    Mann, R.C.

    1995-02-01

    {open_quotes}Safer, better, cheaper{close_quotes} are recurring themes in many robot development efforts. Significant improvements are being accomplished with existing technology, but basic research sets the foundations for future improvements and breakthrough discoveries. Advanced robots represent systems that integrate the three basic functions of sensing, reasoning, and acting (locomotion and manipulation) into one functional unit. Depending on the application requirements, some of these functions are implemented at a more or less advanced level than others. For example, some navigation tasks can be accomplished with purely reactive control and do not require sophisticated reasoning and planning methodologies. Robotics work at the Oak Ridge National Laboratory (ORNL) spans the spectrum from basic research to application-specific development and rapid prototyping of systems. This presentation summarizes recent highlights of the robotics research activities at ORNL.

  16. ANFIS -Based Navigation for HVAC Service Robot with Image Processing

    International Nuclear Information System (INIS)

    Salleh, Mohd Zoolfadli Md; Rashid, Nahrul Khair Alang Md; Mustafah, Yasir Mohd

    2013-01-01

    In this paper, we present an ongoing work on the autonomous navigation of a mobile service robot for Heat, Ventilation and Air Condition (HVAC) ducting. CCD camera mounted on the front-end of our robot is used to analyze the ducts openings (blob analysis) in order to differentiate them from other landmarks (blower fan, air outlets and etc). Distance between the robot and duct openings is measured using ultrasonic sensor. Controller chosen is ANFIS where its architecture accepts three inputs; recognition of duct openings, robot positions and distance while the outputs is maneuver direction (left or right).45 membership functions are created from which produces 46 training epochs. In order to demonstrate the functionality of the system, a working prototype is developed and tested inside HVAC ducting in ROBOCON Lab, IIUM

  17. Pre-Migratory Movements by Juvenile Burrowing Owls in a Patchy Landscape

    Directory of Open Access Journals (Sweden)

    L. Danielle. Todd

    2007-12-01

    Full Text Available Dispersal is a fundamental aspect of population dynamics, and can have direct implications on processes such as the colonization of habitat patches. Pre-migratory movements, landscape fragmentation, and body condition have all been hypothesized as key factors influencing dispersal in birds, but little direct evidence exists to support these ideas. We used radio-telemetry and supplementary feeding to test if body condition or landscape pattern influenced pre-migratory movements of juvenile Burrowing Owls (Athene cunicularia in a fragmented landscape. We categorized grassland patches as either large (≥95 ha or small and isolated (≤58 ha and ≥1.5 km to next nearest grassland patch, and young owls were either provided supplemental food as nestlings or not. Owlets receiving supplemental food and residing in large grassland patches moved a greater maximum distance from their nest than similarly fed owlets residing in small patches (large = 1605 ± 443 m; small = 373 ± 148 m. In contrast, non-supplemented owlets from large and small patches did not differ in their maximum distance moved from the nest (large = 745 ± 307 m; small 555 ± 286 m. Only two of 32 individuals from small patches moved >800 m, whereas ten of 23 owlets from large patches moved >800 m. In addition, owlets from large patches continued to move farther and farther from their nest before migration, whereas owlets in small, isolated patches ultimately moved

  18. Effects of radiotransmitter necklaces on behaviors of adult male western burrowing owls

    Science.gov (United States)

    Chipman, E.D.; McIntyre, N.E.; Ray, J.D.; Wallace, M.C.; Boal, C.W.

    2007-01-01

    We studied the behavioral effects of necklace-style radiotransmitters on breeding male western burrowing owls (Athene cunicularia hypugaea) in 2 areas of northwestern Texas, USA, in 2004 and 2005. We tested the hypothesis that transmittered owls would spend time interacting with their necklaces and as a result spend less time in vigilance and resting activities than would nontransmittered owls. Nontransmittered owls (n = 6) spent significantly more time being vigilant (P = 0.007) than did transmittered owls (n = 3) in 2004, who spent significant amounts of time interacting with their necklaces. In 2005, behaviors of transmittered owls (n = 8) were significantly different (P < 0.001) from control individuals (n = 4), but behaviors did not vary consistently by treatment period (prenecklace vs. necklace vs. postnecklace periods). Behavioral activity budgets varied considerably among individuals. Although the owls spent a significant amount of time interacting with their necklaces, they appeared to habituate to the presence of the transmitters within a relatively short period (<1 week), and necklaces did not affect survivorship or fitness in the short-term.

  19. Population structure of the burrowing crab Neohelice granulata (Brachyura, Varunidae in a southwestern Atlantic salt marsh

    Directory of Open Access Journals (Sweden)

    Sabrina Angeletti

    2015-07-01

    Full Text Available Neohelice granulata inhabits estuarine and protected coastal areas in temperate regions and is the most dominant decapod crustacean in the Bahía Blanca Estuary, Argentina. The population structure was studied during a year in a SW Atlantic salt marsh located in the Bahía Blanca Estuary. Crabs were sampled monthly from August 2010 to July 2011. The maximum observed density was 30 crabs m-2 in February and 70 burrows m-2 in May. The maximum carapace width (CW was 32 and 27.5 mm in males and females respectively. Medium size crabs were between 16 and 20 mm CW. Significantly smaller sized crabs were observed at the lower intertidal regions (P < 0.05. The sex ratio was favorable for males and was significantly different from the expected 1:1 (P < 0.05. The recruitment of unsexed juveniles crabs (CW <6.5 mm was observed throughout the year and the presence of ovigerous females from October to February indicated seasonal reproduction. The average size of ovigerous females was CW = 20.8 mm and the smallest ovigerous female measured was 16 mm CW. For the first time, the population structure of the most important macro-invertebrate is analyzed in the Bahía Blanca Estuary. This study may help to make decisions in the area, where anthropic action is progressing day by day.

  20. A new macrofaunal limit in the deep biosphere revealed by extreme burrow depths in ancient sediments.

    Science.gov (United States)

    Cobain, S L; Hodgson, D M; Peakall, J; Wignall, P B; Cobain, M R D

    2018-01-10

    Macrofauna is known to inhabit the top few 10s cm of marine sediments, with rare burrows up to two metres below the seabed. Here, we provide evidence from deep-water Permian strata for a previously unrecognised habitat up to at least 8 metres below the sediment-water interface. Infaunal organisms exploited networks of forcibly injected sand below the seabed, forming living traces and reworking sediment. This is the first record that shows sediment injections are responsible for hosting macrofaunal life metres below the contemporaneous seabed. In addition, given the widespread occurrence of thick sandy successions that accumulate in deep-water settings, macrofauna living in the deep biosphere are likely much more prevalent than considered previously. These findings should influence future sampling strategies to better constrain the depth range of infaunal animals living in modern deep-sea sands. One Sentence Summary: The living depth of infaunal macrofauna is shown to reach at least 8 metres in new habitats associated with sand injections.

  1. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

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

  2. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

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

  3. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  4. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

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

  5. Association of the "IUCN vulnerable "spiny rat Clyomys bishopi (Rodentia:Echimyidaewith palm trees and armadillo burrows in southeastern Brazil

    Directory of Open Access Journals (Sweden)

    Adriana A Bueno

    2004-12-01

    Full Text Available The globally vulnerable Clyomys bishopi ,a semi-fossorial and colonial rodent,is apparently limited to cerrado (savannah-like vegetationphysiognomies in São Paulo State,Brazil.The aim of the study was to verify whether the presence of C.bishopi is associated to the occurrence of palm trees (Attalea gearensis, Syagrus loefgrenii and armadillo burrows.Thirty six quadrats were placed in different physiognomies of cerrado vegetation at Itirapina Ecological Station,southeastern Brazil to survey the number of C.bishopi burrows of individuals of palm trees and burrows of armadillos.There was a strong dependence and association between the number of C.bishopi burrows and all measured variables (Contingency tables and Spearman rank correlations.It is suggested that this rodent can be found in great numbers where palm trees are abundant.The use of armadillo burrows possibly makes the movement of the rodents easier inside their own galleries.Rev.Biol. Trop. 52(4:1009-1011.Epub 2005 Jun 24.El roedor colonial Clyomys bishopi está aparentemente limitado a vegetación de semi-sabana (cerradoen el estado de São Paulo,Brasil.El objetivo de este estudio fue verificar si la presencia de C.bishopi está asociada a la individuos de las palmeras Attalea gearensis,Syagrus loefgrenii y madrigueras de armadillos.El estudio fue realizado en la Estación Ecológica de Itirapina,en el sureste de Brasil.Treinta y seis cuadrantes fueron dispuestos en diferentes fisionomías del la vegetación del cerrado para encuestar el número de madrigueras de C.bishopi, árboles individuales de palma y madrigueras de armadillos.Se calcularon tablas de contingencia y correlaciones de Sperman para evaluar, respectivamente, la dependencia y asociación entre el número de madrigueras de C.bishopi y las otras variables.Se encontró una fuerte dependencia y asociación entre el número de madrigueras de C.bishopi y todas las variables medidas.Esto sugiere que este roedor alcanza grandes

  6. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

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

  7. 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.

  8. 4th IFToMM International Symposium on Robotics and Mechatronics

    CERN Document Server

    Laribi, Med; Gazeau, Jean-Pierre

    2016-01-01

    This volume contains papers that have been selected after review for oral presentation at ISRM 2015, the Fourth IFToMM International Symposium on Robotics and Mechatronics held in Poitiers, France 23-24 June 2015. These papers  provide a vision of the evolution of the disciplines of robotics and mechatronics, including but not limited to: mechanism design; modeling and simulation; kinematics and dynamics of multibody systems; control methods; navigation and motion planning; sensors and actuators; bio-robotics; micro/nano-robotics; complex robotic systems; walking machines, humanoids-parallel kinematic structures: analysis and synthesis; smart devices; new design; application and prototypes. The book can be used by researchers and engineers in the relevant areas of robotics and mechatronics.

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

    Directory of Open Access Journals (Sweden)

    Yi Lu

    2014-08-01

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

  10. Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots.

    Science.gov (United States)

    Chikhaoui, Mohamed Taha; Benouhiba, Amine; Rougeot, Patrick; Rabenorosoa, Kanty; Ouisse, Morvan; Andreff, Nicolas

    2018-04-30

    Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the form of tri-layer thin structures, CP micro-actuators produce high strains while requiring less than 1 V for actuation. Fabrication, characterization, and first integrations of such micro-actuators are presented. The integration is validated in a preliminary telescopic soft robot prototype with qualitative and quantitative performance assessment of accurate position control for trajectory tracking scenarios. Further, CP micro-actuators are integrated to a laser steering system in a closed-loop control scheme with displacements up to 5 mm. Our first developments aim toward intracorporeal medical robotics, with miniaturized actuators to be embedded into continuum robots.

  11. Window prototypes during the project

    DEFF Research Database (Denmark)

    Schultz, Jørgen Munthe

    1996-01-01

    The conditions for the PASSYS test and the results of the measurements on one of the aerogel window prototypes are described.......The conditions for the PASSYS test and the results of the measurements on one of the aerogel window prototypes are described....

  12. Rapid prototyping: een veelbelovende methode

    NARCIS (Netherlands)

    Haverman, T.M.; Karagozoglu, K.H.; Prins, H.; Schulten, E.A.J.M.; Forouzanfar, T.

    2013-01-01

    Rapid prototyping is a method which makes it possible to produce a three-dimensional model based on two-dimensional imaging. Various rapid prototyping methods are available for modelling, such as stereolithography, selective laser sintering, direct laser metal sintering, two-photon polymerization,

  13. Role model and prototype matching

    DEFF Research Database (Denmark)

    Lykkegaard, Eva; Ulriksen, Lars

    2016-01-01

    ’ meetings with the role models affected their thoughts concerning STEM students and attending university. The regular self-to-prototype matching process was shown in real-life role-models meetings to be extended to a more complex three-way matching process between students’ self-perceptions, prototype...

  14. Role of Pectoral Fin Flexibility in Robotic Fish Performance

    Science.gov (United States)

    Bazaz Behbahani, Sanaz; Tan, Xiaobo

    2017-08-01

    Pectoral fins play a vital role in the maneuvering and locomotion of fish, and they have become an important actuation mechanism for robotic fish. In this paper, we explore the effect of flexibility of robotic fish pectoral fins on the robot locomotion performance and mechanical efficiency. A dynamic model for the robotic fish is presented, where the flexible fin is modeled as multiple rigid elements connected via torsional springs and dampers. Blade element theory is used to capture the hydrodynamic force on the fin. The model is validated with experimental results obtained on a robotic fish prototype, equipped with 3D-printed fins of different flexibility. The model is then used to analyze the impacts of fin flexibility and power/recovery stroke speed ratio on the robot swimming speed and mechanical efficiency. It is found that, in general, flexible fins demonstrate advantages over rigid fins in speed and efficiency at relatively low fin-beat frequencies, while rigid fins outperform flexible fins at higher frequencies. For a given fin flexibility, the optimal frequency for speed performance differs from the optimal frequency for mechanical efficiency. In addition, for any given fin, there is an optimal power/recovery stroke speed ratio, typically in the range of 2-3, that maximizes the speed performance. Overall, the presented model offers a promising tool for fin flexibility and gait design, to achieve speed and efficiency objectives for robotic fish actuated with pectoral fins.

  15. Research and development of advanced robots for nuclear power plants

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Hirukawa, Hirohisa; Kitagaki, Kosei; Liu, Yunhui; Onda, Hiromu; Nakamura, Akira

    1994-01-01

    Social and economic demands have been pressing for automation of inspection tasks, maintenance and repair jobs of nuclear power plants, which are carried out by human workers under circumstances with high radiation level. Since the plants are not always designed for introduction of automatic machinery, sophisticated robots shall play a crucial role to free workers from hostile environments. We have been studying intelligent robot systems and regarded nuclear industries as one of the important application fields where we can validate the feasibility of the methods and systems we have developed. In this paper we firstly discuss on the tasks required in nuclear power plants. Secondly we introduce current status of R and D on special purpose robots, versatile robots and intelligent robots for automatizing the tasks. Then we focus our discussions on three major functions in realizing robotized assembly tasks under such unstructured environments as in nuclear power plants; planning, vision and manipulation. Finally we depict an image of a prototype robot system for nuclear power plants based on the advanced functions. (author) 64 refs

  16. Module-based structure design of wheeled mobile robot

    Directory of Open Access Journals (Sweden)

    Z. Luo

    2018-02-01

    Full Text Available This paper proposes an innovative and systematic approach for synthesizing mechanical structures of wheeled mobile robots. The principle and terminologies used for the proposed synthesis method are presented by adopting the concept of modular design, isomorphic and non-isomorphic, and set theory with its associated combinatorial mathematics. The modular-based innovative synthesis and design of wheeled robots were conducted at two levels. Firstly at the module level, by creative design and analysing the structures of classic wheeled robots, a wheel module set containing four types of wheel mechanisms, a suspension module set consisting of five types of suspension frames and a chassis module set composed of five types of rigid or articulated chassis were designed and generalized. Secondly at the synthesis level, two kinds of structure synthesis modes, namely the isomorphic-combination mode and the non-isomorphic combination mode were proposed to synthesize mechanical structures of wheeled robots; which led to 241 structures for wheeled mobile robots including 236 novel ones. Further, mathematical models and a software platform were developed to provide appropriate and intuitive tools for simulating and evaluating performance of the wheeled robots that were proposed in this paper. Eventually, physical prototypes of sample wheeled robots/rovers were developed and tested so as to prove and validate the principle and methodology presented in this paper.

  17. Human-Like Room Segmentation for Domestic Cleaning Robots

    Directory of Open Access Journals (Sweden)

    David Fleer

    2017-11-01

    Full Text Available Autonomous mobile robots have recently become a popular solution for automating cleaning tasks. In one application, the robot cleans a floor space by traversing and covering it completely. While fulfilling its task, such a robot may create a map of its surroundings. For domestic indoor environments, these maps often consist of rooms connected by passageways. Segmenting the map into these rooms has several uses, such as hierarchical planning of cleaning runs by the robot, or the definition of cleaning plans by the user. Especially in the latter application, the robot-generated room segmentation should match the human understanding of rooms. Here, we present a novel method that solves this problem for the graph of a topo-metric map: first, a classifier identifies those graph edges that cross a border between rooms. This classifier utilizes data from multiple robot sensors, such as obstacle measurements and camera images. Next, we attempt to segment the map at these room–border edges using graph clustering. By training the classifier on user-annotated data, this produces a human-like room segmentation. We optimize and test our method on numerous realistic maps generated by our cleaning-robot prototype and its simulated version. Overall, we find that our method produces more human-like room segmentations compared to mere graph clustering. However, unusual room borders that differ from the training data remain a challenge.

  18. Controlling Tensegrity Robots through Evolution using Friction based Actuation

    Science.gov (United States)

    Kothapalli, Tejasvi; Agogino, Adrian K.

    2017-01-01

    Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

  19. Robotic surgery in children: adopt now, await, or dismiss?

    Science.gov (United States)

    Cundy, Thomas P; Marcus, Hani J; Hughes-Hallett, Archie; Khurana, Sanjeev; Darzi, Ara

    2015-12-01

    The role of robot-assisted surgery in children remains controversial. This article aims to distil this debate into an evidence informed decision-making taxonomy; to adopt this technology (1) now, (2) later, or (3) not at all. Robot-assistance is safe, feasible and effective in selected cases as an adjunctive tool to enhance capabilities of minimally invasive surgery, as it is known today. At present, expectations of rigid multi-arm robotic systems to deliver higher quality care are over-estimated and poorly substantiated by evidence. Such systems are associated with high costs. Further comparative effectiveness evidence is needed to define the case-mix for which robot-assistance might be indicated. It seems unlikely that we should expect compelling patient benefits when it is only the mode of minimally invasive surgery that differs. Only large higher-volume institutions that share the robot amongst multiple specialty groups are likely to be able to sustain higher associated costs with today's technology. Nevertheless, there is great potential for next-generation surgical robotics to enable better ways to treat childhood surgical diseases through less invasive techniques that are not possible today. This will demand customized technology for selected patient populations or procedures. Several prototype robots exclusively designed for pediatric use are already under development. Financial affordability must be a high priority to ensure clinical accessibility.

  20. UA1 prototype detector

    CERN Multimedia

    1980-01-01

    Prototype of UA1 central detector inside a plexi tube. The UA1 experiment ran at CERN's Super Proton Synchrotron and made the Nobel Prize winning discovery of W and Z particles in 1983. The UA1 central detector was crucial to understanding the complex topology of proton-antiproton events. It played a most important role in identifying a handful of Ws and Zs among billions of collisions. The detector was essentially a wire chamber - a 6-chamber cylindrical assembly 5.8 m long and 2.3 m in diameter, the largest imaging drift chamber of its day. It recorded the tracks of charged particles curving in a 0.7 Tesla magnetic field, measuring their momentum, the sign of their electric charge and their rate of energy loss (dE/dx). Atoms in the argon-ethane gas mixture filling the chambers were ionised by the passage of charged particles. The electrons which were released drifted along an electric field shaped by field wires and were collected on sense wires. The geometrical arrangement of the 17000 field wires and 6...

  1. Design of a biomimetic robotic octopus arm.

    Science.gov (United States)

    Laschi, C; Mazzolai, B; Mattoli, V; Cianchetti, M; Dario, P

    2009-03-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

  2. On safety enhancements for medical robots

    International Nuclear Information System (INIS)

    Ng, W.S.; Tan, C.K.

    1996-01-01

    Both software and hardware methods to enhance safety are discussed for active medical robots applied to, among others, neurosurgery, orthopaedic surgery and prostatectomy. This paper advocates that while it is practically difficult, if not impossible, for software reliability to be 100%, there are positive measures by which a medical robot system can be made adequately or inherently safe. Such measures avoid the problems of software reliability but turn to mathematical logic directly to build a safer system. Examples in a newly developed prototype, known as surgeon assistant robot for selected urological disorders (SARUD), are given to illustrate the concept. Although software measures to promote reliability of a system is less preferred compared to hardware measures, as it can never escape from operating on a hardware platform, it is suggested that a complementary/ hybrid approach can be a good solution for achieving a safe and flexible (by being reprogrammable) system. A totally independent safety monitor is being built. It can arrest a servo runaway and detect out-of-safe-boundary conditions, using encoder pulses as input. This dedicated system can resolve some major safety concerns of a medical robot such as SARUD

  3. A locust-inspired miniature jumping robot.

    Science.gov (United States)

    Zaitsev, Valentin; Gvirsman, Omer; Ben Hanan, Uri; Weiss, Avi; Ayali, Amir; Kosa, Gabor

    2015-11-25

    Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.

  4. Design of a biomimetic robotic octopus arm

    Energy Technology Data Exchange (ETDEWEB)

    Laschi, C; Cianchetti, M [Advanced Robotics Technology and Systems Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy); Mazzolai, B; Dario, P [Italian Institute of Technology, Genova (Italy); Mattoli, V [Centre of Research in Microengineering Laboratory, Scuola Superiore Sant' Anna, Pisa (Italy)], E-mail: cecilia.laschi@sssup.it

    2009-03-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

  5. Knowledge assistant for robotic environmental characterization

    International Nuclear Information System (INIS)

    Feddema, J.; Rivera, J.; Tucker, S.; Matek, J.

    1996-08-01

    A prototype sensor fusion framework called the open-quotes Knowledge Assistantclose quotes has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition open-quotes specialist.close quotes During execution and postanalysis, the Knowledge Assistant sends raw data to other open-quotes specialists,close quotes which include statistical pattern recognition software, a neural network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g., estimated dimensions, weight, material composition, etc.) are displayed in the world model. This report highlights the major components of this system

  6. Design of a biomimetic robotic octopus arm

    International Nuclear Information System (INIS)

    Laschi, C; Cianchetti, M; Mazzolai, B; Dario, P; Mattoli, V

    2009-01-01

    This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups

  7. Localization of a Robotic Crawler for CANDU Fuel Channel Inspection

    Science.gov (United States)

    Manning, Mark

    This thesis discusses the design and development of a pipe crawling robot for the purpose of CANDU fuel channel inspection. The pipe crawling robot shall be capable of deploying the existing CIGAR (Channel Inspection and Gauging Apparatus for Reactors) sensor head. The main focus of this thesis is the design of the localization system for this robot and the many tests that were completed to demonstrate its accuracy. The proposed localization system consists of three redundant resolver wheels mounted to the robot's frame and two resolvers that are mounted inside a custom made cable drum. This cable drum shall be referred to in this thesis as the emergency retrieval device. This device serves the dual-purpose of providing absolute position measurements (via the cable that is tethered to the robot) as well as retrieving the robot if it is inoperable. The estimated accuracy of the proposed design is demonstrated with the use of a proof-of-concept prototype and a custom made test bench that uses a vision system to provide a more accurate estimate of the robot's position. The only major difference between the proof-of-concept prototype and the proposed solution is that the more expensive radiation hardened components were not used in the proof-of-concept prototype design. For example, the proposed solution shall use radiation hardened resolver wheels, whereas the proof-of-concept prototype used encoder wheels. These encoder wheels provide the same specified accuracy as the radiation hardened resolvers for the most realistic results possible. The rationale behind the design of the proof-of-concept prototype, the proposed final design, the design of the localization system test bench, and the test plan for developing all of the components of the design related to the robot's localization system are discussed in the thesis. The test plan provides a step by step guide to the configuration and optimization of an Unscented Kalman Filter (UKF). The UKF was selected as the ideal

  8. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

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

  9. Instruction understanding for intelligent robots in nuclear facilities

    International Nuclear Information System (INIS)

    Kambayashi, Shaw; Abe, Yasuaki

    1993-01-01

    As a first step to realize an autonomous mobile robot for plant maintenance, where the robot is capable to understand instructions written in natural languages, we have developed a prototype of instruction understanding system which makes the robot construct its motion sequences to approach instrumentations and inspect them from input sentences written in Japanese. In the prototype system, the instruction understanding and planning capabilities are integrated by an inference engine which consists of a cyclic operation of three processings, i.e., sensing, decision, and execution. Based on environmental data and current states of the robot, a proper process such as natural language processing is triggered by the decision part of the inference engine to accomplish the input instructions. The multiple- and dynamic-planning capabilities, which are necessary to cope with dynamic changes of environments surrounding the robot, are achieved by utilizing the cyclic inference engine together with a set of the inference packets which keep intermediate results of natural language processing and planning for respective input instructions. (orig.)

  10. Design on a Composite Mobile System for Exploration Robot

    Directory of Open Access Journals (Sweden)

    Weiyan Shang

    2016-01-01

    Full Text Available In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

  11. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  12. Investigation of plutonium concentration and distribution in burrowing crayfish from the White Oak Creek floodplain

    Energy Technology Data Exchange (ETDEWEB)

    Delaney, M.S.; Dahlman, R.C.; Craig, R.B.

    1979-01-01

    The White Oak floodplain was contaminated with several radionuclides, including /sup 239/Pu, during the Manhattan Project in 1944. Plutonium distribution in the soil is nonhomogeneous. An investigation was conducted to deterine Pu accumulation in a resident animal population. Crayfish were chosen because they complete their life-cycle within the contaminated environment, they directly contact contaminated muds, and they function in a food chain of significance to man. Two major conclusions of the research were that Pu concentrations in contaminated crayfish typically exceed those of control crayfish by two orders of magnitude and that if an incident were to occur in which a standard man ingested the soft tissues of ten crayfish from the floodplain, an insignificant whole body dose would accrue over the subsequent 50 years of life. The digestive tract of contaminated crayfish contained 21 to 33% of the Pu body burden, soft tissues contained 11 to 31% of the Pu body burden, and 48 to 62% of the Pu body burden of contaminated crayfish was associated with the carapace. Therefore, at a molt a large proportion of its accumulated Pu is deposited in the environment. A supplementary laboratory investigation using /sup 237/Pu included a chronic Pu uptake study by uncontaminated crayfish. In these crayfish, from 64 to 82% of the /sup 237/Pu was associated with the body tissues. Complementary data for /sup 237/Pu associated with the carapace ranged from 18 to 37% of the distribution. An inventory of /sup 239/Pu in crayfish at two sites on the floodplain was calculated by multiplying the estimated biomass of the crayfish by their average /sup 239/Pu concentration. This evaluation of Pu associated with the crayfish population was compared to an inventory of /sup 239/Pu in the soil in which they burrow and was found to be eight orders of magnitude less.

  13. Behavioral Correlations Associated with Fear of Humans Differ between Rural and Urban Burrowing Owls

    Directory of Open Access Journals (Sweden)

    Martina Carrete

    2017-05-01

    Full Text Available Behavioral studies are fundamental to understanding how animal populations face global change. Although much research has centered upon the idea that individuals can adaptively modify their behaviors to cope with environmental changes, recent evidence supports the existence of individual differences in suites of correlated behaviors. However, little is known about how selection can change these behavioral structures in populations subject to different environmental constraints. The colonization of urban environments by birds has been related to their inter-individual variability in their fear of humans, measured as their flight initiation distance to an approaching human, such that urban life would select for fearless individuals. This behavior has been demonstrated to be heritable and highly consistent throughout the adult lifespan of burrowing owls (Athene cunicularia. Here, we experimentally assessed, in field conditions, whether urban life involves changes in other behaviors such as exploration and antipredatory response through their correlation with fear of humans. Breeding urban birds were more fearless toward humans and were quicker to explore a new food resource and defend their nests from predators than their rural counterparts. However, while fear of humans positively correlated with exploration and antipredatory response in the rural population, it only correlated with exploration in the urban one. Predator release in urban environments could relax—and even counterselect—antipredator behaviors, thus dismantling the behavioral correlation existent in natural populations. Altogether, our results suggest that rural and urban animals may differ in some behavioral aspects, may be as a consequence of the selection processes acting during the colonization of urban areas as well as the different ecological environments encountered by individuals.

  14. Investigation of plutonium concentration and distribution in burrowing crayfish from the White Oak Creek floodplain

    International Nuclear Information System (INIS)

    Delaney, M.S.; Dahlman, R.C.; Craig, R.B.

    1979-01-01

    The White Oak floodplain was contaminated with several radionuclides, including 239 Pu, during the Manhattan Project in 1944. Plutonium distribution in the soil is nonhomogeneous. An investigation was conducted to deterine Pu accumulation in a resident animal population. Crayfish were chosen because they complete their life-cycle within the contaminated environment, they directly contact contaminated muds, and they function in a food chain of significance to man. Two major conclusions of the research were that Pu concentrations in contaminated crayfish typically exceed those of control crayfish by two orders of magnitude and that if an incident were to occur in which a standard man ingested the soft tissues of ten crayfish from the floodplain, an insignificant whole body dose would accrue over the subsequent 50 years of life. The digestive tract of contaminated crayfish contained 21 to 33% of the Pu body burden, soft tissues contained 11 to 31% of the Pu body burden, and 48 to 62% of the Pu body burden of contaminated crayfish was associated with the carapace. Therefore, at a molt a large proportion of its accumulated Pu is deposited in the environment. A supplementary laboratory investigation using 237 Pu included a chronic Pu uptake study by uncontaminated crayfish. In these crayfish, from 64 to 82% of the 237 Pu was associated with the body tissues. Complementary data for 237 Pu associated with the carapace ranged from 18 to 37% of the distribution. An inventory of 239 Pu in crayfish at two sites on the floodplain was calculated by multiplying the estimated biomass of the crayfish by their average 239 Pu concentration. This evaluation of Pu associated with the crayfish population was compared to an inventory of 239 Pu in the soil in which they burrow and was found to be eight orders of magnitude less

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

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

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

  16. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

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

  17. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

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

  18. Biological inspiration used for robots motion synthesis.

    Science.gov (United States)

    Zielińska, Teresa

    2009-01-01

    This work presents a biologically inspired method of gait generation. Bipedal gait pattern (for hip and knee joints) was taken into account giving the reference trajectories in a learning task. The four coupled oscillators were taught to generate the outputs similar to those in a human gait. After applying the correction functions the obtained generation method was validated using ZMP criterion. The formula suitable for real-time motion generation taking into account the positioning errors was also formulated. The small real robot prototype was tested to be able walk successfully following the elaborated motion pattern.

  19. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

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

  20. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    a need for a technique by which the robot is able to acquire new behaviours automatically .... Evolutionary robotics is a comparatively new field of robotics research, which seems to ..... Technical Report: PCIA-94-04, Institute of Psychology,.

  1. An autonomous mobil robot to perform waste drum inspections

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1994-01-01

    A mobile robot is being developed by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure and create accurate, high quality documentation to ensure regulatory compliance. Development work is being coordinated among several DOE, academic and commercial entities in accordance with DOE's technology transfer initiative. The prototype system was demonstrated in November of 1993. A system is now being developed for field trails at the Fernald site

  2. EXOS research on master controllers for robotic devices

    Science.gov (United States)

    Marcus, Beth A.; An, Ben; Eberman, Brian

    1992-01-01

    Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

  3. Prototype moving-ring reactor

    International Nuclear Information System (INIS)

    Smith, A.C. Jr.; Ashworth, C.P.; Abreu, K.E.

    1981-01-01

    The objective of this work was to design a prototype fusion reactor based on fusion plasmas confined as ''Compact Toruses.' Six major criteria guided the prototype design. The prototype must: (1) produce net electricity decisively (P/sub net/ >70% of P/sub gross/), with P/sub net/ approximately 100 MW(e); (2) have small physical size (low project cost) but commercial plant; (3) have all features required of commerical plants; (4) avoid unreasonable extrapolation of technology; (5) minimize nuclear issues substantially, i.e. accident and waste issues of public concern, and (6) be modular (to permit repetitive fabrication of parts) and be maintainable with low occupational radiological exposures

  4. Views from Within a Narrative: Evaluating Long-Term Human-Robot Interaction in a Naturalistic Environment Using Open-Ended Scenarios.

    Science.gov (United States)

    Syrdal, Dag Sverre; Dautenhahn, Kerstin; Koay, Kheng Lee; Ho, Wan Ching

    2014-01-01

    This article describes the prototyping of human-robot interactions in the University of Hertfordshire (UH) Robot House. Twelve participants took part in a long-term study in which they interacted with robots in the UH Robot House once a week for a period of 10 weeks. A prototyping method using the narrative framing technique allowed participants to engage with the robots in episodic interactions that were framed using narrative to convey the impression of a continuous long-term interaction. The goal was to examine how participants responded to the scenarios and the robots as well as specific robot behaviours, such as agent migration and expressive behaviours. Evaluation of the robots and the scenarios were elicited using several measures, including the standardised System Usability Scale, an ad hoc Scenario Acceptance Scale, as well as single-item Likert scales, open-ended questionnaire items and a debriefing interview. Results suggest that participants felt that the use of this prototyping technique allowed them insight into the use of the robot, and that they accepted the use of the robot within the scenario.

  5. Grasping in Robotics

    CERN Document Server

    2013-01-01

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

  6. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

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

  7. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

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

  8. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

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

  9. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

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

  10. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

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

  11. Robot Beroda Perambat Dinding Berbasis Mikrokontroler ATmega 2560 Dilengkapi Kendali Nirkabel dan Penghindar Rintangan

    Directory of Open Access Journals (Sweden)

    Eko Didik Widianto

    2017-05-01

    Full Text Available This research developed a mobile wall climbing robot prototype using 4 DC motors as its driver and a suction tube. It can avoid obstacles. This robot uses Arduino Mega 2560 as its controller board. The robot's weight is 747 grams. The suction tube produces a suction force of 7.815N capable of holding the robot load in a stall vertical position using 12V of voltage. The robot able to crawl down and horizontal, but still can not climb vertically. The robot is able to receive a command of motion manually from a 2.4GHz wireless joystick. In automatic mode, the robot can avoid obstacles using the HC-SR04 proximity sensor. This research also shows the relationship between suction force and the given voltage of DC brushless motor and its throtle value. Penelitian ini mengembangkan sebuah purwarupa robot perambat dinding beroda dengan 4 buah motor DC sebagai penggerak dan sebuah tabung hisap serta dapat menghindari rintangan. Robot ini menggunakan Arduino Mega 2560 sebagai papan kontrolernya. Bobot robot adalah 747 gram. Gaya hisap dari tabung hisap sebesar 7,815N mampu menahan beban robot dalam posisi diam vertikal di tegangan 12V. Robot mampu merambat turun dan mendatar, namun masih tidak bisa naik vertikal. Robot mampu diberikan perintah gerak secara manual dari tombol joystick playstation nirkabel 2,4 GHz. Di mode otomatis, robot dapat bergerak menghindari rintangan menggunakan sensor jarak HC-SR04. Dalam penelitian ini ditunjukkan hubungan antara gaya hisap dengan nilai tegangan motor DC brushless dan nilai throtle-nya.

  12. A multimodal interface for real-time soldier-robot teaming

    Science.gov (United States)

    Barber, Daniel J.; Howard, Thomas M.; Walter, Matthew R.

    2016-05-01

    Recent research and advances in robotics have led to the development of novel platforms leveraging new sensing capabilities for semantic navigation. As these systems becoming increasingly more robust, they support highly complex commands beyond direct teleoperation and waypoint finding facilitating a transition away from robots as tools to robots as teammates. Supporting future Soldier-Robot teaming requires communication capabilities on par with human-human teams for successful integration of robots. Therefore, as robots increase in functionality, it is equally important that the interface between the Soldier and robot advances as well. Multimodal communication (MMC) enables human-robot teaming through redundancy and levels of communications more robust than single mode interaction. Commercial-off-the-shelf (COTS) technologies released in recent years for smart-phones and gaming provide tools for the creation of portable interfaces incorporating MMC through the use of speech, gestures, and visual displays. However, for multimodal interfaces to be successfully used in the military domain, they must be able to classify speech, gestures, and process natural language in real-time with high accuracy. For the present study, a prototype multimodal interface supporting real-time interactions with an autonomous robot was developed. This device integrated COTS Automated Speech Recognition (ASR), a custom gesture recognition glove, and natural language understanding on a tablet. This paper presents performance results (e.g. response times, accuracy) of the integrated device when commanding an autonomous robot to perform reconnaissance and surveillance activities in an unknown outdoor environment.

  13. Combining psychological and engineering approaches to utilizing social robots with children with autism.

    Science.gov (United States)

    Dickstein-Fischer, Laurie; Fischer, Gregory S

    2014-01-01

    It is estimated that Autism Spectrum Disorder (ASD) affects 1 in 68 children. Early identification of an ASD is exceedingly important to the introduction of an intervention. We are developing a robot-assisted approach that will serve as an improved diagnostic and early intervention tool for children with autism. The robot, named PABI® (Penguin for Autism Behavioral Interventions), is a compact humanoid robot taking on an expressive cartoon-like embodiment. The robot is affordable, durable, and portable so that it can be used in various settings including schools, clinics, and the home. Thus enabling significantly enhanced and more readily available diagnosis and continuation of care. Through facial expressions, body motion, verbal cues, stereo vision-based tracking, and a tablet computer, the robot is capable of interacting meaningfully with an autistic child. Initial implementations of the robot, as part of a comprehensive treatment model (CTM), include Applied Behavioral Analysis (ABA) therapy where the child interacts with a tablet computer wirelessly interfaced with the robot. At the same time, the robot makes meaningful expressions and utterances and uses stereo cameras in eyes to track the child, maintain eye contact, and collect data such as affect and gaze direction for charting of progress. In this paper we present the clinical justification, anticipated usage with corresponding requirements, prototype development of the robotic system, and demonstration of a sample application for robot-assisted ABA therapy.

  14. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected. (author)

  15. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected

  16. Fundamentals of soft robot locomotion

    OpenAIRE

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

    2017-01-01

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

  17. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

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

  18. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

    Presents new, cutting-edge algorithms for robot/camera calibration, sensor fusion and sensor calibration Explores the main challenges for accurate coil positioning, such as head motion, and outlines how active robotic motion compensation can outperform hand-held solutions Analyzes how a robotized system in medicine can alleviate concerns with a patient's safety, and presents a novel fault-tolerant algorithm (FTA) sensor for system safety

  19. 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.

  20. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  1. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

    In summary, robotics has made a significant contribution to General Surgery in the past 20 years. In its infancy, surgical robotics has seen a shift from early systems that assisted the surgeon to current teleoperator systems that can enhance surgical skills. Telepresence and augmented reality surgery are being realized, while research and development into miniaturization and automation is rapidly moving forward. The future of surgical robotics is bright. Researchers are working to address th...

  2. Research on a Micro Flip Robot That Can Climb Stairs

    Directory of Open Access Journals (Sweden)

    Jianzhong Wang

    2016-03-01

    Full Text Available Micro mobile robots (MMRs can operate in rugged, narrow or dangerous regions; thus, they are widely used in numerous areas including surveillance, rescue and exploration. In urban environments, stairs are common obstacles, ones that such robots find difficult to manoeuvre over. The authors analysed the research status of MMRs, particularly in terms of difficulties when performing stair climbing and present a novel type of MMR called the micro flip robot (MFRobot. A support arm subassembly was added to the centre of a wheeled chassis; using this structure, the MFRobot can climb stairs when a flipping mode is utilized. Based on this structure, the authors established a kinematic model of the stair-climbing process and analysed the force conditions for the key status, contributing to the existing knowledge of robot design. An MFRobot prototype was produced and the stair-climbing experiments, as well as experiments on manoeuvring through rubble regions and slope surfaces, were conducted. The results show that the MFRobot can rapidly climb common stairs and can easily manoeuvre through a rubble region. The maximum slope angle the robot can climb was shown to be about 35° for concrete and wooden slope surfaces. In the case where the robot needed to be equipped with sensors, particularly a camera, the camera was equipped on the support arm of robot. The MFRobot prototype weighs 2.5 kg and is easily transportable. This structure can resolve contradictions between portability and performance in terms of overcoming obstacles; in addition, operational effectiveness can be improved using this structure.

  3. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

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

  4. Perspectives of construction robots

    Science.gov (United States)

    Stepanov, M. A.; Gridchin, A. M.

    2018-03-01

    This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

  5. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

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

  6. Human-Robot Interaction

    Science.gov (United States)

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

    2015-01-01

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

  7. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

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

  8. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  9. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

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

  10. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  11. Increasing Robotic Science Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — The principal objectives are to demonstrate robotic-based scientific investigations and resource prospecting, and develop and demonstrate modular science instrument...

  12. Body and skull morphometric variations between two shovel-headed species of Amphisbaenia (Reptilia: Squamata with morphofunctional inferences on burrowing

    Directory of Open Access Journals (Sweden)

    Leandro dos Santos Lima Hohl

    2017-07-01

    Full Text Available Background Morphological descriptions comparing Leposternon microcephalum and L. scutigerum have been made previously. However, these taxa lack a formal quantitative morphological characterization, and comparative studies suggest that morphology and burrowing performance are be related. The excavatory movements of L. microcephalum have been described in detail. However, there is a lack of studies comparing locomotor patterns and/or performance among different amphisbaenids sharing the same skull shape. This paper presents the first study of comparative morphometric variations between two closely related amphisbaenid species, L. microcephalum and L. scutigerum, with functional inferences on fossorial locomotion efficiency. Methods Inter-specific morphometric variations were verified through statistical analyses of body and cranial measures of L. microcephalum and L. scutigerum specimens. Their burrowing activity was assessed through X-ray videofluoroscopy and then compared. The influence of morphological variation on the speed of digging was tested among Leposternon individuals. Results Leposternon microcephalum and L. scutigerum are morphometrically distinct species. The first is shorter and robust with a wider head while the other is more elongated and slim with a narrower head. They share the same excavatory movements. The animals analyzed reached relatively high speeds, but individuals with narrower skulls dug faster. A negative correlation between the speed and the width of skull was determined, but not with total length or diameter of the body. Discussion The morphometric differences between L. microcephalum and L. scutigerum are in accord with morphological variations previously described. Since these species performed the same excavation pattern, we may infer that closely related amphisbaenids with the same skull type would exhibit the same excavatory pattern. The negative correlation between head width and excavation speed is also

  13. The chemistry and mineralogy of haloed burrows in pelagic sediment at DOMES Site A: The equatorial North Pacific

    Science.gov (United States)

    Piper, D.Z.; Rude, P.D.; Monteith, S.

    1987-01-01

    The chemical and mineralogical composition of burrowed sediment, recovered in 66 box cores at latitude 9??25???N and longitude 151??15???W in the equatorial Pacific, demonstrates the important role of infauna in determining the geochemistry of pelagic sediment. Haloed burrows, approximately 3 cm across, were present in many of the cores. Within early Tertiary sediment that was covered by less than 5 cm of surface Quaternary sediment in several cores, the burrows in cross-section consist of three units: (1) a dark yellowish-brown central zone of Quaternary sediment surrounded, by (2) a pale yellowish-orange zone (the halo) of Tertiary sediment, which is surrounded by (3) a metal-oxide precipitate; the enclosing Tertiary sediment is dusky brown. Several elements - Mn, Ni, Cu, Co, Zn, Sb and Ce - have been leached from the light-colored halo, whereas Cr, Cs, Hf, Rb, Sc, Ta, Th, U, the rare earth elements exclusive of Ce, and the major oxides have not been leached. The metal-oxide zone, 1-5 mm thick, contains as much as 16% MnO2, as the mineral todorokite. The composition of the todorokite, exclusive of the admixed Tertiary sediment, resembles the composition of the metal deficit of the halo and also the composition of surface ferromanganese nodules that have been interpreted as having a predominantly diagenetic origin. Thus bioturbation contributes not only to the redistribution of metals within pelagic sediment, but also to the accretion of ferromanganese nodules on the sea floor. ?? 1987.

  14. Comparison of hydraulics and particle removal efficiencies in a mixed cell raceway and Burrows pond rearing system

    Science.gov (United States)

    Moffitt, Christine M.

    2016-01-01

    We compared the hydrodynamics of replicate experimental mixed cell and replicate standard Burrows pond rearing systems at the Dworshak National Fish Hatchery, ID, in an effort to identify methods for improved solids removal. We measured and compared the hydraulic residence time, particle removal efficiency, and measures of velocity using several tools. Computational fluid dynamics was used first to characterize hydraulics in the proposed retrofit that included removal of the traditional Burrows pond dividing wall and establishment of four counter rotating cells with appropriate drains and inlet water jets. Hydraulic residence time was subsequently established in the four full scale test tanks using measures of conductivity of a salt tracer introduced into the systems both with and without fish present. Vertical and horizontal velocities were also measured with acoustic Doppler velocimetry in transects across each of the rearing systems. Finally, we introduced ABS sinking beads that simulated fish solids then followed the kinetics of their removal via the drains to establish relative purge rates. The mixed cell raceway provided higher mean velocities and a more uniform velocity distribution than did the Burrows pond. Vectors revealed well-defined, counter-rotating cells in the mixed cell raceway, and were likely contributing factors in achieving a relatively high particle removal efficiency-88.6% versus 8.0% during the test period. We speculate retrofits of rearing ponds to mixed cell systems will improve both the rearing environments for the fish and solids removal, improving the efficiency and bio-security of fish culture. We recommend further testing in hatchery production trials to evaluate fish physiology and growth.

  15. Learning Axure RP interactive prototypes

    CERN Document Server

    Krahenbuhl, John Henry

    2015-01-01

    If you are a user experience professional, designer, information architect, or business analyst who wants to gain interactive prototyping skills with Axure, then this book is ideal for you. Some familiarity with Axure is preferred but not essential.

  16. Architectural Prototyping in Industrial Practice

    DEFF Research Database (Denmark)

    Christensen, Henrik Bærbak; Hansen, Klaus Marius

    2008-01-01

    Architectural prototyping is the process of using executable code to investigate stakeholders’ software architecture concerns with respect to a system under development. Previous work has established this as a useful and cost-effective way of exploration and learning of the design space of a system......, in addressing issues regarding quality attributes, in addressing architectural risks, and in addressing the problem of knowledge transfer and conformance. Little work has been reported so far on the actual industrial use of architectural prototyping. In this paper, we report from an ethnographical study...... and focus group involving architects from four companies in which we have focused on architectural prototypes. Our findings conclude that architectural prototypes play an important role in resolving problems experimentally, but less so in exploring alternative solutions. Furthermore, architectural...

  17. Experimentation with PEC channel prototype

    International Nuclear Information System (INIS)

    Caponetti, R.; Iacovelli, M.

    1984-01-01

    Experimentation on prototypes of PEC components is presently being carried out at Casaccia CRE. This report shows the results of the first cycle of experimentation of the central channel, concerning the aspects of sodium removal after experimentation

  18. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

    This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

  19. Robots in Health and Social Care: A Complementary Technology to Home Care and Telehealthcare?

    OpenAIRE

    Torbjørn S. Dahl; Maged N. Kamel Boulos

    2013-01-01

    This article offers a brief overview of most current and potential uses and applications of robotics in health/care and social care, whether commercially ready and available on the market or still at the various stages of research and prototyping. We provide carefully hand-picked examples and pointers to on-going research for each set of identified robotics applications and then discuss the main ingredients for the success of these applications, as well as the main issues surrounding their a...

  20. An Evaluation of Camera Pose Methods for an Augmented Reality System: Application to Teaching Industrial Robots

    OpenAIRE

    Maidi , Madjid; Mallem , Malik; Benchikh , Laredj; Otmane , Samir

    2013-01-01

    International audience; In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases...