Macrobend optical sensing for pose measurement in soft robot arms

International Nuclear Information System (INIS)

Sareh, Sina; Noh, Yohan; Liu, Hongbin; Althoefer, Kaspar; Li, Min; Ranzani, Tommaso

2015-01-01

This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic

Fibre optic sensor on robot end effector for flexible assembly

International Nuclear Information System (INIS)

Yung, K.L.; Lau, W.S.; Choi, C.K.; Shan, Y.Y.

1995-01-01

A fibre optic sensor system was constructed for use on robot end effectors for flexible assembly. The sensor detected the deviations between robot end effector and the workpiece. The signal was fed back to robot controller to shift the end effector until the centre of end effector and the centre of workpiece were aligned at the correct orientation. Then workpiece can be grasped symmetrically. Sensor fusion concept was used to guard against sensor system failure. Fuzzy linguistic variable and control rule concept were introduced in the sensor integration. The experimental setup for the sensor integrated system was shown. The accuracy was also discussed

Transient optical gain in germanium quantum wells

Energy Technology Data Exchange (ETDEWEB)

Chatterjee, Sangam; Lange, Christoph; Koester, Niko S.; Schaefer, Martin; Kira, Mackillo; Koch, Stephan W. [Faculty of Physics and Materials Sciences Center, Philipps-Universitaet Marburg (Germany); Chrastina, Daniel; Isella, Giovanni; Kaenel, Hans von [CNISM, Como (Italy); L-NESS, Dipartimento di Fisica del Politecnico di Milano, Como (Italy); Sigg, Hans [Laboratory for Micro and Nanotecnology, Paul Scherrer Institut, Villigen PSI (Switzerland)

2010-07-01

One of today's most-sought goals in semiconductor technology is the monolithic integration of microelectronics and photonics on Si. Optical gain is, in general, not expected for Si and Ge or its alloys due to the indirect nature of the band gap in this material system. Here, we show that Ge/SiGe QWs show transient optical gain and may thus be used as an optically-pumped amplifier at room temperature. Further, the nonequilibrium effects which govern the relaxation dynamics of the optically injected carrier distributions in this material were observed and analyzed using a microscopic many-body theory. Strong non-equilibrium gain was obtained on a sub-100 fs time scale. Long-lived gain arising from {gamma}-point transitions is overcompensated by a process bearing the character of free carrier absorption.

Early GRB optical and infrared afterglow observations with the 2-m robotic Liverpool Telescope

International Nuclear Information System (INIS)

Gomboc, A.; Ljubljana Univ., Ljubljana; Mundell, C.G.; Guidorzi, C.

2005-01-01

We present the first optical observations of a Gamma Ray Burst IGRB) afterglow using the 2-m robotic Liverpool Telescope (LT), which is owned and operated by Liverpool John Moores University and situated on La Palma. We briefly discuss the capabilities of LT and its suitability for rapid follow-up observations of early optical and infrared GRB light curves. In particular, the combination of aperture, site, instrumentation and rapid response (robotic over-ride mode aided by telescope's rapid slew and fully-opening enclosure) makes the LT ideal for investigating the nature of short bursts, optically-dark bursts, and GRB blast-wave physics in general. We briefly describe the LT's key position in the RoboNet-1.0 network of robotic telescopes. We present the LT observations of GRB041006 and use its gamma-ray properties to predict the time of the break in optical light curve, a prediction consistent with the observations

Electrical and optical response of a laser diode to transient ionizing radiation

International Nuclear Information System (INIS)

Baggio, J.; Brisset, C.; Sommer, J.L.; D'hose, C.; Lalande, P.; Leray, J.L.; Musseau, O.

1996-01-01

The authors have studied transient irradiation effects on the optical and electrical responses of a laser diode. The influence of dose rate, ranging from 10 9 to 10 12 rad(Si)/s, has been investigated through a complete experimental study. Dose rate vulnerability of the laser diode has been observed. Electrical and optical transient responses are determined by the dose rate, the diode structure, and its operating point

Feasibility of optical sensing for robotics in highly radioactive environments

International Nuclear Information System (INIS)

Coenen, S.; Decreton, M.

1993-01-01

The application of robotics for repair, refurbishing or dismantling of nuclear installations implies eventually severe radiation resistance requirements on embarked components and subsystems. This is particularly critical when optical sensing is considered. Optoelectronic components and optical fibers are indeed quite sensitive to radiation, and without special design are rapidly out-of-operation in such an environment. This paper reports the results of a series of γ irradiation experiments on such devices, and identify their behavior under radiation. Test results show that carefully selected optical fibers can keep their radiation induced attenuation lower than 0.3 dB/m even up to a total dose of 10 MGy. Temperature annealing can even lower this attenuation down to 0.1 dB/m. On the other hand, commercially available light emitting diodes and photodiodes present attenuations figures up to 15 dB, even after a gamma irradiation as low as 250 kGy. However, properly chosen bias procedures are shown to greatly enhance this figure. The paper concludes by showing the feasibility of optical sensing for proximity measurement and data transmission for nuclear robots used under severe radiation conditions

Theoretical Models of Optical Transients. I. A Broad Exploration of the Duration-Luminosity Phase Space

Science.gov (United States)

Villar, V. Ashley; Berger, Edo; Metzger, Brian D.; Guillochon, James

2017-11-01

The duration-luminosity phase space (DLPS) of optical transients is used, mostly heuristically, to compare various classes of transient events, to explore the origin of new transients, and to influence optical survey observing strategies. For example, several observational searches have been guided by intriguing voids and gaps in this phase space. However, we should ask, do we expect to find transients in these voids given our understanding of the various heating sources operating in astrophysical transients? In this work, we explore a broad range of theoretical models and empirical relations to generate optical light curves and to populate the DLPS. We explore transients powered by adiabatic expansion, radioactive decay, magnetar spin-down, and circumstellar interaction. For each heating source, we provide a concise summary of the basic physical processes, a physically motivated choice of model parameter ranges, an overall summary of the resulting light curves and their occupied range in the DLPS, and how the various model input parameters affect the light curves. We specifically explore the key voids discussed in the literature: the intermediate-luminosity gap between classical novae and supernovae, and short-duration transients (≲ 10 days). We find that few physical models lead to transients that occupy these voids. Moreover, we find that only relativistic expansion can produce fast and luminous transients, while for all other heating sources events with durations ≲ 10 days are dim ({M}{{R}}≳ -15 mag). Finally, we explore the detection potential of optical surveys (e.g., Large Synoptic Survey Telescope) in the DLPS and quantify the notion that short-duration and dim transients are exponentially more difficult to discover in untargeted surveys.

Constraining the CMB optical depth through the dispersion measure of cosmological radio transients

International Nuclear Information System (INIS)

Fialkov, A.; Loeb, A.

2016-01-01

The dispersion measure of extragalactic radio transients can be used to measure the column density of free electrons in the intergalactic medium. The same electrons also scatter the Cosmic Microwave Background (CMB) photons, affecting precision measurements of cosmological parameters. We explore the connection between the dispersion measure of radio transients existing during the Epoch of Reionization (EoR) and the total optical depth for the CMB showing that the existence of such transients would provide a new sensitive probe of the CMB optical depth. As an example, we consider the population of FRBs. Assuming they exist during the EoR, we show that: (i) such sources can probe the reionization history by measuring the optical depth to sub-percent accuracy, and (ii) they can be detected with high significance by an instrument such as the Square Kilometer Array.

Constraining the CMB optical depth through the dispersion measure of cosmological radio transients

Energy Technology Data Exchange (ETDEWEB)

Fialkov, A.; Loeb, A., E-mail: anastasia.fialkov@cfa.harvard.edu, E-mail: aloeb@cfa.harvard.edu [Institute for Teory and Computation, Harvard University, 60 Garden Street, MS-51, Cambridge, MA, 02138 (United States)

2016-05-01

The dispersion measure of extragalactic radio transients can be used to measure the column density of free electrons in the intergalactic medium. The same electrons also scatter the Cosmic Microwave Background (CMB) photons, affecting precision measurements of cosmological parameters. We explore the connection between the dispersion measure of radio transients existing during the Epoch of Reionization (EoR) and the total optical depth for the CMB showing that the existence of such transients would provide a new sensitive probe of the CMB optical depth. As an example, we consider the population of FRBs. Assuming they exist during the EoR, we show that: (i) such sources can probe the reionization history by measuring the optical depth to sub-percent accuracy, and (ii) they can be detected with high significance by an instrument such as the Square Kilometer Array.

Gain transient control for wavelength division multiplexed access networks using semiconductor optical amplifiers

DEFF Research Database (Denmark)

Gibbon, Timothy Braidwood; Osadchiy, Alexey Vladimirovich; Kjær, Rasmus

2009-01-01

Gain transients can severely hamper the upstream network performance in wavelength division multiplexed (WDM) access networks featuring erbium doped fiber amplifiers (EDFAs) or Raman amplification. We experimentally demonstrate for the first time using 10 Gb/s fiber transmission bit error rate...... measurements how a near-saturated semiconductor optical amplifier (SOA) can be used to control these gain transients. An SOA is shown to reduce the penalty of transients originating in an EDFA from 2.3 dB to 0.2 dB for 10 Gb/s transmission over standard single mode fiber using a 231-1 PRBS pattern. The results...... suggest that a single SOA integrated within a WDM receiver at the metro node could offer a convenient all-optical solution for upstream transient controlin WDM access networks....

Towards Light‐guided Micro‐robotics

DEFF Research Database (Denmark)

Glückstad, Jesper

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

UNUSUAL LONG AND LUMINOUS OPTICAL TRANSIENT IN THE SUBARU DEEP FIELD

International Nuclear Information System (INIS)

Urata, Yuji; Tsai, Patrick P.; Huang, Kuiyun; Morokuma, Tomoki; Motohara, Kentaro; Yasuda, Naoki; Tanaka, Masaomi; Hayashi, Masao; Kashikawa, Nobunari; Ly, Chun; Malkan, Matthew A.

2012-01-01

We present observations of SDF-05M05, an unusual optical transient discovered in the Subaru Deep Field (SDF). The duration of the transient is > ∼ 800 days in the observer frame, and the maximum brightness during observation reached approximately 23 mag in the i' and z' bands. The faint host galaxy is clearly identified in all five optical bands of the deep SDF images. The photometric redshift of the host yields z ∼ 0.6 and the corresponding absolute magnitude at maximum is ∼ – 20. This implies that this event shone with an absolute magnitude brighter than –19 mag for approximately 300 days in the rest frame, which is significantly longer than a typical supernova and ultraluminous supernova. The total radiated energy during our observation was 1 × 10 51 erg. The light curves and color evolution are marginally consistent with some luminous IIn supernovae. We suggest that the transient may be a unique and peculiar supernova at intermediate redshift.

UNUSUAL LONG AND LUMINOUS OPTICAL TRANSIENT IN THE SUBARU DEEP FIELD

Energy Technology Data Exchange (ETDEWEB)

Urata, Yuji; Tsai, Patrick P. [Institute of Astronomy, National Central University, Chung-Li 32054, Taiwan (China); Huang, Kuiyun [Academia Sinica Institute of Astronomy and Astrophysics, Taipei 106, Taiwan (China); Morokuma, Tomoki; Motohara, Kentaro [Institute of Astronomy, Graduate School of Science, University of Tokyo, Mitaka, Tokyo 181-0015 (Japan); Yasuda, Naoki [Institute for the Physics and Mathematics of the Universe, University of Tokyo, Kashiwa 277-8568 (Japan); Tanaka, Masaomi; Hayashi, Masao; Kashikawa, Nobunari [Optical and Infrared Astronomy Division, National Astronomical Observatory, Mitaka, Tokyo 181-8588 (Japan); Ly, Chun [Space Telescope Science Institute, Baltimore, MD (United States); Malkan, Matthew A., E-mail: urata@astro.ncu.edu.tw [Department of Physics and Astronomy, UCLA, Box 951547, Los Angeles, CA (United States)

2012-11-20

We present observations of SDF-05M05, an unusual optical transient discovered in the Subaru Deep Field (SDF). The duration of the transient is > {approx} 800 days in the observer frame, and the maximum brightness during observation reached approximately 23 mag in the i' and z' bands. The faint host galaxy is clearly identified in all five optical bands of the deep SDF images. The photometric redshift of the host yields z {approx} 0.6 and the corresponding absolute magnitude at maximum is {approx} - 20. This implies that this event shone with an absolute magnitude brighter than -19 mag for approximately 300 days in the rest frame, which is significantly longer than a typical supernova and ultraluminous supernova. The total radiated energy during our observation was 1 Multiplication-Sign 10{sup 51} erg. The light curves and color evolution are marginally consistent with some luminous IIn supernovae. We suggest that the transient may be a unique and peculiar supernova at intermediate redshift.

Principles of femtosecond X-ray/optical cross-correlation with X-ray induced transient optical reflectivity in solids

Energy Technology Data Exchange (ETDEWEB)

Eckert, S., E-mail: sebastian.eckert@helmholtz-berlin.de, E-mail: martin.beye@helmholtz-berlin.de; Beye, M., E-mail: sebastian.eckert@helmholtz-berlin.de, E-mail: martin.beye@helmholtz-berlin.de; Pietzsch, A.; Quevedo, W.; Hantschmann, M. [Institute for Methods and Instrumentation in Synchrotron Radiation Research, Helmholtz-Zentrum Berlin für Materialien und Energie GmbH, Albert-Einstein-Str. 15, 12489 Berlin (Germany); Ochmann, M.; Huse, N. [Institute for Nanostructure and Solid State Physics, University of Hamburg, Jungiusstr. 11, 20355 Hamburg, Germany and Max Planck Institute for the Structure and Dynamics of Matter, Center for Free-Electron Laser Science, Luruper Chaussee 149, 22761 Hamburg (Germany); Ross, M.; Khalil, M. [Department of Chemistry, University of Washington, Box 351700, Seattle, Washington 98195 (United States); Minitti, M. P.; Turner, J. J.; Moeller, S. P.; Schlotter, W. F.; Dakovski, G. L. [LCLS, SLAC National Accelerator Laboratory, 2575 Sand Hill Road, Menlo Park, California 94025 (United States); Föhlisch, A. [Institute for Methods and Instrumentation in Synchrotron Radiation Research, Helmholtz-Zentrum Berlin für Materialien und Energie GmbH, Albert-Einstein-Str. 15, 12489 Berlin (Germany); Institut für Physik und Astronomie, Universität Potsdam, Karl-Liebknecht-Str. 24/25, 14476 Potsdam (Germany)

2015-02-09

The discovery of ultrafast X-ray induced optical reflectivity changes enabled the development of X-ray/optical cross correlation techniques at X-ray free electron lasers worldwide. We have now linked through experiment and theory the fundamental excitation and relaxation steps with the transient optical properties in finite solid samples. Therefore, we gain a thorough interpretation and an optimized detection scheme of X-ray induced changes to the refractive index and the X-ray/optical cross correlation response.

SPRAT: Spectrograph for the Rapid Acquisition of Transients

Science.gov (United States)

Piascik, A. S.; Steele, Iain A.; Bates, Stuart D.; Mottram, Christopher J.; Smith, R. J.; Barnsley, R. M.; Bolton, B.

2014-07-01

We describe the development of a low cost, low resolution (R ~ 350), high throughput, long slit spectrograph covering visible (4000-8000) wavelengths. The spectrograph has been developed for fully robotic operation with the Liverpool Telescope (La Palma). The primary aim is to provide rapid spectral classification of faint (V ˜ 20) transient objects detected by projects such as Gaia, iPTF (intermediate Palomar Transient Factory), LOFAR, and a variety of high energy satellites. The design employs a volume phase holographic (VPH) transmission grating as the dispersive element combined with a prism pair (grism) in a linear optical path. One of two peak spectral sensitivities are selectable by rotating the grism. The VPH and prism combination and entrance slit are deployable, and when removed from the beam allow the collimator/camera pair to re-image the target field onto the detector. This mode of operation provides automatic acquisition of the target onto the slit prior to spectrographic observation through World Coordinate System fitting. The selection and characterisation of optical components to maximise photon throughput is described together with performance predictions.

Revisiting Bragg's X-ray microscope: Scatter based optical transient grating detection of pulsed ionising radiation

International Nuclear Information System (INIS)

Fullagar, Wilfred K.; Paganin, David M.; Hall, Chris J.

2011-01-01

Transient optical gratings for detecting ultrafast signals are routine for temporally resolved photochemical investigations. Many processes can contribute to the formation of such gratings; we indicate use of optically scattering centres that can be formed with highly variable latencies in different materials and devices using ionising radiation. Coherent light scattered by these centres can form the short-wavelength-to-optical-wavelength, incoherent-to-coherent basis of a Bragg X-ray microscope, with inherent scope for optical phasing. Depending on the dynamics of the medium chosen, the way is open to both ultrafast pulsed and integrating measurements. For experiments employing brief pulses, we discuss high-dynamic-range short-wavelength diffraction measurements with real-time optical reconstructions. Applications to optical real-time X-ray phase-retrieval are considered. -- Research highlights: → It is timely that the concept of Bragg's X-ray microscope be revisited. → Transient gratings can be used for X-ray all-optical information processing. → Applications to optical real-time X-ray phase-retrieval are considered.

Automated detection of optical counterparts to GRBs with RAPTOR

International Nuclear Information System (INIS)

Wozniak, P. R.; Vestrand, W. T.; Evans, S.; White, R.; Wren, J.

2006-01-01

The RAPTOR system (RAPid Telescopes for Optical Response) is an array of several distributed robotic telescopes that automatically respond to GCN localization alerts. Raptor-S is a 0.4-m telescope with 24 arc min. field of view employing a 1k x 1k Marconi CCD detector, and has already detected prompt optical emission from several GRBs within the first minute of the explosion. We present a real-time data analysis and alert system for automated identification of optical transients in Raptor-S GRB response data down to the sensitivity limit of ∼ 19 mag. Our custom data processing pipeline is designed to minimize the time required to reliably identify transients and extract actionable information. The system utilizes a networked PostgreSQL database server for catalog access and distributes email alerts with successful detections

Robotic Astronomy and the BOOTES Network of Robotic Telescopes

Directory of Open Access Journals (Sweden)

A. J. Castro-Tirado

2011-01-01

Full Text Available The Burst Observer and Optical Transient Exploring System (BOOTES, started in 1998 as a Spanish-Czech collaboration project, devoted to a study of optical emissions from gamma ray bursts (GRBs that occur in the Universe. The first two BOOTES stations were located in Spain, and included medium size robotic telescopes with CCD cameras at the Cassegrain focus as well as all-sky cameras, with the two stations located 240 km apart. The first observing station (BOOTES-1 is located at ESAt (INTA-CEDEA in Mazag´on (Huelva and the first light was obtained in July 1998. The second observing station (BOOTES-2 is located at La Mayora (CSIC in M´alaga and has been operating fully since July 2001. In 2009 BOOTES expanded abroad, with the third station (BOOTES-3 being installed in Blenheim (South Island, New Zealand as result of a collaboration project with several institutions from the southern hemisphere. The fourth station (BOOTES-4 is on its way, to be deployed in 2011.

Numerical modeling of optical coherent transient processes with complex configurations-III: Noisy laser source

International Nuclear Information System (INIS)

Chang Tiejun; Tian Mingzhen

2007-01-01

A previously developed numerical model based on Maxwell-Bloch equations was modified to simulate optical coherent transient and spectral hole burning processes with noisy laser sources. Random walk phase noise was simulated using laser-phase sequences generated numerically according to the normal distribution of the phase shift. The noise model was tested by comparing the simulated spectral hole burning effect with the analytical solution. The noise effects on a few typical optical coherence transient processes were investigated using this numerical tool. Flicker and random walk frequency noises were considered in accumulation process

Discovery of an Unusual Optical Transient with the Hubble Space Telescope

Energy Technology Data Exchange (ETDEWEB)

The Supernova Cosmology Project; Barbary, Kyle; Dawson, Kyle S.; Tokita, Kouichi; Aldering, Greg; Amanullah, Rahman; Connolly, Natalia V.; Doi, Mamoru; Faccioli, Lorenzo; Fadeyev, Vitaliy; Fruchter, Andrew S.; Goldhaber, Gerson; Goobar, Ariel; Gude, Alexander; Huang, Xiaosheng; Ihara, Yutaka; Konishi, Kohki; Kowalski, Marek; Lidman, Chris; Meyers, Josh; Morokuma, Tomoki; Nugent, Peter; Perlmutter, Saul; Rubin, David; Schlegel, David; Spadafora, Anthony L.; Suzuki, Nao; Swift, Hannah K.; Takanashi, Naohiro; Thomas, Rollin C.; Yasuda, Naoki

2008-09-08

We present observations of SCP 06F6, an unusual optical transient discovered during the Hubble Space Telescope Cluster Supernova Survey. The transient brightened over a period of ~;;100 days, reached a peak magnitude of ~;;21.0 in both i_775 and z_850, and then declined over a similar timescale. There is no host galaxy or progenitor star detected at the location of the transient to a 3 sigma upper limit of i_775 = 26.4 and z_850 = 26.1, giving a corresponding lower limit on the flux increase of a factor of ~;;120. Multiple spectra show five broad absorption bands between 4100 AA and 6500 AA and a mostly featureless continuum longward of 6500 AA. The shape of the lightcurve is inconsistent with microlensing. The transient's spectrum, in addition to being inconsistent with all known supernova types, is not matched to any spectrum in the Sloan Digital Sky Survey (SDSS) database. We suggest that the transient may be one of a new class.

Space environments and their effects on space automation and robotics

Science.gov (United States)

Garrett, Henry B.

1990-01-01

Automated and robotic systems will be exposed to a variety of environmental anomalies as a result of adverse interactions with the space environment. As an example, the coupling of electrical transients into control systems, due to EMI from plasma interactions and solar array arcing, may cause spurious commands that could be difficult to detect and correct in time to prevent damage during critical operations. Spacecraft glow and space debris could introduce false imaging information into optical sensor systems. The presentation provides a brief overview of the primary environments (plasma, neutral atmosphere, magnetic and electric fields, and solid particulates) that cause such adverse interactions. The descriptions, while brief, are intended to provide a basis for the other papers presented at this conference which detail the key interactions with automated and robotic systems. Given the growing complexity and sensitivity of automated and robotic space systems, an understanding of adverse space environments will be crucial to mitigating their effects.

Spectroscopic Classifications of Optical Transients with the Lick Shane 3-m telescope

Science.gov (United States)

Dimitriadis, G.; Foley, R. J.

2018-05-01

We report the following classifications of optical transients from spectroscopic observations with the Kast spectrograph on the Shane 3-m telescope. Targets were supplied by ATLAS, ASAS-SN, and the KEGS K2 SN search.

Development of radiation hardened robot for nuclear facility - Development of real-time stereo object tracking system using the optical correlator

Energy Technology Data Exchange (ETDEWEB)

Kim, Eun Soo; Lee, S. H.; Lee, J. S. [Kwangwoon University, Seoul (Korea)

2000-03-01

Object tracking, through Centroide method used in the KAERI-M1 Stereo Robot Vision System developed at Atomic Research Center, is too sensitive to target's light variation and because it has a fragility which can't reflect the surrounding background, the application in the actual condition is very limited. Also the correlation method can constitute a relatively stable object tracker in noise features but the digital calculation amount is too massive in image correlation so real time materialization is limited. So the development of Optical Correlation based on Stereo Object Tracking System using high speed optical information processing technique will put stable the real time stereo object tracking system and substantial atomic industrial stereo robot vision system to practical use. This research is about developing real time stereo object tracking algorithm using optical correlation system through the technique which can be applied to Atomic Research Center's KAERI-M1 Stereo Vision Robot which will be used in atomic facility remote operations. And revise the stereo disparity using real time optical correlation technique, and materializing the application of the stereo object tracking algorithm to KAERI-M1 Stereo Robot. 19 refs., 45 figs., 2 tabs. (Author)

THE PHOTOMETRIC AND SPECTRAL EVOLUTION OF THE 2008 LUMINOUS OPTICAL TRANSIENT IN NGC 300

International Nuclear Information System (INIS)

Humphreys, Roberta M.; Davidson, Kris; Bond, Howard E.; Bedin, Luigi R.; Bonanos, Alceste Z.; Berto Monard, L. A. G.; Prieto, José L.; Walter, Frederick M.

2011-01-01

The 2008 optical transient in NGC 300 is one of a growing class of intermediate-luminosity transients that brighten several orders of magnitude from a previously optically obscured state. The origin of their eruptions is not understood. Our multi-wavelength photometry and spectroscopy from maximum light to more than a year later provide a record of its post-eruption behavior. We describe its changing spectral energy distribution, the evolution of its absorption- and emission-line spectrum, the development of a bipolar outflow, and the rapid transition from a dense wind to an optically thin ionized wind. In addition to strong, narrow hydrogen lines, the F-type absorption-line spectrum of the transient is characterized by strong Ca II and [Ca II] emission. The very broad wings of the Ca II triplet and the asymmetric [Ca II] emission lines are due to strong Thomson scattering in the expanding ejecta. Post-maximum, the hydrogen and Ca II lines developed double-peaked emission profiles that we attribute to a bipolar outflow. Between approximately 60 and 100 days after maximum, the F-type absorption spectrum, formed in its dense wind, weakened and the wind became transparent to ionizing radiation. We discuss the probable evolutionary state of the transient and similar objects such as SN 2008S and conclude that they were most likely post-red supergiants or post-asymptotic giant branch stars on a blue loop to warmer temperatures when the eruption occurred. These objects are not luminous blue variables.

Light robotics: a new field of research

DEFF Research Database (Denmark)

Engay, Einstom; Chouliara, Manto; Bañas, Andrew

2018-01-01

After years of working on light-driven trapping and manipulation, we can see that a confluence of developments is now ripe for the emergence of a new area that can contribute to nanobiophotonics - Light Robotics - which combines advances in microfabrication and optical micromanipulation together...... with intelligent control ideas from robotics, wavefront engineering and information optics. In the Summer 2017 we are publishing a 482 pages edited Elsevier book volume covering the fundamental aspects needed for Light Robotics including optical trapping systems, microfabrication and microassembly as well...... as underlying theoretical principles and experimental illustrations for optimizing optical forces and torques for Light Robotics...

Very bright optical transient near the Trifid and Lagoon Nebulae

Science.gov (United States)

Dunsby, Peter

2018-03-01

Peter Dunsby (University of Cape Town) reports the detection of a very bright optical transient in the region between the Lagoon and Trifid Nebulae based on observations obtained from Cape Town on 20 March 2018, between 01:00 and 03:45 UT. The object was visible throughout the full duration of the observations and not seen when this field was observed previously (08 March 2018).

Transient spectral domain optical coherence tomography findings in classic MEWDS: a case report.

Science.gov (United States)

Lavigne, Luciana Castro; Isaac, David Leonardo Cruvinel; Duarte Júnior, José Osório; Avila, Marcos Pereira de

2014-01-01

The purpose of this study was to describe a patient with multiple evanescent white dot syndrome (MEWDS) who presented with classic retinal findings and transient changes in outer retinal anatomy. A 20-year-old man presented with mild blurred vision in the left eye, reporting flu-like symptoms 1 week before the visual symptoms started. Fundus examination of the left eye revealed foveal granularity and multiple scattered spots deep to the retina in the posterior pole. Fluorescein angiography and indocyanine green angiography showed typical MEWDS findings. Spectral Domain Optical Coherence Tomography has shown transient changes in outer retinal anatomy with disappearance of inner segment-outer segment junction and mild attenuation of external limiting membrane. Six months later, Spectral Domain Optical Coherence Tomography has shown complete resolution with recovery of normal outer retinal aspect.

Ultrafast laser processing of copper: A comparative study of experimental and simulated transient optical properties

Science.gov (United States)

Winter, Jan; Rapp, Stephan; Schmidt, Michael; Huber, Heinz P.

2017-09-01

In this paper, we present ultrafast measurements of the complex refractive index for copper up to a time delay of 20 ps with an accuracy threshold. The measured refractive index n and extinction coefficient k are supported by a simulation including the two-temperature model with an accurate description of thermal and optical properties and a thermomechanical model. Comparison of the measured time resolved optical properties with results of the simulation reveals underlying physical mechanisms in three distinct time delay regimes. It is found that in the early stage (-5 ps to 0 ps) the thermally excited d-band electrons make a major contribution to the laser pulse absorption and create a steep increase in transient optical properties n and k. In the second time regime (0-10 ps) the material expansion influences the plasma frequency, which is also reflected in the transient extinction coefficient. In contrast, the refractive index n follows the total collision frequency. Additionally, the electron-ion thermalization time can be attributed to a minimum of the extinction coefficient at ∼10 ps. In the third time regime (10-20 ps) the transient extinction coefficient k indicates the surface cooling-down process.

Radiation-induced transient attenuation of optical fibers at 800 and 1300 nm

International Nuclear Information System (INIS)

Looney, L.D.; Lyons, P.B.

1987-01-01

Radiation-induced absorption in optical fibers has been a subject of considerable interest throughout the world. As availability and applications of fibers have evolved from ''first window'' systems operating near 850 nm to ''second window'' systems near 1300 nm, interest in wavelength dependence of radiation effects in optical fibers has similarly evolved. The present work summarizes second-window, radiation-induced transient absorption measurements in optical fibers for times shorter than 5 μs. Comparisons to first window data for these fibers are also presented. Only high purity silica fibers with low-OH concentrations were used in the present study to avoid the large OH absorption band in this region. This paper also collects first window data on several high-OH optical fibers

Optical angular constancy is maintained as a navigational control strategy when pursuing robots moving along complex pathways.

Science.gov (United States)

Wang, Wei; McBeath, Michael K; Sugar, Thomas G

2015-03-24

The optical navigational control strategy used to intercept moving targets was explored using a real-world object that travels along complex, evasive pathways. Fielders ran across a gymnasium attempting to catch a moving robot that varied in speed and direction, while ongoing position was measured using an infrared motion-capture system. Fielder running paths were compared with the predictions of three lateral control models, each based on maintaining a particular optical angle relative to the robotic target: (a) constant alignment angle (CAA), (b) constant eccentricity angle (CEA), and (c) linear optical trajectory (LOT). Findings reveal that running pathways were most consistent with maintenance of LOT and least consistent with CEA. This supports that fielders use the same optical control strategy of maintaining angular constancy using a LOT when navigating toward targets moving along complex pathways as when intercepting simple ballistic trajectories. In those cases in which a target dramatically deviates from its optical path, fielders appear to simply reset LOT parameters using a new constant angle value. Maintenance of such optical angular constancy has now been shown to work well with ballistic, complex, and evasive moving targets, confirming the LOT strategy as a robust, general-purpose optical control mechanism for navigating to intercept catchable targets, both airborne and ground based. © 2015 ARVO.

Transient changes of optical properties in semiconductors in response to femtosecond laser pulses

Czech Academy of Sciences Publication Activity Database

Tkachenko, V.; Medvedev, Nikita; Ziaja, B.

2016-01-01

Roč. 6, č. 9 (2016), 1-12, č. článku 238. ISSN 2076-3417 Institutional support: RVO:68378271 Keywords : free-electron lasers * transient optical properties Subject RIV: BM - Solid Matter Physics ; Magnetism Impact factor: 1.679, year: 2016

Status And Performance Of The Virgin Islands Robotic Telescope at Etelman Observatory

Science.gov (United States)

Morris, David C.; Gendre, Bruce; Neff, James E.; Giblin, Timothy W.

2016-01-01

The Virgin Islands Robotic Telescope is an 0.5m robotic telescope located at the easternmost and southernmost optical observatory in the United States at a latitude of 18.5N and longitude of 65W. The observatory is located on the island of St Thomas in the USVI. Astronomers from the College of Charleston, the US Air Force Academy, and the University of the Virgin Islands collaborate to maintain and operate the facility. The primary scientific focus of the facility is the optical follow-up of high-energy transients though a variety of other science interests are also being pursued including follow-up of candidate extra-solar planets, rotation studies of cool stars, and near-Earth asteroid and space situational awareness studies. The facility also supports a wide-reaching education and outreach program dedicated to raising the level of STEAM engagement and enrichment in the USVI. We detail the characteristics, capabilities, and early results from the observatory. The observatory is growing its staff and science activities and potential topics for collaboration will be discussed.

Coherent optical transients observed in rubidium atomic line filtered Doppler velocimetry experiments

Energy Technology Data Exchange (ETDEWEB)

Fajardo, Mario E., E-mail: mario.fajardo@eglin.af.mil; Molek, Christopher D.; Vesely, Annamaria L. [Air Force Research Laboratory, Munitions Directorate, Ordnance Division, Energetic Materials Branch, AFRL/RWME, 2306 Perimeter Road, Eglin AFB, Florida 32542-5910 (United States)

2015-10-14

We report the first successful results from our novel Rubidium Atomic Line Filtered (RALF) Doppler velocimetry apparatus, along with unanticipated oscillatory signals due to coherent optical transients generated within pure Rb vapor cells. RALF is a high-velocity and high-acceleration extension of the well-known Doppler Global Velocimetry (DGV) technique for constructing multi-dimensional flow velocity vector maps in aerodynamics experiments [H. Komine, U.S. Patent No. 4,919,536 (24 April 1990)]. RALF exploits the frequency dependence of pressure-broadened Rb atom optical absorptions in a heated Rb/N{sub 2} gas cell to encode the Doppler shift of reflected near-resonant (λ{sub 0} ≈ 780.24 nm) laser light onto the intensity transmitted by the cell. The present RALF apparatus combines fiber optic and free-space components and was built to determine suitable operating conditions and performance parameters for the Rb/N{sub 2} gas cells. It yields single-spot velocities of thin laser-driven-flyer test surfaces and incorporates a simultaneous Photonic Doppler Velocimetry (PDV) channel [Strand et al., Rev. Sci. Instrum. 77, 083108 (2006)] for validation of the RALF results, which we demonstrate here over the v = 0 to 1 km/s range. Both RALF and DGV presume the vapor cells to be simple Beer's Law optical absorbers, so we were quite surprised to observe oscillatory signals in experiments employing low pressure pure Rb vapor cells. We interpret these oscillations as interference between the Doppler shifted reflected light and the Free Induction Decay (FID) coherent optical transient produced within the pure Rb cells at the original laser frequency; this is confirmed by direct comparison of the PDV and FID signals. We attribute the different behaviors of the Rb/N{sub 2} vs. Rb gas cells to efficient dephasing of the atomic/optical coherences by Rb-N{sub 2} collisions. The minimum necessary N{sub 2} buffer gas density ≈0.3 amagat translates into a

Light Robotics: Aiming towards all-optical nano-robotics

DEFF Research Database (Denmark)

Glückstad, Jesper; Palima, Darwin; Bañas, Andrew

2017-01-01

potential of this new ‘drone-like’ light-printed, light-driven, light-actuated micro- and nanorobotics in challenging geometries requires a versatile and real-time reconfigurable light addressing that can dynamically track a plurality of tiny tools in 3D to ensure real-time continuous light delivery......Light Robotics is a new field of research where ingredients from photonics, nanotechnology and biotechnology are put together in new ways to realize light-driven robotics at the smallest scales to solve major challenges primarily within the nanobio-domain but not limited hereto. Exploring the full...... on the fly. Our latest developments in this new and exciting research area will be reviewed....

Light robotics: aiming towards all-optical nano-robotics

Science.gov (United States)

Glückstad, Jesper; Palima, Darwin; Banas, Andrew

2017-04-01

Light Robotics is a new field of research where ingredients from photonics, nanotechnology and biotechnology are put together in new ways to realize light-driven robotics at the smallest scales to solve major challenges primarily within the nanobio-domain but not limited hereto. Exploring the full potential of this new `drone-like' light-printed, light-driven, light-actuated micro- and nanorobotics in challenging geometries requires a versatile and real-time reconfigurable light addressing that can dynamically track a plurality of tiny tools in 3D to ensure real-time continuous light-delivery on the fly. Our latest developments in this new and exciting research area will be reviewed.

Intense transient electric field sensor based on the electro-optic effect of LiNbO{sub 3}

Energy Technology Data Exchange (ETDEWEB)

Yang, Qing, E-mail: yangqing@cqu.edu.cn; Sun, Shangpeng; Han, Rui; Sima, Wenxia; Liu, Tong [State Key Laboratory of Power Transmission Equipment & System Security and New Technology, Chongqing University, Shapingba District, Chongqing, 400044 (China)

2015-10-15

Intense transient electric field measurements are widely applied in various research areas. An optical intense E-field sensor for time-domain measurements, based on the electro-optic effect of lithium niobate, has been studied in detail. Principles and key issues in the design of the sensor are presented. The sensor is insulated, small in size (65 mm × 15 mm × 15 mm), and suitable for high-intensity (<801 kV/m) electric field measurements over a wide frequency band (10 Hz–10 MHz). The input/output characteristics of the sensor were obtained and the sensor calibrated. Finally, an application using this sensor in testing laboratory lightning impulses and in measuring transient electric fields during switch-on of a disconnector confirmed that the sensor is expected to find widespread use in transient intense electric field measurement applications.

Transient radiation effects in D.O.I. optical materials: KD*P

International Nuclear Information System (INIS)

Simmons-Potter, K.

1998-07-01

Department of Energy and Defense Programs systems are becoming increasingly reliant on the use of optical technologies that must perform under a range of ionizing radiation environments. In particular, the radiation response of materials under consideration for applications in direct optical initiation (D.O.I.) schemes must be well characterized. In this report, transient radiation effects observed in a KD*P crystal are characterized. Under gamma exposure with 2 MeV photons in a 20--30 nsec pulse, the authors observe induced absorption at 1.06 microm that causes a peak decrease in overall sample transmittance of only 10%. This induced loss is seen to recover fully within the first 30 microsec

Transient behaviour of EIT and EIA in an optical-radio two-photon coupling configuration

Science.gov (United States)

Li, Xiaoli; Yang, Zicai; Shang, Yaxuan

2012-11-01

Both electromagnetically induced absorption (EIA) and transparency (EIT) can be obtained in a modified quasi-lambda four level system consisting of an optical-radio two-photon coupling field and a probing field. A physical account of EIA and EIT is given in terms of a transient state picture in this paper. It can be seen that the optical coupling field in this quasi-lambda four level system has a crucial effect on the forming of EIA and EIT. An EIA is observed under a resonant optical coupling and it evolves into an EIT when there is a detuning.

3D YAG laser cutting robot. 3 jigen YAG laser setsudan robot

Energy Technology Data Exchange (ETDEWEB)

Mukai, Y. (Matsushita Electric Industrial Co. Ltd., Osaka (Japan))

1991-11-01

The present status was introduced of three-dimensional processing by the YAG laser multi-articulation robot to introduce the focusing system. The lowering in locus accuracy of multi-articulation robot is caused by the accuracy and time of computation to interpolate the locus, response characteristics of servo system, and calibration problem of mechanical/structural system. Also as low in output power of laser, it has problem in focusing the energy in the radiating optical system. A focusing system, high in response velocity, is necessary in the processor to use the optical fiber in the optical transfer system. As processing and measuring at an identical spot, the present system can integrate the detection use electrode and nozzle so as to use an electrostatic capacity type sensor, high in response frequency. To avoid the interference with jig, etc., the nozzle of radiating unit was integrated with the detection use electrode so that development was made of height sensor, capable of executing the three-dimensional processing. The present robot is characterized by a standardized equipment of control system with a sliding shaft, independent of the operational shaft properly of robot in order to be exclusively used for the focusing. 9 figs.

DEdicated MONitor of EXotransits and Transients (DEMONEXT): System Overview and Year One Results from a Low-cost Robotic Telescope for Followup of Exoplanetary Transits and Transients

Science.gov (United States)

Villanueva, Steven, Jr.; Gaudi, B. Scott; Pogge, Richard W.; Eastman, Jason D.; Stassun, Keivan G.; Trueblood, Mark; Trueblood, Patricia

2018-01-01

We report on the design and first year of operations of the DEdicated MONitor of EXotransits and Transients (DEMONEXT). DEMONEXT is a 20-inch (0.5-m) robotic telescope using a PlaneWave CDK20 telescope on a Mathis instruments MI-750/1000 fork mount. DEMONEXT is equipped with a 2048 × 2048 pixel Finger Lakes Instruments (FLI) detector; a 10-position filter wheel with an electronic focuser and B, V, R, and I, g\\prime , r\\prime , i\\prime , z\\prime ; and clear filters. DEMONEXT operates in a continuous observing mode and achieves 2-4 mmag raw, unbinned, precision on bright Vhours in good observing conditions, with degraded performance in poor weather (< 1 pixel). DEMONEXT achieves 1%-10% photometry on single-epoch targets with V< 17 in 5 minute exposures, with detection thresholds of V≈ 21. The DEMONEXT automated software has produced 143 planetary candidate transit light curves for the KELT collaboration and 48 supernovae and transient light curves for the ASAS-SN supernovae group in the first year of operation. DEMONEXT has also observed for a number of ancillary science projects including Galactic microlensing, active galactic nuclei, stellar variability, and stellar rotation.

Transient Flow Dynamics in Optical Micro Well Involving Gas Bubbles

Science.gov (United States)

Johnson, B.; Chen, C. P.; Jenkins, A.; Spearing, S.; Monaco, L. A.; Steele, A.; Flores, G.

2006-01-01

The Lab-On-a-Chip Application Development (LOCAD) team at NASA s Marshall Space Flight Center is utilizing Lab-On-a-Chip to support technology development specifically for Space Exploration. In this paper, we investigate the transient two-phase flow patterns in an optic well configuration with an entrapped bubble through numerical simulation. Specifically, the filling processes of a liquid inside an expanded chamber that has bubbles entrapped. Due to the back flow created by channel expansion, the entrapped bubbles tend to stay stationary at the immediate downstream of the expansion. Due to the huge difference between the gas and liquid densities, mass conservation issues associated with numerical diffusion need to be specially addressed. The results are presented in terms of the movement of the bubble through the optic well. Bubble removal strategies are developed that involve only pressure gradients across the optic well. Results show that for the bubble to be moved through the well, pressure pulsations must be utilized in order to create pressure gradients across the bubble itself.

Passive mapping and intermittent exploration for mobile robots

Science.gov (United States)

Engleson, Sean P.

1994-01-01

An adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.

Sedimentological Investigations of the Martian Surface using the Mars 2001 Robotic Arm Camera and MECA Optical Microscope

Science.gov (United States)

Rice, J. W., Jr.; Smith, P. H.; Marshall, J. R.

1999-01-01

The first microscopic sedimentological studies of the Martian surface will commence with the landing of the Mars Polar Lander (MPL) December 3, 1999. The Robotic Arm Camera (RAC) has a resolution of 25 um/p which will permit detailed micromorphological analysis of surface and subsurface materials. The Robotic Ann will be able to dig up to 50 cm below the surface. The walls of the trench will also be inspected by RAC to look for evidence of stratigraphic and / or sedimentological relationships. The 2001 Mars Lander will build upon and expand the sedimentological research begun by the RAC on MPL. This will be accomplished by: (1) Macroscopic (dm to cm): Descent Imager, Pancam, RAC; (2) Microscopic (mm to um RAC, MECA Optical Microscope (Figure 2), AFM This paper will focus on investigations that can be conducted by the RAC and MECA Optical Microscope.

Supernovae in Low-Redshift Galaxy Clusters: Observations by the Wise Observatory Optical Transient Search (WOOTS)

OpenAIRE

Gal-Yam, Avishay; Maoz, Dan; Guhathakurta, Puragra; Filippenko, Alexei V.

2007-01-01

We describe the Wise Observatory Optical Transient Search (WOOTS), a survey for supernovae (SNe) and other variable and transient objects in the fields of redshift 0.06-0.2 Abell galaxy clusters. We present the survey design and data-analysis procedures, and our object detection and follow-up strategies. We have obtained follow-up spectroscopy for all viable SN candidates, and present the resulting SN sample here. Out of the 12 SNe we have discovered, seven are associated with our target clus...

Spectroscopic classification of transients

DEFF Research Database (Denmark)

Stritzinger, M. D.; Fraser, M.; Hummelmose, N. N.

2017-01-01

We report the spectroscopic classification of several transients based on observations taken with the Nordic Optical Telescope (NOT) equipped with ALFOSC, over the nights 23-25 August 2017.......We report the spectroscopic classification of several transients based on observations taken with the Nordic Optical Telescope (NOT) equipped with ALFOSC, over the nights 23-25 August 2017....

Light Robotics and its potential for integrating with magnetic carriers

DEFF Research Database (Denmark)

Glückstad, Jesper

. After years of working on light-driven trapping and manipulation, we can see that a confluence of developments is now ripe for the emergence of a new area that can contribute to nanobiophotonics – Light Robotics – which combines advances in microfabrication and optical micromanipulation together...... with intelligent control ideas from robotics, wavefront engineering and computational optics. In the Summer 2017 we published a ca. 500 pages edited Elsevier book volume covering the fundamental aspects needed for Light Robotics including optical trapping systems, microfabrication and microassembly as well...... as underlying theoretical principles and experimental illustrations for optimizing optical forces and torques for Light Robotics. The Elsevier volume is presenting various new functionalities that are enabled by these new designed light-driven micro-robots in addition to various nano-biophotonics applications...

Robot-assisted motor activation monitored by time-domain optical brain imaging

Science.gov (United States)

Steinkellner, O.; Wabnitz, H.; Schmid, S.; Steingräber, R.; Schmidt, H.; Krüger, J.; Macdonald, R.

2011-07-01

Robot-assisted motor rehabilitation proved to be an effective supplement to conventional hand-to-hand therapy in stroke patients. In order to analyze and understand motor learning and performance during rehabilitation it is desirable to develop a monitor to provide objective measures of the corresponding brain activity at the rehabilitation progress. We used a portable time-domain near-infrared reflectometer to monitor the hemodynamic brain response to distal upper extremity activities. Four healthy volunteers performed two different robot-assisted wrist/forearm movements, flexion-extension and pronation-supination in comparison with an unassisted squeeze ball exercise. A special headgear with four optical measurement positions to include parts of the pre- and postcentral gyrus provided a good overlap with the expected activation areas. Data analysis based on variance of time-of-flight distributions of photons through tissue was chosen to provide a suitable representation of intracerebral signals. In all subjects several of the four detection channels showed a response. In some cases indications were found of differences in localization of the activated areas for the various tasks.

Revisiting Bragg's X-ray microscope: scatter based optical transient grating detection of pulsed ionising radiation.

Science.gov (United States)

Fullagar, Wilfred K; Paganin, David M; Hall, Chris J

2011-06-01

Transient optical gratings for detecting ultrafast signals are routine for temporally resolved photochemical investigations. Many processes can contribute to the formation of such gratings; we indicate use of optically scattering centres that can be formed with highly variable latencies in different materials and devices using ionising radiation. Coherent light scattered by these centres can form the short-wavelength-to-optical-wavelength, incoherent-to-coherent basis of a Bragg X-ray microscope, with inherent scope for optical phasing. Depending on the dynamics of the medium chosen, the way is open to both ultrafast pulsed and integrating measurements. For experiments employing brief pulses, we discuss high-dynamic-range short-wavelength diffraction measurements with real-time optical reconstructions. Applications to optical real-time X-ray phase-retrieval are considered. Copyright © 2010 Elsevier B.V. All rights reserved.

3MeerLICHT and BlackGEM: custom-built telescopes to detect faint optical transients

NARCIS (Netherlands)

Bloemen, S. (Steven); Groot, P.J. (Paul J.); Woudt, P. (Patrick); Wolt, M.K. (Marc Klein); Mcbride, V. (Vanessa); Nelemans, G. (Gijs); Körding, E. (Elmar); Pretorius, M.L. (Magaretha L.); Roelfsema, R. (Ronald); Bettonvil, F. (Felix); Balster, H. (Harry); Bakker, R. (Roy); Dolron, P. (Peter); Van Elteren, A. (Arjen); Elswijk, E. (Eddy); Engels, A. (Arno); R.P. Fender; Fokker, M. (Marc); Haan, M. (Menno De); Hagoort, K. (Klaas); De Hoog, J. (Jasper); Horst, R.T. (Rik Ter); Van Der Kevie, G. (Giel); Lowski, S.L.K. (Stanis Law Koz); Kragt, J. (Jan); Lech, G. (Grzegorz); Le Poole, R. (Rudolf); Lesman, D. (Dirk); J. Morren (Johan); Navarro, R. (Ramon); Paalberends, W.-J. (Willem-Jelle); K.G. Paterson (Kerry); Laszek, R.P. (Rafal Paw); Pessemier, W. (Wim); Raskin, G. (Gert); Rutten, H. (Harrie); L.H.A. Scheers (Bart); Schuil, M. (Menno); Sybilski, P.W. (Piotr W.)

2016-01-01

textabstractWe present the MeerLICHT and BlackGEM telescopes, which are wide-field optical telescopes that are currently being built to study transient phenomena, gravitational wave counterparts and variable stars. The telescopes have 65 cm primary mirrors and a 2.7 square degree field-of-view. The

Optic flow-based collision-free strategies: From insects to robots.

Science.gov (United States)

Serres, Julien R; Ruffier, Franck

2017-09-01

Flying insects are able to fly smartly in an unpredictable environment. It has been found that flying insects have smart neurons inside their tiny brains that are sensitive to visual motion also called optic flow. Consequently, flying insects rely mainly on visual motion during their flight maneuvers such as: takeoff or landing, terrain following, tunnel crossing, lateral and frontal obstacle avoidance, and adjusting flight speed in a cluttered environment. Optic flow can be defined as the vector field of the apparent motion of objects, surfaces, and edges in a visual scene generated by the relative motion between an observer (an eye or a camera) and the scene. Translational optic flow is particularly interesting for short-range navigation because it depends on the ratio between (i) the relative linear speed of the visual scene with respect to the observer and (ii) the distance of the observer from obstacles in the surrounding environment without any direct measurement of either speed or distance. In flying insects, roll stabilization reflex and yaw saccades attenuate any rotation at the eye level in roll and yaw respectively (i.e. to cancel any rotational optic flow) in order to ensure pure translational optic flow between two successive saccades. Our survey focuses on feedback-loops which use the translational optic flow that insects employ for collision-free navigation. Optic flow is likely, over the next decade to be one of the most important visual cues that can explain flying insects' behaviors for short-range navigation maneuvers in complex tunnels. Conversely, the biorobotic approach can therefore help to develop innovative flight control systems for flying robots with the aim of mimicking flying insects' abilities and better understanding their flight. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

An Expectation-Maximization Algorithm for Amplitude Estimation of Saturated Optical Transient Signals.

Energy Technology Data Exchange (ETDEWEB)

Kagie, Matthew J. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Lanterman, Aaron D. [Georgia Inst. of Technology, Atlanta, GA (United States)

2017-12-01

This paper addresses parameter estimation for an optical transient signal when the received data has been right-censored. We develop an expectation-maximization (EM) algorithm to estimate the amplitude of a Poisson intensity with a known shape in the presence of additive background counts, where the measurements are subject to saturation effects. We compare the results of our algorithm with those of an EM algorithm that is unaware of the censoring.

Detection of Photoacoustic Transients Originating from Microstructures in Optically Diffuse Media such as Biological Tissue

NARCIS (Netherlands)

Hoelen, C.G.A.; Dekker, Andre; de Mul, F.F.M.

2001-01-01

The generation and detection of broadband photoacoustic (PA) transients may be used for on-axis monitoring or for imaging of optically different structures in the interior of diffuse bodies such as biological tissue. Various piezoelectric sensors are characterized and compared in terms of

Radiation Dose-Rate Extraction from the Camera Image of Quince 2 Robot System using Optical Character Recognition

International Nuclear Information System (INIS)

Cho, Jai Wan; Jeong, Kyung Min

2012-01-01

In the case of the Japanese Quince 2 robot system, 7 CCD/CMOS cameras were used. 2 CCD cameras of Quince robot are used for the forward and backward monitoring of the surroundings during navigation. And 2 CCD (or CMOS) cameras are used for monitoring the status of front-end and back-end motion mechanics such as flippers and crawlers. A CCD camera with wide field of view optics is used for monitoring the status of the communication (VDSL) cable reel. And another 2 CCD cameras are assigned for reading the indication value of the radiation dosimeter and the instrument. The Quince 2 robot measured radiation in the unit 2 reactor building refueling floor of the Fukushima nuclear power plant. The CCD camera with wide field-of-view (fisheye) lens reads indicator of the dosimeter loaded on the Quince 2 robot, which was sent to carry out investigating the unit 2 reactor building refueling floor situation. The camera image with gamma ray dose-rate information is transmitted to the remote control site via VDSL communication line. At the remote control site, the radiation information in the unit 2 reactor building refueling floor can be perceived by monitoring the camera image. To make up the radiation profile in the surveyed refueling floor, the gamma ray dose-rate information in the image should be converted to numerical value. In this paper, we extract the gamma ray dose-rate value in the unit 2 reactor building refueling floor using optical character recognition method

Radiation Dose-Rate Extraction from the Camera Image of Quince 2 Robot System using Optical Character Recognition

Energy Technology Data Exchange (ETDEWEB)

Cho, Jai Wan; Jeong, Kyung Min [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2012-05-15

In the case of the Japanese Quince 2 robot system, 7 CCD/CMOS cameras were used. 2 CCD cameras of Quince robot are used for the forward and backward monitoring of the surroundings during navigation. And 2 CCD (or CMOS) cameras are used for monitoring the status of front-end and back-end motion mechanics such as flippers and crawlers. A CCD camera with wide field of view optics is used for monitoring the status of the communication (VDSL) cable reel. And another 2 CCD cameras are assigned for reading the indication value of the radiation dosimeter and the instrument. The Quince 2 robot measured radiation in the unit 2 reactor building refueling floor of the Fukushima nuclear power plant. The CCD camera with wide field-of-view (fisheye) lens reads indicator of the dosimeter loaded on the Quince 2 robot, which was sent to carry out investigating the unit 2 reactor building refueling floor situation. The camera image with gamma ray dose-rate information is transmitted to the remote control site via VDSL communication line. At the remote control site, the radiation information in the unit 2 reactor building refueling floor can be perceived by monitoring the camera image. To make up the radiation profile in the surveyed refueling floor, the gamma ray dose-rate information in the image should be converted to numerical value. In this paper, we extract the gamma ray dose-rate value in the unit 2 reactor building refueling floor using optical character recognition method

Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors

Directory of Open Access Journals (Sweden)

Peter Kampmann

2014-04-01

Full Text Available With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach.

Multi-Purpose Anthropomorphic Robotic Hand Design for Extra-Vehicular Activity Manipulation Tasks using Embedded Fiber Optic Sensors, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — IFOS proposes to design and build fiber-optically sensorized robotic fingers that can sense force and, objects using only tactile feedback, similar to the skin on a...

Electro-Optic Sampling of Transient Electric Fields from Charged Particle Beams

Energy Technology Data Exchange (ETDEWEB)

Fitch, Michael James [Rochester U.

2000-01-01

The passage of a relativistic charged particle beam bunch through a structure is accompanied by transient electromagnetic fields. By causality, these fields must be behind the bunch, and are called "wakefields." The wakefields act back on the beam, and cause instabilities such as the beam break-up instability, and the headtail instability, which limit the luminosity of linear colliders. The wakefields are particularly important for short bunches with high charge. A great deal of effort is devoted to analytical and numerical calculations of wakefields, and wakefield effects. Experimental numbers are needed. In this thesis, we present measurements of the transient electric fields induced by a short high-charge electron bunch passing through a 6-way vacuum cross. These measurements are performed in the time domain using electro-optic sampling with a time resolution of approximately 5 picoseconds. With different orientations of the electro-optic crystal, we have measured different vector components of the electric field. The Fourier transform of the time-domain data yields the product of the beam impedance with the excitation spectrum of the bunch. Since the bunch length is known from streak camera measurements, the k loss factor is directly obtained. There is reasonably good agreement between the experimental k loss factor with calculations from the code MAFIA. To our knowledge, this is the first direct measurement of the k loss factor for bunch lengths shorter than one millimeter ( nns). We also present results of magnetic bunch compression (using a dipole chicane) of a high-charge photoinjector beam for two different UV laser pulse lengths on the pholocalhode. Al best compression, a 13.87 nC bunch was compressed to 0.66 mm (2.19 ps) rms, or a peak current of 3 kA. Other results from the photoinjeclor are given, and the laser system for pholocalhode excitation and electro-optic sampling is described.

Broadband demonstrations of true-time delay using linear sideband chirped programming and optical coherent transients

International Nuclear Information System (INIS)

Reibel, R.R.; Barber, Z.W.; Fischer, J.A.; Tian, M.; Babbitt, W.R.

2004-01-01

Linear sideband chirped (LSC) programming is introduced as a means of configuring spatial-spectral holographic gratings for optical coherent transient processors. Similar to linear frequency chirped programming, LSC programming allows the use of broadband integrated electro-optic phase modulators to produce chirps instead of using elaborate broadband chirped lasers. This approach has several advantages including the ability to use a stabilized laser for the optical carrier as well as stable, reproducible chirped optical signals when the modulator is driven digitally. Using LSC programming, we experimentally demonstrate broadband true-time delay as a proof of principle for the optical control of phased array radars. Here both cw phase modulated and binary phase shift keyed probe signals are true-time delayed with bandwidths of 1 GHz and delay resolutions better than 60 ps

Robo-AO KP: A new era in robotic adaptive optics

Science.gov (United States)

Riddle, Reed L.; Baranec, Christoph; Law, Nicholas M.; Kulkarni, Shrinivas R.; Duev, Dmitry; Ziegler, Carl; Jensen-Clem, Rebecca M.; Atkinson, Dani Eleanor; Tanner, Angelle M.; Zhang, Celia; Ray, Amy

2016-01-01

Robo-AO is the first and only fully automated adaptive optics laser guide star AO instrument. It was developed as an instrument for 1-3m robotic telescopes, in order to take advantage of their availability to pursue large survey programs and target of opportunity observations that aren't possible with other AO systems. Robo-AO is currently the most efficient AO system in existence, and it can achieve an observation rate of 20+ science targets per hour. In more than three years of operations at Palomar Observatory, it has been quite successful, producing technology that is being adapted by other AO systems and robotic telescope projects, as well as several high impact scientific publications. Now, Robo-AO has been selected to take over operation of the Kitt Peak National Observatory 2.1m telescope. This will give Robo-AO KP the opportunity to pursue multiple science programs consisting of several thousand targets each during the three years it will be on the telescope. One-sixth of the observing time will be allocated to the US community through the NOAO TAC process. This presentation will discuss the process adapting Robo-AO to the KPNO 2.1m telescope, the plans for integration and initial operations, and the science operations and programs to be pursued.

The optical counterpart of the bright X-ray transient Swift J1745-26

NARCIS (Netherlands)

Muñoz-Darias, T.; de Ugarte Postigo, A.; Russell, D.M.; Guziy, S.; Gorosabel, J.; Casares, J.; Armas Padilla, M.; Charles, P.A.; Fender, R.P.; Belloni, T.M.; Lewis, F.; Motta, S.; Castro-Tirado, A.; Mundell, C.G.; Sánchez-Ramirez, R.; Thöne, C.C.

2013-01-01

We present a 30-day monitoring campaign of the optical counterpart of the bright X-ray transient Swift J1745−26, starting only 19 min after the discovery of the source. We observe the system peaking at i′ ∼ 17.6 on day six (MJD 561 92) to then decay at a rate of ∼0.04 mag d−1. We show that the

Transient radiation effects in D.O.I. optical materials: Schott filter glass

International Nuclear Information System (INIS)

Simmons-Potter, K.

1998-07-01

Department of Energy and Defense Programs systems are becoming increasingly reliant on the use of optical technologies that must perform under a range of ionizing radiation environments. In particular, the radiation response of materials under consideration for applications in direct optical initiation (D.O.I.) schemes must be well characterized. In this report, transient radiation effects observed in Schott filter glass S-7010 are characterized. Under gamma exposure with 2 MeV photons in a 20--30 nsec pulse, the authors observe strong initial induced fluorescence in the red region of the spectrum followed by significant induced absorption over the same spectral region. Peak induced absorption coefficients of 0.113 cm -1 and 0.088 cm -1 were calculated at 800 nm and 660 nm respectively

Detection of an optical transient following the 13 March 2000 short/hard gamma-ray burst

DEFF Research Database (Denmark)

Castro-Tirado, A.J.; Ceron, J.M.C.; Gorosabel, J.

2002-01-01

We imaged the error box of a gamma-ray burst of the short (0.5 s), hard type (GRB 000313), with the BOOTES-1 experiment in southern Spain, starting 4 min after the gamma-ray event, in the I-band. A bright optical transient (OT 000313) with I = 9.4 +/- 0.1 was found in the BOOTES-1 image, close...... for bursts of the long, soft type). The fact that only prompt optical emission has been detected (but no afterglow emission at all, as supported by theoretical models) might explain why no optical counterparts have ever been found for short, hard GRBs. This fact suggests that most short bursts might occur...

100 MH/sub z/ fiber optic single transient gamma ray detection system

International Nuclear Information System (INIS)

Ogle, J.W.; Smith, R.C.; Ward, M.; Ramsey, R.; Hollabaugh, J.

1984-01-01

A fiber optic system has been developed to measure single transient gamma rays. The gamma ray signature is converted to light by the Cerenkov process in a 20 cm length of radiation resistant optical fiber. The signal is transmitted over 1 km of optical fiber and detected by state-of-the-art, 175 MHz analog receivers. The receivers are based on silicon PIN detectors with transimpedance hybrid amplifiers and two stages of power amplification. The dc coupled receivers have less than 2% distortion up to 5 volts with less than 10 mV rms noise and a responsivity of 37,500 V/watt at 800 nm. A calibration system measures relative fiber to fiber transit time delays and system sensitivity. System bandwidth measurements utilized an electron linear accelerator (Linac) with a 50 ps electron pulse as the Cerenkov light source. The system will be described with supporting calibration and characterization data of parts of the system and the whole system. 5 references, 7 figures, 4 tables

Potential Applications of Light Robotics in Nanomedicine

DEFF Research Database (Denmark)

Glückstad, Jesper

We have recently pioneered a new generation of 3D micro-printed light robotic structures with multi-functional biophotonics capabilities. The uniqueness of this light robotic approach is that even if a micro-biologist aims at exploring e.g. cell biology at nanoscopic scales, the main support...... of each micro-robotic structure can be 3D printed to have a size and shape that allows convenient laser manipulation in full 3D – even using relatively modest numerical aperture optics. An optical robot is typically equipped with a number of 3D printed "track-balls" that allow for real-time 3D light...... manipulation with six-degrees-of-freedom. This creates a drone-like functionality where each light-driven robot can be e.g. joystick-controlled and provide the user a feeling of stretching his/her hands directly into and interacting with the biologic micro-environment. The light-guided robots can thus act...

Nano-biophotonics explored by Light Robotics

DEFF Research Database (Denmark)

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

for harnessing most of the functionalities required to develop the fascinating concept of true so-­‐called Light Robotics. We foresee that it will soon become possible to equip 3D laser-printed robotic micro-­‐structures with multi functional biophotonics nanoprobes or nanotips fabricated with true nanoscopic...... resolution. The uniqueness of such an approach is that even if a micro biologist aims at exploring e.g. cell biology at nanoscopic scales, the main support of each laser-­‐robotic structure can be 3D printed to have a size and shape that allows convenient laser manipulation in full 3D– even using relatively...... modest numerical aperture optics. An optical robot is typically equipped with a number of 3D printed "trackballs" that allow for real-­‐time 3D light manipulation with six-­‐degrees-­‐of-­‐freedom. This creates a drone-­‐like functionality where each light-­‐driven robot can be e.g. joystick...

Structural Feasibility Analysis of a Robotically Assembled Very Large Aperture Optical Space Telescope

Science.gov (United States)

Wilkie, William Keats; Williams, R. Brett; Agnes, Gregory S.; Wilcox, Brian H.

2007-01-01

This paper presents a feasibility study of robotically constructing a very large aperture optical space telescope on-orbit. Since the largest engineering challenges are likely to reside in the design and assembly of the 150-m diameter primary reflector, this preliminary study focuses on this component. The same technology developed for construction of the primary would then be readily used for the smaller optical structures (secondary, tertiary, etc.). A reasonable set of ground and on-orbit loading scenarios are compiled from the literature and used to define the structural performance requirements and size the primary reflector. A surface precision analysis shows that active adjustment of the primary structure is required in order to meet stringent optical surface requirements. Two potential actuation strategies are discussed along with potential actuation devices at the current state of the art. The finding of this research effort indicate that successful technology development combined with further analysis will likely enable such a telescope to be built in the future.

Erbium-based optical coherent transient correlator for the 1.5-micron communication bands

Science.gov (United States)

Harris, Todd Louis

2001-08-01

Correlators are needed in communications, memory, and signal processing applications to perform cross- correlations for tasks such as address-header decoding for data-packet switching, spread spectrum and code division multiple access communication, associative memory, database searching, and pattern recognition. Correlators based on optical coherent transients, Fourier theory, and holography can potentially perform real-time correlations with multi-phase encoded information at gigahertz bandwidths, a capability conventional electronics lack. The first operation of spatial-spectral holographic correlators in the 1.5-gm communication bands was demonstrated at 1536 nm using Er3+:Y 2SiO5 and the correlator processed multi-phase encoded optical pulses. Real-time decoding of 20-bit binary-phase-shift key encoded address-header pulses is demonstrated using stimulated photon echoes in a phase-matched crossed-beam configuration; this function is required for coherent transient optical data routing and packet switching. Optical 30-symbol quadriphase-shift keyed (QPSK) and binary-phase-shift keyed (BPSK) codes were processed, and the results demonstrated the ability of such correlators to process QPSK codes and BPSK codes with the same apparatus. The high-fidelity correlations exhibit the low sidelobe characteristics expected for the codes used. The 4I15/2 and 4I13/2 crystal field levels of 0.005% Er3+:Y2O3 were measured by absorption and laser excited fluorescence on oriented samples. Site selective fluorescence distinguished transitions of Er3+ in crystallographic sites of C2 and C3i symmetry. The paramagnetic g-tensors for ions in sites of C2 symmetry were measured by orientation dependent Zeeman absorption spectroscopy. For the lowest crystal field level of 4I15/2 the g-tensor principal x-axis in the (100) plane is tipped +2.06° from [001] and principal g-values are: gz = 11.93, gx = 1.603, and gy = 4.711. For the lowest crystal field level of 4I13/2 the g

Optical and X-Ray Early Follow-Up of ANTARES Neutrino Alerts

Science.gov (United States)

Adrian-Martinez, S.; Ageron, M.; Albert, A.; Samarai, I. Al; Andre, M.; Anton, G.; Ardid, M.; Aubert, J.-J.; Baret, B.; Barrios-Marti, J.;

Optical and X-ray early follow-up of ANTARES neutrino alerts

International Nuclear Information System (INIS)

Adrián-Martínez, S.; Ardid, M.; Ageron, M.; Al Samarai, I.; Aubert, J.-J.; Albert, A.; André, M.; Anton, G.; Baret, B.; Barrios-Martí, J.

2016-01-01

High-energy neutrinos could be produced in the interaction of charged cosmic rays with matter or radiation surrounding astrophysical sources. Even with the recent detection of extraterrestrial high-energy neutrinos by the IceCube experiment, no astrophysical neutrino source has yet been discovered. Transient sources, such as gamma-ray bursts, core-collapse supernovae, or active galactic nuclei are promising candidates. Multi-messenger programs offer a unique opportunity to detect these transient sources. By combining the information provided by the ANTARES neutrino telescope with information coming from other observatories, the probability of detecting a source is enhanced, allowing the possibility of identifying a neutrino progenitor from a single detected event. A method based on optical and X-ray follow-ups of high-energy neutrino alerts has been developed within the ANTARES collaboration. This method does not require any assumptions on the relation between neutrino and photon spectra other than time-correlation. This program, denoted as TAToO, triggers a network of robotic optical telescopes (TAROT and ROTSE) and the Swift-XRT with a delay of only a few seconds after a neutrino detection, and is therefore well-suited to search for fast transient sources. To identify an optical or X-ray counterpart to a neutrino signal, the images provided by the follow-up observations are analysed with dedicated pipelines. A total of 42 alerts with optical and 7 alerts with X-ray images taken with a maximum delay of 24 hours after the neutrino trigger have been analysed. No optical or X-ray counterparts associated to the neutrino triggers have been found, and upper limits on transient source magnitudes have been derived. The probability to reject the gamma-ray burst origin hypothesis has been computed for each alert

Optical and X-ray early follow-up of ANTARES neutrino alerts

Science.gov (United States)

Adrián-Martínez, S.; Ageron, M.; Albert, A.; Samarai, I. Al; André, M.; Anton, G.; Ardid, M.; Aubert, J.-J.; Baret, B.; Barrios-Martí, J.; Basa, S.; Bertin, V.; Biagi, S.; Bogazzi, C.; Bormuth, R.; Bou-Cabo, M.; Bouwhuis, M. C.; Bruijn, R.; Brunner, J.; Busto, J.; Capone, A.; Caramete, L.; Carr, J.; Chiarusi, T.; Circella, M.; Coniglione, R.; Costantini, H.; Coyle, P.; Creusot, A.; Dekeyser, I.; Deschamps, A.; De Bonis, G.; Distefano, C.; Donzaud, C.; Dornic, D.; Drouhin, D.; Dumas, A.; Eberl, T.; Elsässer, D.; Enzenhöfer, A.; Fehn, K.; Felis, I.; Fermani, P.; Folger, F.; Fusco, L. A.; Galatà, S.; Gay, P.; Geißelsöder, S.; Geyer, K.; Giordano, V.; Gleixner, A.; Gracia-Ruiz, R.; Graf, K.; van Haren, H.; Heijboer, A. J.; Hello, Y.; Hernández-Rey, J. J.; Herrero, A.; Hößl, J.; Hofestädt, J.; Hugon, C.; James, C. W.; de Jong, M.; Kadler, M.; Kalekin, O.; Katz, U.; Kießling, D.; Kooijman, P.; Kouchner, A.; Kreykenbohm, I.; Kulikovskiy, V.; Lahmann, R.; Lambard, G.; Lattuada, D.; Lefèvre, D.; Leonora, E.; Loucatos, S.; Mangano, S.; Marcelin, M.; Margiotta, A.; Martínez-Mora, J. A.; Martini, S.; Mathieu, A.; Michael, T.; Migliozzi, P.; Moussa, A.; Mueller, C.; Neff, M.; Nezri, E.; Păvălaš, G. E.; Pellegrino, C.; Perrina, C.; Piattelli, P.; Popa, V.; Pradier, T.; Racca, C.; Riccobene, G.; Richter, R.; Roensch, K.; Rostovtsev, A.; Saldaña, M.; Samtleben, D. F. E.; Sanguineti, M.; Sapienza, P.; Schmid, J.; Schnabel, J.; Schulte, S.; Schüssler, F.; Seitz, T.; Sieger, C.; Spurio, M.; Steijger, J. J. M.; Stolarczyk, Th.; Sánchez-Losa, A.; Taiuti, M.; Tamburini, C.; Trovato, A.; Tselengidou, M.; Tönnis, C.; Turpin, D.; Vallage, B.; Vallée, C.; Van Elewyck, V.; Vecchi, M.; Visser, E.; Vivolo, D.; Wagner, S.; Wilms, J.; Zornoza, J. D.; Zúñiga, J.; Klotz, A.; Boer, M.; Le Van Suu, A.; Akerlof, C.; Zheng, W.; Evans, P.; Gehrels, N.; Kennea, J.; Osborne, J. P.; Coward, D. M.

2016-02-01

High-energy neutrinos could be produced in the interaction of charged cosmic rays with matter or radiation surrounding astrophysical sources. Even with the recent detection of extraterrestrial high-energy neutrinos by the IceCube experiment, no astrophysical neutrino source has yet been discovered. Transient sources, such as gamma-ray bursts, core-collapse supernovae, or active galactic nuclei are promising candidates. Multi-messenger programs offer a unique opportunity to detect these transient sources. By combining the information provided by the ANTARES neutrino telescope with information coming from other observatories, the probability of detecting a source is enhanced, allowing the possibility of identifying a neutrino progenitor from a single detected event. A method based on optical and X-ray follow-ups of high-energy neutrino alerts has been developed within the ANTARES collaboration. This method does not require any assumptions on the relation between neutrino and photon spectra other than time-correlation. This program, denoted as TAToO, triggers a network of robotic optical telescopes (TAROT and ROTSE) and the Swift-XRT with a delay of only a few seconds after a neutrino detection, and is therefore well-suited to search for fast transient sources. To identify an optical or X-ray counterpart to a neutrino signal, the images provided by the follow-up observations are analysed with dedicated pipelines. A total of 42 alerts with optical and 7 alerts with X-ray images taken with a maximum delay of 24 hours after the neutrino trigger have been analysed. No optical or X-ray counterparts associated to the neutrino triggers have been found, and upper limits on transient source magnitudes have been derived. The probability to reject the gamma-ray burst origin hypothesis has been computed for each alert.

J-Specific Dynamics in AN Optical Centrifuge Using Transient IR Spectroscopy

Science.gov (United States)

Murray, Matthew J.; Liu, Qingnan; Toro, Carlos; Mullin, Amy S.

2013-06-01

Quantum state-specific dynamics are reported for a number of CO_{2} rotational states in an optical centrifuge. The optical centrifuge results from combining oppositely-chirped ultrafast laser pulses and spinning CO_{2} molecules into extremely high rotational states with J≈220. Collisions of centrifuged molecules induce depletion of population from low-J states (J=0 and 36) and lead to appearance of population in high J states (J=36, 54 and 76). Transient Doppler-broadened line profiles for individual CO_{2} states reveal that the depletion populations have narrow velocity distributions with translational temperatures significantly colder than 300 K. Molecules that appear in the higher rotational states have broad velocity distributions, showing that both rotational and translational energy are imparted in collisions of the centrifuged molecules. These results show that substantial amounts of angular momentum persist after many collisions and that translational energy exchange continues for several thousand collisions.

Spectroscopic Classification of Nine Optical Transients with the 2.5-m du Pont Telescope

Science.gov (United States)

Bose, Subhash; Holoien, Tom; Prieto, Jose L.; Dong, Subo; Chen, P.; Stanek, K. Z.

2018-04-01

We report spectroscopic observations and classifications of optical transients using the du Pont 2.5-m telescope (+ WFCCD) at Las Campanas Observatory. Targets were discovered by the All-Sky Automated Survey for Supernovae (ASAS-SN, Shappee et al. 2014) (ATel #11391, ATel #11343, ATel #11459), Gaia Alerts (http://gsaweb.ast.cam.ac.uk/alerts/alertsindex) and A. Rest et al. (for 2018agk).

Transient radiation responses of optical fibers: influence of MCVD process parameters

International Nuclear Information System (INIS)

Girard, Sylvain; Alessi, Antonino; Boukenter, Aziz; Ouerdane, Y.; Marcandella, Claude; Richard, Nicolas; Paillet, Philippe; Gaillardin, Marc; Raine, Melanie

2012-01-01

A dedicated set of fibers elaborated via the Modified Chemical Vapor Deposition (MCVD) technique is used to study the influence of composition and drawing parameters on their responses to an X-ray pulse representative of the radiation environments associated with Megajoule class lasers. These canonical fibers were designed to highlight the impact of these parameters on the amplitude and kinetics of the transient pulsed X-ray Radiation Induced Attenuation (RIA) at room temperature. From pre-forms differing by their core composition, three optical fibers were elaborated by varying the tension and speed during the drawing process. No or only slight RIA change results from the tested variations in drawing process parameters of Ge-doped, F-doped, and pure-silica-core fibers. This study reveals that the drawing process is not the main parameter to be optimized in order to enhance the radiation tolerance of MCVD specialty optical fibers for the LMJ harsh environment. From the hardness assurance point of view, a specialty fiber sufficiently tolerant to this environment should be robust against changes in the drawing process. The origins of the RIA observed in the different fibers are discussed on the basis of spectral decomposition of their measured RIA spectra, using sets of defects from the literature and related to the different core dopants. This analysis highlights the limits of the well-known defect set to reproduce the RIA above 1 for Ge-doped fibers whereas self-trapped holes and chlorine-related species seem responsible for the transient responses of pure-silica-core and F-doped fibers. (authors)

A robotized six degree of freedom stage for optical microscopy

Science.gov (United States)

Avramov, M. Z.; Ivanov, I.; Pavlov, V.; Zaharieva, K.

2013-04-01

This work represents an investigation of the possibility to use a hexapod system for optical microscopy investigation and measurements. An appropriate hexapod stage has been developed. The stage has been calibrated and used for several different optical microscopy applications. The construction of the stage is based on the classic Stewart platform and thus represents a parallel robot with 6 degree of freedom. Appropriate software is controlling the transformation of the 3 position coordinates of the moving plate and the 3 Euler angles in position velocities and accelerations of the plate motion. An embedded microcontroller is implementing the motion plan and the PID controller regulating the kinematics. By difference to the available in the market hexapods the proposed solution is with lower precision but is significantly cheaper and simple to maintain. The repeatability obtained with current implementation is 0,05 mm and 0,001 rad. A specialized DSP based video processing engine is used for both feedback computation and application specific image processing in real-time. To verify the concept some applications has been developed for specific tasks and has been used for specific measurements.

Micromanipulation and microfabrication for optical microrobotics

Science.gov (United States)

Palima, Darwin; Bañas, Andrew Rafael; Vizsnyiczai, Gaszton; Kelemen, Lóránd; Aabo, Thomas; Ormos, Pál.; Glückstad, Jesper

2012-10-01

Robotics can use optics feedback in vision-based control of intelligent robotic guidance systems. With light's miniscule momentum, shrinking robots down to the microscale regime creates opportunities for exploiting optical forces and torques in microrobotic actuation and control. Indeed, the literature on optical trapping and micromanipulation attests to the possibilities for optical microrobotics. This work presents an optical microrobotics perspective on the optical microfabrication and micromanipulation work that we performed. We designed different three-dimensional microstructures and fabricated them by two-photon polymerization. These microstructures were then handled using our biophotonics workstation (BWS) for proof-of-principle demonstrations of optical actuation, akin to 6DOF actuation of robotic micromanipulators. Furthermore, we also show an example of dynamic behavior of the trapped microstructure that can be achieved when using static traps in the BWS. This can be generalized, in the future, towards a structural shaping optimization strategy for optimally controlling microstructures to complement approaches based on lightshaping. We also show that light channeled to microfabricated, free-standing waveguides can be used not only to redirect light for targeted delivery of optical energy but can also for targeted delivery of optical force, which can serve to further extend the manipulation arms in optical robotics. Moreover, light deflection with waveguide also creates a recoil force on the waveguide, which can be exploited for controlling the optical force.

MeerLICHT and BlackGEM: custom-built telescopes to detect faint optical transients

Science.gov (United States)

Bloemen, Steven; Groot, Paul; Woudt, Patrick; Klein Wolt, Marc; McBride, Vanessa; Nelemans, Gijs; Körding, Elmar; Pretorius, Margaretha L.; Roelfsema, Ronald; Bettonvil, Felix; Balster, Harry; Bakker, Roy; Dolron, Peter; van Elteren, Arjen; Elswijk, Eddy; Engels, Arno; Fender, Rob; Fokker, Marc; de Haan, Menno; Hagoort, Klaas; de Hoog, Jasper; ter Horst, Rik; van der Kevie, Giel; Kozłowski, Stanisław; Kragt, Jan; Lech, Grzegorz; Le Poole, Rudolf; Lesman, Dirk; Morren, Johan; Navarro, Ramon; Paalberends, Willem-Jelle; Paterson, Kerry; Pawłaszek, Rafal; Pessemier, Wim; Raskin, Gert; Rutten, Harrie; Scheers, Bart; Schuil, Menno; Sybilski, Piotr W.

2016-07-01

We present the MeerLICHT and BlackGEM telescopes, which are wide-field optical telescopes that are currently being built to study transient phenomena, gravitational wave counterparts and variable stars. The telescopes have 65 cm primary mirrors and a 2.7 square degree field-of-view. The MeerLICHT and BlackGEM projects have different science goals, but will use identical telescopes. The first telescope, MeerLICHT, will be commissioned at Sutherland (South Africa) in the first quarter of 2017. It will co-point with MeerKAT to collect optical data commensurate with the radio observations. After careful analysis of MeerLICHT's performance, three telescopes of the same type will be commissioned in La Silla (Chile) in 2018 to form phase I of the BlackGEM array. BlackGEM aims at detecting and characterizing optical counterparts of gravitational wave events detected by Advanced LIGO and Virgo. In this contribution we present an overview of the science goals, the design and the status of the two projects.

Micromanipulation and microfabrication for optical microrobotics

DEFF Research Database (Denmark)

Palima, Darwin; Bañas, Andrew Rafael; Vizsnyiczai, Gaszton

2012-01-01

Robotics can use optics feedback in vision-based control of intelligent robotic guidance systems. With light’s miniscule momentum, shrinking robots down to the microscale regime creates opportunities for exploiting optical forces and torques in microrobotic actuation and control. Indeed...... of the trapped microstructure that can be achieved when using static traps in the BWS. This can be generalized, in the future, towards a structural shaping optimization strategy for optimally controlling microstructures to complement approaches based on lightshaping. We also show that light channeled...... to microfabricated, free-standing waveguides can be used not only to redirect light for targeted delivery of optical energy but can also for targeted delivery of optical force, which can serve to further extend the manipulation arms in optical robotics. Moreover, light deflection with waveguide also creates a recoil...

Evaluation of a completely robotized neurosurgical operating microscope.

Science.gov (United States)

Kantelhardt, Sven R; Finke, Markus; Schweikard, Achim; Giese, Alf

2013-01-01

Operating microscopes are essential for most neurosurgical procedures. Modern robot-assisted controls offer new possibilities, combining the advantages of conventional and automated systems. We evaluated the prototype of a completely robotized operating microscope with an integrated optical coherence tomography module. A standard operating microscope was fitted with motors and control instruments, with the manual control mode and balance preserved. In the robot mode, the microscope was steered by a remote control that could be fixed to a surgical instrument. External encoders and accelerometers tracked microscope movements. The microscope was additionally fitted with an optical coherence tomography-scanning module. The robotized microscope was tested on model systems. It could be freely positioned, without forcing the surgeon to take the hands from the instruments or avert the eyes from the oculars. Positioning error was about 1 mm, and vibration faded in 1 second. Tracking of microscope movements, combined with an autofocus function, allowed determination of the focus position within the 3-dimensional space. This constituted a second loop of navigation independent from conventional infrared reflector-based techniques. In the robot mode, automated optical coherence tomography scanning of large surface areas was feasible. The prototype of a robotized optical coherence tomography-integrated operating microscope combines the advantages of a conventional manually controlled operating microscope with a remote-controlled positioning aid and a self-navigating microscope system that performs automated positioning tasks such as surface scans. This demonstrates that, in the future, operating microscopes may be used to acquire intraoperative spatial data, volume changes, and structural data of brain or brain tumor tissue.

An Enhanced Method for Scheduling Observations of Large Sky Error Regions for Finding Optical Counterparts to Transients

Energy Technology Data Exchange (ETDEWEB)

Rana, Javed; Singhal, Akshat; Gadre, Bhooshan; Bhalerao, Varun; Bose, Sukanta, E-mail: javed@iucaa.in [Inter-University Centre for Astronomy and Astrophysics, Post Bag 4, Ganeshkhind, Pune 411 007 (India)

2017-04-01

The discovery and subsequent study of optical counterparts to transient sources is crucial for their complete astrophysical understanding. Various gamma-ray burst (GRB) detectors, and more notably the ground-based gravitational wave detectors, typically have large uncertainties in the sky positions of detected sources. Searching these large sky regions spanning hundreds of square degrees is a formidable challenge for most ground-based optical telescopes, which can usually image less than tens of square degrees of the sky in a single night. We present algorithms for better scheduling of such follow-up observations in order to maximize the probability of imaging the optical counterpart, based on the all-sky probability distribution of the source position. We incorporate realistic observing constraints such as the diurnal cycle, telescope pointing limitations, available observing time, and the rising/setting of the target at the observatory’s location. We use simulations to demonstrate that our proposed algorithms outperform the default greedy observing schedule used by many observatories. Our algorithms are applicable for follow-up of other transient sources with large positional uncertainties, such as Fermi -detected GRBs, and can easily be adapted for scheduling radio or space-based X-ray follow-up.

Analyzing Robotic Kinematics Via Computed Simulations

Science.gov (United States)

Carnahan, Timothy M.

1992-01-01

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

iPTF SEARCH FOR AN OPTICAL COUNTERPART TO GRAVITATIONAL-WAVE TRANSIENT GW150914

Energy Technology Data Exchange (ETDEWEB)

Kasliwal, M. M.; Cao, Y.; Barlow, T.; Bellm, E.; Cook, D.; Duggan, G. E.; Kulkarni, S. R.; Lunnan, R. [Cahill Center for Astrophysics, California Institute of Technology, Pasadena, CA 91125 (United States); Cenko, S. B.; Singer, L. P. [Astrophysics Science Division, NASA Goddard Space Flight Center, Code 661, Greenbelt, MD 20771 (United States); Corsi, A.; Palliyaguru, N. [Texas Tech University, Physics Department, Lubbock, TX 79409-1051 (United States); Bhalerao, V. [Inter-University Centre for Astronomy and Astrophysics (IUCAA), Post Bag 4, Ganeshkhind, Pune 411007 (India); Ferretti, R. [The Oskar Klein Centre, Department of Physics, Stockholm University, SE-106 91 Stockholm (Sweden); Frail, D. A. [National Radio Astronomy Observatory, Socorro, NM (United States); Horesh, A.; Manulis, I. [Department of Particle Physics and Astrophysics, Weizmann Institute of Science, 76100 Rehovot (Israel); Kendrick, R. [Lockheed Martin Space Systems Company, Palo Alto, CA (United States); Laher, R. [Spitzer Science Center, California Institute of Technology, M/S 314-6, Pasadena, CA 91125 (United States); Masci, F. [Infrared Processing and Analysis Center, California Institute of Technology, Pasadena, CA 91125 (United States); and others

2016-06-20

The intermediate Palomar Transient Factory (iPTF) autonomously responded to and promptly tiled the error region of the first gravitational-wave event GW150914 to search for an optical counterpart. Only a small fraction of the total localized region was immediately visible in the northern night sky, due both to Sun-angle and elevation constraints. Here, we report on the transient candidates identified and rapid follow-up undertaken to determine the nature of each candidate. Even in the small area imaged of 126 deg{sup 2}, after extensive filtering, eight candidates were deemed worthy of additional follow-up. Within two hours, all eight were spectroscopically classified by the Keck II telescope. Curiously, even though such events are rare, one of our candidates was a superluminous supernova. We obtained radio data with the Jansky Very Large Array and X-ray follow-up with the Swift satellite for this transient. None of our candidates appear to be associated with the gravitational-wave trigger, which is unsurprising given that GW150914 came from the merger of two stellar-mass black holes. This end-to-end discovery and follow-up campaign bodes well for future searches in this post-detection era of gravitational waves.

Transient particle emission measurement with optical techniques

Science.gov (United States)

Bermúdez, Vicente; Luján, José M.; Serrano, José R.; Pla, Benjamín

2008-06-01

Particulate matter is responsible for some respiratory and cardiovascular diseases. In addition, it is one of the most important pollutants of high-speed direct injection (HSDI) passenger car engines. Current legislation requires particulate dilution tunnels for particulate matter measuring. However for development work, dilution tunnels are expensive and sometimes not useful since they are not able to quantify real-time particulate emissions during transient operation. In this study, the use of a continuous measurement opacimeter and a fast response HFID is proven to be a good alternative to obtain instantaneous particle mass emissions during transient operation (due to particulate matter consisting mainly of soot and SOF). Some methods and correlations available from literature, but developed for steady conditions, are evaluated during transient operation by comparing with mini-tunnel measurements during the entire MVEG-A transient cycle. A new correlation was also derived from this evaluation. Results for soot and SOF (obtained from the new correlation proposed) are compared with soot and SOF captured with particulate filters, which have been separated by means of an SOF extraction method. Finally, as an example of ECU design strategies using these sort of correlations, the EGR valve opening is optimized during transient operation. The optimization is performed while simultaneously taking into account instantaneous fuel consumption, particulate emissions (calculated with the proposed correlation) and other regulated engine pollutants.

Digital Moiré based transient interferometry and its application in optical surface measurement

Science.gov (United States)

Hao, Qun; Tan, Yifeng; Wang, Shaopu; Hu, Yao

2017-10-01

Digital Moiré based transient interferometry (DMTI) is an effective non-contact testing methods for optical surfaces. In DMTI system, only one frame of real interferogram is experimentally captured for the transient measurement of the surface under test (SUT). When combined with partial compensation interferometry (PCI), DMTI is especially appropriate for the measurement of aspheres with large apertures, large asphericity or different surface parameters. Residual wavefront is allowed in PCI, so the same partial compensator can be applied to the detection of multiple SUTs. Excessive residual wavefront aberration results in spectrum aliasing, and the dynamic range of DMTI is limited. In order to solve this problem, a method based on wavelet transform is proposed to extract phase from the fringe pattern with spectrum aliasing. Results of simulation demonstrate the validity of this method. The dynamic range of Digital Moiré technology is effectively expanded, which makes DMTI prospective in surface figure error measurement for intelligent fabrication of aspheric surfaces.

Visual perception system and method for a humanoid robot

Science.gov (United States)

Wells, James W. (Inventor); Mc Kay, Neil David (Inventor); Chelian, Suhas E. (Inventor); Linn, Douglas Martin (Inventor); Wampler, II, Charles W. (Inventor); Bridgwater, Lyndon (Inventor)

2012-01-01

A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.

Science.gov (United States)

Ehrampoosh, Shervin; Dave, Mohit; Kia, Michael A; Rablau, Corneliu; Zadeh, Mehrdad H

2013-01-01

This paper presents an enhanced haptic-enabled master-slave teleoperation system which can be used to provide force feedback to surgeons in minimally invasive surgery (MIS). One of the research goals was to develop a combined-control architecture framework that included both direct force reflection (DFR) and position-error-based (PEB) control strategies. To achieve this goal, it was essential to measure accurately the direct contact forces between deformable bodies and a robotic tool tip. To measure the forces at a surgical tool tip and enhance the performance of the teleoperation system, an optical force sensor was designed, prototyped, and added to a robot manipulator. The enhanced teleoperation architecture was formulated by developing mathematical models for the optical force sensor, the extended slave robot manipulator, and the combined-control strategy. Human factor studies were also conducted to (a) examine experimentally the performance of the enhanced teleoperation system with the optical force sensor, and (b) study human haptic perception during the identification of remote object deformability. The first experiment was carried out to discriminate deformability of objects when human subjects were in direct contact with deformable objects by means of a laparoscopic tool. The control parameters were then tuned based on the results of this experiment using a gain-scheduling method. The second experiment was conducted to study the effectiveness of the force feedback provided through the enhanced teleoperation system. The results show that the force feedback increased the ability of subjects to correctly identify materials of different deformable types. In addition, the virtual force feedback provided by the teleoperation system comes close to the real force feedback experienced in direct MIS. The experimental results provide design guidelines for choosing and validating the control architecture and the optical force sensor.

Intraoperative navigation of an optically tracked surgical robot.

Science.gov (United States)

Cornellà, Jordi; Elle, Ole Jakob; Ali, Wajid; Samset, Eigil

2008-01-01

This paper presents an adaptive control scheme for improving the performance of a surgical robot when it executes tasks autonomously. A commercial tracking system is used to correlate the robot with the preoperative plan as well as to correct the position of the robot when errors between the real and planned positions are detected. Due to the noisy signals provided by the tracking system, a Kalman filter is proposed to smooth the variations and to increase the stability of the system. The efficiency of the approach has been validated using rigid and flexible endoscopic tools, obtaining in both cases that the target points can be reached with an error less than 1mm. These results make the approach suitable for a range of abdominal procedures, such as autonomous repositioning of endoscopic tools or probes for percutaneous procedures.

The Etelman Observatory and the Virgin Islands Robotic Telescope: 2017 Milestone Achievements and Determined Resilience in the USVI

Science.gov (United States)

Morris, David C.; Gendre, Bruce; Orange, N. Brice; Cucchiara, Antonino; Giblin, Timothy W.; Klotz, Alain; Thierry, Pierre

2018-01-01

The Virgin Islands Robotic Telescope (VIRT) is an 0.5m robotic telescope located at the easternmost and southernmost optical observatory in the United States at a latitude of 18.5N and longitude of 65W. The observatory is located on the island of St Thomas in the United States Virgin Islands (USVI). Astronomers from the College of Charleston, the US Air Force Academy and the University of the Virgin Islands (UVI) collaborate to maintain and operate the facility. Science goals of the facility include optical follow-up of high-energy transients, extra-solar planet observations, and near-Earth asteroid searches. The facility also supports a wide-reaching education and outreach program dedicated to raising the level of STEM engagement and enrichment in the USVI and is a primary research facility for students in UVI's new Physics Degree with a Concentration in Astronomy. The VIRT has begun reacting autonomously to the gamma-ray coordinates network (GCN) alerts in 2017 and, despite the challenges presented to the Caribbean region by hurricanes Irma and Maria, was a participant in the follow-up campaign of GW170817, the first source simultaneously detected in gravitational waves and electromagnetic waves. We detail the robotization and automation of the VIRT, provide an update on its characteristics and capabilities and discuss recent science results from the observatory as well as ongoing progress in the recovery from damage caused by hurricanes Irma and Maria.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion

Directory of Open Access Journals (Sweden)

Dong-Hoon Yi

2018-01-01

Full Text Available In this paper, a new localization system utilizing afocal optical flow sensor (AOFS based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion.

Science.gov (United States)

Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il Dan

2018-01-10

In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.

Numerical modeling of optical coherent transient processes with complex configurations - I. Angled beam geometry

International Nuclear Information System (INIS)

Chang Tiejun; Tian Mingzhen; Randall Babbitt, Wm.

2004-01-01

We present a theoretical model for optical coherent transient (OCT) processes based on Maxwell-Bloch equations for angled beam geometry. This geometry is critical in various OCT applications where the desired coherence outputs need to be spatially separated from the rest of the field. The model takes into account both the local interactions between inhomogeneously broadened two-level atoms and the laser fields, and the field propagation in optically thick media. Under the small-angle condition, the spatial dimensions transversing to the main propagation direction were treated with spatial Fourier transform to make the numerical computations for the practical settings confined within a reasonable time frame. The simulations for analog correlators and continuous processing based on stimulated photon echo have been performed using the simulator developed using the theory

Rapidly Rising Optical Transients from the Birth of Binary Neutron Stars

Science.gov (United States)

Hotokezaka, Kenta; Kashiyama, Kazumi; Murase, Kohta

2017-11-01

We study optical counterparts of a new-born pulsar in a double neutron star system like PSR J0737-3039A/B. This system is believed to have ejected a small amount of mass of { O }(0.1 {M}⊙ ) at the second core-collapse supernova. We argue that the initial spin of the new-born pulsar can be determined by the orbital period at the time when the second supernova occurs. The spin angular momentum of the progenitor is expected to be similar to that of the He-burning core, which is tidally synchronized with the orbital motion, and then the second remnant may be born as a millisecond pulsar. If the dipole magnetic field strength of the nascent pulsar is comparable with that inferred from the current spin-down rate of PSR J0737-3039B, the initial spin-down luminosity is comparable to the luminosity of super-luminous supernovae. We consider thermal emission arising from the supernova ejecta driven by the relativistic wind from such a new-born pulsar. The resulting optical light curves have a rise time of ˜10 days and a peak luminosity of ˜1044 erg s-1. The optical emission may last for a month to several months, due to the reprocessing of X-rays and UV photons via photoelectric absorption. These features are broadly consistent with those of the rapidly rising optical transients. The high spin-down luminosity and small ejecta mass are favorable for the progenitor of the repeating fast radio burst, FRB 121102. We discuss a possible connection between new-born double pulsars and fast radio bursts.

Flexible mobile robot system for smart optical pipe inspection

Science.gov (United States)

Kampfer, Wolfram; Bartzke, Ralf; Ziehl, Wolfgang

1998-03-01

Damages of pipes can be inspected and graded by TV technology available on the market. Remotely controlled vehicles carry a TV-camera through pipes. Thus, depending on the experience and the capability of the operator, diagnosis failures can not be avoided. The classification of damages requires the knowledge of the exact geometrical dimensions of the damages such as width and depth of cracks, fractures and defect connections. Within the framework of a joint R&D project a sensor based pipe inspection system named RODIAS has been developed with two partners from industry and research institute. It consists of a remotely controlled mobile robot which carries intelligent sensors for on-line sewerage inspection purpose. The sensor is based on a 3D-optical sensor and a laser distance sensor. The laser distance sensor is integrated in the optical system of the camera and can measure the distance between camera and object. The angle of view can be determined from the position of the pan and tilt unit. With coordinate transformations it is possible to calculate the spatial coordinates for every point of the video image. So the geometry of an object can be described exactly. The company Optimess has developed TriScan32, a special software for pipe condition classification. The user can start complex measurements of profiles, pipe displacements or crack widths simply by pressing a push-button. The measuring results are stored together with other data like verbal damage descriptions and digitized images in a data base.

Visual Recognition and Its Application to Robot Arm Control

Directory of Open Access Journals (Sweden)

Jih-Gau Juang

2015-10-01

Full Text Available This paper presents an application of optical word recognition and fuzzy control to a smartphone automatic test system. The system consists of a robot arm and two webcams. After the words from the control panel that represent commands are recognized by the robot system, the robot arm performs the corresponding actions to test the smartphone. One of the webcams is utilized to capture commands on the screen of the control panel, the other to recognize the words on the screen of the tested smartphone. The method of image processing is based on the Red-Green-Blue (RGB and Hue-Saturation-Luminance (HSL color spaces to reduce the influence of light. Fuzzy theory is used in the robot arm’s position control. The Optical Character Recognition (OCR technique is applied to the word recognition, and the recognition results are then checked by a dictionary process to increase the recognition accuracy. The camera which is used to recognize the tested smartphone also provides object coordinates to the fuzzy controller, then the robot arm moves to the desired positions and presses the desired buttons. The proposed control scheme allows the robot arm to perform different assigned test functions successfully.

Solar radio bursts of spectral type II, coronal shocks, and optical coronal transients

Science.gov (United States)

Maxwell, A.; Dryer, M.

1981-01-01

An examination is presented of the association of solar radio bursts of spectral type II and coronal shocks with solar flare ejecta observed in H-alpha, the green coronal line, and white-light coronagraphs. It is suggested that fast-moving optical coronal transients should for the most part be identified with piston-type phenomena well behind the outward-traveling shock waves that generate type II radio bursts. A general model is presented which relates type II radio bursts and coronal shocks to optically observed ejecta and consists of three main velocity regimes: (1) a quasi-hemispherical shock wave moving outward from the flare at speeds of 1000-2000 km/sec and Alfven Mach number of about 1.5; (2) the velocity of the piston driving the shock, on the order of 0.8 that of the shock; and (3) the regime of the slower-moving H-alpha ejecta, with velocities of 300-500 km/sec.

An Optical and Infrared Time-domain Study of the Supergiant Fast X-Ray Transient Candidate IC 10 X-2

Science.gov (United States)

Kwan, Stephanie; Lau, Ryan M.; Jencson, Jacob; Kasliwal, Mansi M.; Boyer, Martha L.; Ofek, Eran; Masci, Frank; Laher, Russ

2018-03-01

We present an optical and infrared (IR) study of IC 10 X-2, a high-mass X-ray binary in the galaxy IC 10. Previous optical and X-ray studies suggest that X-2 is a Supergiant Fast X-ray Transient: a large-amplitude (factor of ∼100), short-duration (hours to weeks) X-ray outburst on 2010 May 21. We analyze R- and g-band light curves of X-2 from the intermediate Palomar Transient Factory taken between 2013 July 15 and 2017 February 14 that show high-amplitude (≳1 mag), short-duration (≲8 days) flares and dips (≳0.5 mag). Near-IR spectroscopy of X-2 from Palomar/TripleSpec show He I, Paschen-γ, and Paschen-β emission lines with similar shapes and amplitudes as those of luminous blue variables (LBVs) and LBV candidates (LBVc). Mid-IR colors and magnitudes from Spitzer/Infrared Array Camera photometry of X-2 resemble those of known LBV/LBVcs. We suggest that the stellar companion in X-2 is an LBV/LBVc and discuss possible origins of the optical flares. Dips in the optical light curve are indicative of eclipses from optically thick clumps formed in the winds of the stellar counterpart. Given the constraints on the flare duration (0.02–0.8 days) and the time between flares (15.1 ± 7.8 days), we estimate the clump volume filling factor in the stellar winds, f V , to be 0.01interpret the origin of the optical flares as the accretion of clumps formed in the winds of an LBV/LBVc onto the compact object.

Autonomous Mobile Robot That Can Read

Directory of Open Access Journals (Sweden)

Létourneau Dominic

2004-01-01

Full Text Available The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read, potentially having to compensate for its viewpoint of the message, and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper, we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a Sony EVI-D30 pan-tilt-zoom camera.

Transient attenuation in optical fibers

International Nuclear Information System (INIS)

Hopkins, A.A.; Kelly, R.E.; Looney, L.D.; Lyons, P.B.

1984-01-01

Low and high energy pulsed electron beams were used to generate radiation-induced transient attenuation in high-OH, Suprasil core, PCS fibers, demonstrating the energy dependence of the radiation damage and recovery mechanisms. A radiation resistant low-OH fiber was studied and its performance contrasted to that of high-OH materials. Several fibers with differing core compositions were also studied

Selected Topics in MicroNano-robotics for Biomedical Applications

CERN Document Server

2013-01-01

Selected Topics in Micro/Nano-robotics for Biomedical Applications features a system approach and incorporates modern methodologies in autonomous mobile robots for programmable and controllable micro/nano-robots aiming at biomedical applications. The book provides chapters of instructional materials and cutting-edge research results in micro/nanorobotics for biomedical applications. The book presents new sensing technology on nanofibers, new power supply techniques including miniature fuel cells and energy harvesting devices, and manipulation techniques including AFM-based nano-robotic manipulation, robot-aided optical tweezers, and robot-assisted catheter surgery systems. It also contains case studies on using micro/nano-robots in biomedical environments and in biomedicine, as well as a design example to conceptually develop a Vitamin-pill sized robot to enter human’s gastrointestinal tract. Each chapter covers a different topic of the highly interdisciplinary area. Bring together the selected topics into ...

Search for neutrinos from transient sources with the ANTARES telescope and optical follow-up observations

International Nuclear Information System (INIS)

Ageron, Michel; Al Samarai, Imen; Akerlof, Carl; Basa, Stéphane; Bertin, Vincent; Boer, Michel; Brunner, Juergen; Busto, Jose; Dornic, Damien; Klotz, Alain; Schussler, Fabian; Vallage, Bertrand; Vecchi, Manuela; Zheng, Weikang

2012-01-01

The ANTARES telescope is well suited to detect neutrinos produced in astrophysical transient sources as it can observe a full hemisphere of the sky at all the times with a duty cycle close to unity and an angular resolution better than 0.5°. Potential sources include gamma-ray bursts (GRBs), core collapse supernovae (SNe), and flaring active galactic nuclei (AGNs). To enhance the sensitivity of ANTARES to such sources, a new detection method based on coincident observations of neutrinos and optical signals has been developed. A fast online muon track reconstruction is used to trigger a network of small automatic optical telescopes. Such alerts are generated one or two times per month for special events such as two or more neutrinos coincident in time and direction or single neutrinos of very high energy. Since February 2009, ANTARES has sent 37 alert triggers to the TAROT and ROTSE telescope networks, 27 of them have been followed. First results on the optical images analysis to search for GRBs are presented.

Search for neutrinos from transient sources with the ANTARES telescope and optical follow-up observations

Science.gov (United States)

Ageron, Michel; Al Samarai, Imen; Akerlof, Carl; Basa, Stéphane; Bertin, Vincent; Boer, Michel; Brunner, Juergen; Busto, Jose; Dornic, Damien; Klotz, Alain; Schussler, Fabian; Vallage, Bertrand; Vecchi, Manuela; Zheng, Weikang

2012-11-01

The ANTARES telescope is well suited to detect neutrinos produced in astrophysical transient sources as it can observe a full hemisphere of the sky at all the times with a duty cycle close to unity and an angular resolution better than 0.5°. Potential sources include gamma-ray bursts (GRBs), core collapse supernovae (SNe), and flaring active galactic nuclei (AGNs). To enhance the sensitivity of ANTARES to such sources, a new detection method based on coincident observations of neutrinos and optical signals has been developed. A fast online muon track reconstruction is used to trigger a network of small automatic optical telescopes. Such alerts are generated one or two times per month for special events such as two or more neutrinos coincident in time and direction or single neutrinos of very high energy. Since February 2009, ANTARES has sent 37 alert triggers to the TAROT and ROTSE telescope networks, 27 of them have been followed. First results on the optical images analysis to search for GRBs are presented.

Search for neutrinos from transient sources with the ANTARES telescope and optical follow-up observations

Energy Technology Data Exchange (ETDEWEB)

Ageron, Michel [CPPM, CNRS/IN2P3 - Universite de Mediterranee, 163 avenue de Luminy, 13288 Marseille Cedex 09 (France); Al Samarai, Imen, E-mail: samarai@cppm.in2p3.fr [CPPM, CNRS/IN2P3 - Universite de Mediterranee, 163 avenue de Luminy, 13288 Marseille Cedex 09 (France); Akerlof, Carl [Randall Laboratory of Physics, University of Michigan, 450 Church Street, Ann Arbor, MI 48109-1040 (United States); Basa, Stephane [LAM, BP8, Traverse du siphon, 13376 Marseille Cedex 12 (France); Bertin, Vincent [CPPM, CNRS/IN2P3 - Universite de Mediterranee, 163 avenue de Luminy, 13288 Marseille Cedex 09 (France); Boer, Michel [OHP, 04870 Saint Michel de l' Observatoire (France); Brunner, Juergen; Busto, Jose; Dornic, Damien [CPPM, CNRS/IN2P3 - Universite de Mediterranee, 163 avenue de Luminy, 13288 Marseille Cedex 09 (France); Klotz, Alain [OHP, 04870 Saint Michel de l' Observatoire (France); IRAP, 9 avenue du colonel Roche, 31028 Toulouse Cedex 4 (France); Schussler, Fabian; Vallage, Bertrand [CEA-IRFU, centre de Saclay, 91191 Gif-sur-Yvette (France); Vecchi, Manuela [CPPM, CNRS/IN2P3 - Universite de Mediterranee, 163 avenue de Luminy, 13288 Marseille Cedex 09 (France); Zheng, Weikang [Randall Laboratory of Physics, University of Michigan, 450 Church Street, Ann Arbor, MI 48109-1040 (United States)

2012-11-11

The ANTARES telescope is well suited to detect neutrinos produced in astrophysical transient sources as it can observe a full hemisphere of the sky at all the times with a duty cycle close to unity and an angular resolution better than 0.5 Degree-Sign . Potential sources include gamma-ray bursts (GRBs), core collapse supernovae (SNe), and flaring active galactic nuclei (AGNs). To enhance the sensitivity of ANTARES to such sources, a new detection method based on coincident observations of neutrinos and optical signals has been developed. A fast online muon track reconstruction is used to trigger a network of small automatic optical telescopes. Such alerts are generated one or two times per month for special events such as two or more neutrinos coincident in time and direction or single neutrinos of very high energy. Since February 2009, ANTARES has sent 37 alert triggers to the TAROT and ROTSE telescope networks, 27 of them have been followed. First results on the optical images analysis to search for GRBs are presented.

R and D on robots for nuclear power plants in 'advanced robot technology' project

International Nuclear Information System (INIS)

Ando, Hiroaki

1987-01-01

The project aims at developing a safe man-robot system of high mobility and workability, highly adaptable to the working environment, and readily and reliably remote-controlled. The plan is to develop 'multi-purpose robots' that can do monitoring, inspection and light work quickly and correctly in areas where access of humans is difficult (e.g. hot spots and the inner space of the primary containment vessel), and 'robots used exclusively for valves, pumps, and other equipment, multi-functional to be used only for specific purposes'. This can be expected to be completed on the basis of results in research and development for the multi-purpose robots. R and D on the total system means manufacturing an optimum system with sufficient functions and performance required for the robot by combining existing technologies most adequately on the basis of the results of research and development on the project. After conceptual drawing and conceptual design, the system will be manufactured and demonstration tests will be completed by fiscal 1987 or 1988. This report describes the total image of the robots concerning the shape, locomotion, manipulation, perception, communication, control management, reliability and environmental durability, and then outlines the research and development activities regarding locomotion, manipulator, tectile sensor, actuator, single-eye three-dimensional measurement, visual data processing, optical spacial transmission, failure repair controller, functional reduction, robot health care and radiation resistance. (Nogami, K.)

APPROACHES FOR STABILIZING OF BIPED ROBOTS IN A STANDING POSITION ON MOVABLE SUPPORT

Directory of Open Access Journals (Sweden)

D. N. Bazylev

2015-05-01

Full Text Available Subject of research. The problem of stabilization for biped walking robots on the surface is considered. The angle and angular velocity of the movable surface varies randomly in a limited range. Methods. Two approaches of stabilization of biped robots are proposed. The first approach requires the construction of kinematic and dynamic models of the robot. Dynamic equations were obtained using the Euler-Lagrange method. The control algorithm is based on the method of inverse dynamics, in which the original nonlinear dynamic model is linearized by a feedback. The second stabilization algorithm uses only the kinematic model of the robot. A hybrid controller is developed for this approach. In the case of low angular velocities of the movable support the robot stabilization is performed by PD controller on the basis of the angle error of deflection of the servo shaft. In the case of relatively high angular velocities of the support the controller also uses the gyroscope readings mounted in the robot torso. Maintenance of the robot’s gravity center over the center of bearing area for providing a stable position was chosen as a goal of control in both approaches. Main results. Efficiency and effectiveness of the proposed approaches for stabilization of biped robots on the moving surface are demonstrated by the numerical simulation. Both methods provide stability of the balancing robots on changing the angle of inclination and angular velocity of the moving surface in the ranges (50; 50 and (40 / sec; 40 / sec , respectively. Comparative analysis of these approaches under identical requirements for quality indicators of transients is also provided: transient time 0.2 sec п t  and overshoot   0%. The conditions under which each of the control methods will be more effective in practice are identified.

Research of the Localization of Restaurant Service Robot

Directory of Open Access Journals (Sweden)

Yu Qing-xiao

2010-09-01

Full Text Available This paper designs a restaurant service robot which could be applicable to providing basic service, such as ordering, fetching and sending food, settlement and so on, for the customers in the robot restaurant. In this study, both three landmarks positioning and landmark-based localization algorithms are proposed to localize the mobile robot with rough precision in the restaurant. And Optical Character Recognition (OCR technology is used to distinguish the unique table number of different landmarks. When the high localization precision must be granted around the pantry table, the RFID-based localization algorithm is proposed to localize the mobile robot. Various experiments show that the proposed algorithms could estimate the robot pose reasonably well and could accurately evaluate the localization performance. Finally, the proposed service robot could realize real-time self-localization in the restaurant.

Research of the Localization of Restaurant Service Robot

Directory of Open Access Journals (Sweden)

Yu Qing-xiao

2010-09-01

Full Text Available This paper designs a restaurant service robot which could be applicable to providing basic service, such as ordering, fetching and sending food, settlement and so on, for the customers in the robot restaurant. In this study, both three landmarks positioning and landmark-based localization algorithms are proposed to localize the mobile robot with rough precision in the restaurant. And Optical Character Recognition (OCR technology is used to distinguish the unique table number of different landmarks. When the high localization precision must be granted around the pantry table, the RFID-based localization algorithm is proposed to localize the mobile robot.Various experiments show that the proposed algorithms could estimate the robot pose reasonably well and could accurately evaluate the localization performance. Finally, the proposed service robot could realize real-time self-localization in the restaurant.

Da Vinci Xi Robot-Assisted Penetrating Keratoplasty.

Science.gov (United States)

Chammas, Jimmy; Sauer, Arnaud; Pizzuto, Joëlle; Pouthier, Fabienne; Gaucher, David; Marescaux, Jacques; Mutter, Didier; Bourcier, Tristan

2017-06-01

This study aims (1) to investigate the feasibility of robot-assisted penetrating keratoplasty (PK) using the new Da Vinci Xi Surgical System and (2) to report what we believe to be the first use of this system in experimental eye surgery. Robot-assisted PK procedures were performed on human corneal transplants using the Da Vinci Xi Surgical System. After an 8-mm corneal trephination, four interrupted sutures and one 10.0 monofilament running suture were made. For each procedure, duration and successful completion of the surgery as well as any unexpected events were assessed. The depth of the corneal sutures was checked postoperatively using spectral-domain optical coherence tomography (SD-OCT). Robot-assisted PK was successfully performed on 12 corneas. The Da Vinci Xi Surgical System provided the necessary dexterity to perform the different steps of surgery. The mean duration of the procedures was 43.4 ± 8.9 minutes (range: 28.5-61.1 minutes). There were no unexpected intraoperative events. SD-OCT confirmed that the sutures were placed at the appropriate depth. We confirm the feasibility of robot-assisted PK with the new Da Vinci Surgical System and report the first use of the Xi model in experimental eye surgery. Operative time of robot-assisted PK surgery is now close to that of conventional manual surgery due to both improvement of the optical system and the presence of microsurgical instruments. Experimentations will allow the advantages of robot-assisted microsurgery to be identified while underlining the improvements and innovations necessary for clinical use.

Robotic vehicle with multiple tracked mobility platforms

Science.gov (United States)

Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

2012-07-24

A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

Navigation control of a multi-functional eye robot

International Nuclear Information System (INIS)

Ali, F.A.M.; Hashmi, B.; Younas, A.; Abid, B.

2016-01-01

The advancement in robotic field is enhanced rigorously in the past Few decades. Robots are being used in different fields of science as well as warfare. The research shows that in the near future, robots would be able to serve in fighting wars. Different countries and their armies have already deployed several military robots. However, there exist some drawbacks of robots like their inefficiency and inability to work under abnormal conditions. Ascent of artificial intelligence may resolve this issue in the coming future. The main focus of this paper is to provide a low cost and long range most efficient mechanical as well as software design of an Eye Robot. Using a blend of robotics and image processing with an addition of artificial intelligence path navigation techniques, this project is designed and implemented by controlling the robot (including robotic arm and camera) through a 2.4 GHz RF module manually. Autonomous function of the robot includes navigation based on the path assigned to the robot. The path is drawn on a VB based application and then transferred to the robot wirelessly or through serial port. A Wi-Fi based Optical Character Recognition (OCR) implemented video streaming can also be observed at remote devices like laptops. (author)

Stimulated Brillouin scattering phase-locking using a transient acoustic standing wave excited through an optical interference field

International Nuclear Information System (INIS)

Ondrej Slezak; Milan Kalal; Hon Jin Kong

2010-01-01

Complete text of publication follows. Analytical description of an experimentally verified scheme leading to a phase-locked stimulated Brillouin scattering (SBS), used in a laser beam combination systems, is presented. The essential condition for the phase-locking effect for SBS is the fixation of the starting position and time of the acoustic Brillouin wave. It is shown that the starting position fixation of this acoustic wave may have its origin in a transient acoustic standing wave initiated by an arising optical interference field produced by the back-seeding concave mirror. This interference field leads to a stationary density modulation of the medium. However, the way to the formation of this density modulation leads via the acoustic standing wave. An appropriate solution, in the form of the standing wave, was obtained from solving the acoustic wave-equation using the electrostriction as a driving force. As a consequence of the damping term included in this equation the acoustic standing wave becomes gradually attenuated and contrary to the undamped solution published earlier, thus constitutes a truly transient phenomenon. Using a mathematical formalism similar to that which is used for the SBS description in the case of a random phase, the coupled equations describing the phase-locked SBS were derived. Contrary to the case without the back-seeding mirror, where the wave chosen from the thermal noise background subsequently plays the role of a trigger of the stimulated process, in this case it is replaced by the transient standing wave produced as a consequence of the presence of an optical interference field arisen in the focal region of the back-seeding concave mirror.

Transient effects in friction fractal asperity creep

CERN Document Server

Goedecke, Andreas

2013-01-01

Transient friction effects determine the behavior of a wide class of mechatronic systems. Classic examples are squealing brakes, stiction in robotic arms, or stick-slip in linear drives. To properly design and understand mechatronic systems of this type, good quantitative models of transient friction effects are of primary interest. The theory developed in this book approaches this problem bottom-up, by deriving the behavior of macroscopic friction surfaces from the microscopic surface physics. The model is based on two assumptions: First, rough surfaces are inherently fractal, exhibiting roughness on a wide range of scales. Second, transient friction effects are caused by creep enlargement of the real area of contact between two bodies. This work demonstrates the results of extensive Finite Element analyses of the creep behavior of surface asperities, and proposes a generalized multi-scale area iteration for calculating the time-dependent real contact between two bodies. The toolset is then demonstrated both...

Robotic radical perineal cystectomy and extended pelvic lymphadenectomy: initial investigation using a purpose-built single-port robotic system.

Science.gov (United States)

Maurice, Matthew J; Kaouk, Jihad H

2017-12-01

To assess the feasibility of radical perineal cystoprostatectomy using the latest generation purpose-built single-port robotic surgical system. In two male cadavers the da Vinci ® SP1098 Surgical System (Intuitive Surgical, Sunnyvale, CA, USA) was used to perform radical perineal cystoprostatectomy and bilateral extended pelvic lymph node dissection (ePLND). New features in this model include enhanced high-definition three-dimensional optics, improved instrument manoeuvrability, and a real-time instrument tracking and guidance system. The surgery was accomplished through a 3-cm perineal incision via a novel robotic single-port system, which accommodates three double-jointed articulating robotic instruments, an articulating camera, and an accessory laparoscopic instrument. The primary outcomes were technical feasibility, intraoperative complications, and total robotic operative time. The cases were completed successfully without conversion. There were no accidental punctures or lacerations. The robotic operative times were 197 and 202 min. In this preclinical model, robotic radical perineal cystoprostatectomy and ePLND was feasible using the SP1098 robotic platform. Further investigation is needed to assess the feasibility of urinary diversion using this novel approach and new technology. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

Fiber Optics Technology.

Science.gov (United States)

Burns, William E.

1986-01-01

Discusses various applications of fiber optics technology: information systems, industrial robots, medicine, television, transportation, and training. Types of jobs that will be available with fiber optics training (such as electricians and telephone cable installers and splicers) are examined. (CT)

Light-driven micro-robotics with holographic 3D tracking

DEFF Research Database (Denmark)

Glückstad, Jesper

2016-01-01

We recently pioneered the concept of ligh-driven micro-robotics including the new and disruptive 3D-printed micro-tools coined Wave-guided Optical Waveguides that can be real-time optically trapped and “remote-controlled” in a volume with six-degrees-of-freedom. To be exploring the full potential...... of this new drone-like 3D light robotics approach in challenging microscopic geometries requires a versatile and real-time reconfigurable light coupling that can dynamically track a plurality of “light robots” in 3D to ensure continuous optimal light coupling on the fly. Our latest developments in this new...

Multiprocessor development for robot control

International Nuclear Information System (INIS)

Lee, Jong Min; Kim, Byung Soo; Kim, Chang Hoi; Hwang, Suk Yong; Sohn, Surg Won; Yoon, Tae Seob; Lee, Yong Bum; Kim, Woong Ki

1988-02-01

A mutiprocessor system that is essential to A.I. (Artificial Intelligence) robot control was developed. A.I. robot control needs very complex real time control. The multiprocessor system interconnecting many SBC's (Single Board Computer) is much faster and accurater than using only one SBC. Various multiprocessor systems and their applications were compared and discussed. The multiprocessor architecture system is specially designed to be used in nuclear environments. The main functions are job distribution, multitasking, and intelligent remote control by SDLC protocol using optical fiber. The system can be applied to position control for locomotion and manipulation, data fusion system, and image processing. (Author)

Analyzing degradation effects of organic light-emitting diodes via transient optical and electrical measurements

Energy Technology Data Exchange (ETDEWEB)

Schmidt, Tobias D., E-mail: Tobias.Schmidt@physik.uni-augsburg.de; Jäger, Lars; Brütting, Wolfgang, E-mail: Wolfgang.Bruetting@physik.uni-augsburg.de [Institute of Physics, University of Augsburg, Augsburg (Germany); Noguchi, Yutaka [Department of Electronics and Bioinformatics, School of Science and Technology, Meiji University, Kawasaki (Japan); Center of Frontier Science, Chiba University, Chiba (Japan); Ishii, Hisao [Center of Frontier Science, Chiba University, Chiba (Japan)

2015-06-07

Although the long-term stability of organic light-emitting diodes (OLEDs) under electrical operation made significant progress in recent years, the fundamental underlying mechanisms of the efficiency decrease during operation are not well understood. Hence, we present a comprehensive degradation study of an OLED structure comprising the well-known green phosphorescent emitter Ir(ppy){sub 3}. We use transient methods to analyze both electrical and optical changes during an accelerated aging protocol. Combining the results of displacement current measurements with time-resolved investigation of the excited states lifetimes of the emitter allows for a correlation of electrical (e.g., increase of the driving voltage due to trap formation) and optical (e.g., decrease of light-output) changes induced by degradation. Therewith, it is possible to identify two mechanisms resulting in the drop of the luminance: a decrease of the radiative quantum efficiency of the emitting system due to triplet-polaron-quenching at trapped charge carriers and a modified charge carrier injection and transport, as well as trap-assisted non-radiative recombination resulting in a deterioration of the charge carrier balance of the device.

Multiprocessor development for robot control

International Nuclear Information System (INIS)

Lee, Jong Min; Kim, Seung Ho; Hwang, Suk Yeoung; Sohn, Surg Won; Kim, Byung Soo; Kim, Chang Hoi; Lee, Yong Bum; Kim, Woong Ki

1988-12-01

The object of this project is to develop a multiprocessor system which is essential to robot technology. A multiprocessor system interconnecting many single board computer is much faster and flexible than a single processor. The developed multiprocessor will be used to control nuclear mobile robot, so a loosely coupled system is adopted as a robot controller. A total configuration of controller is divided into three main parts in related with its function. It is consisted of supervisory control part, functional control part, remote control part. The designed control system is to be expanded easily for further use with a modular architecture, so the functional independency within sub-systems can be obtained throughout the system structure. Electromagnetic interference affecting to the control system is minimized by using optical fiber as communication media between robot and control system. System performances is enhanced not only by using distributed architecture in hardware, but by adopting real-time, multi-tasking operating system in software. The iRMX86 OS is used and reconfigured for real-time, multi-tasking operation. RS-485 serial communication protocol is used between functional control part and remote control part. Since the developed multiprocessor control system is an essential and fundamental technology for artificial intelligent robot, the result of this project can be applied directly to nuclear mobile robot. (Author)

Strain and thermally induced magnetic dynamics and spin current in magnetic insulators subject to transient optical grating

Science.gov (United States)

Wang, Xi-Guang; Chotorlishvili, Levan; Berakdar, Jamal

2017-07-01

We analyze the magnetic dynamics and particularlythe spin current in an open-circuit ferromagnetic insulator irradiated by two intense, phase-locked laser pulses. The interference of the laser beams generates a transient optical grating and a transient spatio-temporal temperature distribution. Both effects lead to elastic and heat waves at the surface and into the bulk of the sample. The strain induced spin current as well as the thermally induced magnonic spin current are evaluated numerically on the basis of micromagnetic simulations using solutions of the heat equation. We observe that the thermo-elastically induced magnonic spin current propagates on a distance larger than the characteristic size of thermal profile, an effect useful for applications in remote detection of spin caloritronics phenomena. Our findings point out that exploiting strain adds a new twist to heat-assisted magnetic switching and spin-current generation for spintronic applications.

Optical spectrum of the HDE 245770 and X-ray flares of the transient sources A 0535+26

International Nuclear Information System (INIS)

Aab, O.Eh.

1985-01-01

Investigation results are presented for the optical component of the transient X-ray source A 0535+26, the Be star HDE 245770. The investigation is based on the spectrograms with dispersions 9, 14 and 28 A/mm obtained during three years with the 6-meter telescope. A list of lines and their parameters within the range lambdalambda 3450-7000 A is given. Variability of the spectrum for the three years and a violent change in the spectrum in January 1981 are noted

Robotic Platform for Automated Search and Rescue Missions of Humans

Directory of Open Access Journals (Sweden)

Eli Kolberg

2013-02-01

Full Text Available We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously. The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.

Silicon as a virtual plasmonic material: Acquisition of its transient optical constants and the ultrafast surface plasmon-polariton excitation

Energy Technology Data Exchange (ETDEWEB)

Danilov, P. A.; Ionin, A. A.; Kudryashov, S. I., E-mail: sikudr@sci.lebedev.ru; Makarov, S. V.; Rudenko, A. A. [Lebedev Physical Institute (Russian Federation); Saltuganov, P. N. [Moscow Institute of Physics and Technology (State University) (Russian Federation); Seleznev, L. V.; Yurovskikh, V. I.; Zayarny, D. A. [Lebedev Physical Institute (Russian Federation); Apostolova, T. [Bulgarian Academy of Sciences, Institute for Nuclear Research and Nuclear Energetics (Bulgaria)

2015-06-15

Ultrafast intense photoexcitation of a silicon surface is complementarily studied experimentally and theoretically, with its prompt optical dielectric function obtained by means of time-resolved optical reflection microscopy and the underlying electron-hole plasma dynamics modeled numerically, using a quantum kinetic approach. The corresponding transient surface plasmon-polariton (SPP) dispersion curves of the photo-excited material were simulated as a function of the electron-hole plasma density, using the derived optical dielectric function model, and directly mapped at several laser photon energies, measuring spatial periods of the corresponding SPP-mediated surface relief nanogratings. The unusual spectral dynamics of the surface plasmon resonance, initially increasing with the increase in the electron-hole plasma density but damped at high interband absorption losses induced by the high-density electron-hole plasma through instantaneous bandgap renormalization, was envisioned through the multi-color mapping.

GRB 070610: a curious galactic transient

OpenAIRE

Kasliwal, M. M.; Cenko, S. B.; Kulkarni, S. R.; Cameron, P. B.; Nakar, E.; Ofek, E. O.; Rau, A.; Soderberg, A. M.; Campana, S.; Bloom, J. S.; Perley, D. A.; Pollack, L. K.; Barthelmy, S.; Cummings, J.; Gehrels, N.

2008-01-01

GRB 070610 is a typical high-energy event with a duration of 5 s. Yet within the burst localization we detect a highly unusual X-ray and optical transient, Swift J195509.6+261406. We see high-amplitude X-ray and optical variability on very short timescales even at late times. Using near-infrared imaging assisted by a laser guide star and adaptive optics, we identified the counterpart of Swift J195509.6+261406. Late-time optical and near-infrared imaging constrain the spectral type of the coun...

Optical Transient-Grating Measurements of Spin Diffusion and Relaxation in a Two-Dimensional Electron Gas

International Nuclear Information System (INIS)

Weber, Christopher P.

2005-01-01

Spin diffusion in n-GaAs quantum wells, as measured by our optical transient-grating technique, is strongly suppressed relative to that of charge. Over a broad range of temperatures and dopings, the suppression of Ds relative to Dc agrees quantitatively with the prediction of ''spin Coulomb dra'' theory, which takes into account the exchange of spin in electron-electron collisions. Moreover, the spin-diffusion length, Ls, is a nearly constant 1 micrometer over the same range of T and n, despite Ds's varying by nearly two orders of magnitude. This constancy supports the D'yakonov-Perel'-Kachorovskii model of spin relaxation through interrupted precessional dephasing in the spin-orbit field

Improving mobile robot localization: grid-based approach

Science.gov (United States)

Yan, Junchi

2012-02-01

Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

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

Utilization of optical tracking to validate a software-driven isocentric approach to robotic couch movements for proton radiotherapy

International Nuclear Information System (INIS)

Hsi, Wen C.; Zeidan, Omar A.; Law, Aaron; Schreuder, Andreas N.

2014-01-01

Purpose: An optical tracking and positioning system (OTPS) was developed to validate the software-driven isocentric (SDI) approach to control the six-degrees-of-freedom movement of a robotic couch. Methods: The SDI approach to movements rotating around a predefined isocenter, referred to as a GeoIso, instead of a mechanical pivot point was developed by the robot automation industry. With robotic couch-sag corrections for weight load in a traditional SDI approach, movements could be accurately executed for a GeoIso located within a 500 mm cubic volume on the couch for treatments. The accuracy of SDI movement was investigated using the OTPS. The GeoIso was assumed to align with the proton beam isocenter (RadIso) for gantry at the reference angle. However, the misalignment between GeoIso and RadIso was quantitatively investigated by measuring the displacements at various couch angles for a target placed at the RadIso at an initial couch angle. When circular target displacements occur on a plane, a relative isocenter shift (RIS) correction could be applied in the SDI movement to minimize target displacements. Target displacements at a fixed gantry angle without and with RIS correction were measured for 12 robotic couches. Target displacements for various gantry angles were performed on three couches in gantry rooms to study the gantry-induced RadIso shift. The RIS correction can also be applied for the RadIso shift. A new SDI approach incorporating the RIS correction with the couch sag is described in this study. In parallel, the accuracy of SDI translation movements for various weight loads of patients on the couch was investigated during positioning of patients for proton prostate treatments. Results: For a fixed gantry angle, measured target displacements without RIS correction for couch rotations in the horizontal plane varied from 4 to 20 mm. However, measured displacements perpendicular to couch rotation plane were about 2 mm for all couches. Extracted

Utilization of optical tracking to validate a software-driven isocentric approach to robotic couch movements for proton radiotherapy

Energy Technology Data Exchange (ETDEWEB)

Hsi, Wen C., E-mail: Wen.Hsi@Mclaren.org, E-mail: Wenchien.hsi@sphic.org.cn; Zeidan, Omar A., E-mail: omar.zeidan@orlandohealth.com [ProCure Proton Therapy Center, Oklahoma City, Oklahoma 73142 (United States); Law, Aaron; Schreuder, Andreas N., E-mail: niek.schreuder@provisionhp.com [ProCure Training and Development Center, Bloomington, Indiana 47404 (United States)

2014-08-15

Purpose: An optical tracking and positioning system (OTPS) was developed to validate the software-driven isocentric (SDI) approach to control the six-degrees-of-freedom movement of a robotic couch. Methods: The SDI approach to movements rotating around a predefined isocenter, referred to as a GeoIso, instead of a mechanical pivot point was developed by the robot automation industry. With robotic couch-sag corrections for weight load in a traditional SDI approach, movements could be accurately executed for a GeoIso located within a 500 mm cubic volume on the couch for treatments. The accuracy of SDI movement was investigated using the OTPS. The GeoIso was assumed to align with the proton beam isocenter (RadIso) for gantry at the reference angle. However, the misalignment between GeoIso and RadIso was quantitatively investigated by measuring the displacements at various couch angles for a target placed at the RadIso at an initial couch angle. When circular target displacements occur on a plane, a relative isocenter shift (RIS) correction could be applied in the SDI movement to minimize target displacements. Target displacements at a fixed gantry angle without and with RIS correction were measured for 12 robotic couches. Target displacements for various gantry angles were performed on three couches in gantry rooms to study the gantry-induced RadIso shift. The RIS correction can also be applied for the RadIso shift. A new SDI approach incorporating the RIS correction with the couch sag is described in this study. In parallel, the accuracy of SDI translation movements for various weight loads of patients on the couch was investigated during positioning of patients for proton prostate treatments. Results: For a fixed gantry angle, measured target displacements without RIS correction for couch rotations in the horizontal plane varied from 4 to 20 mm. However, measured displacements perpendicular to couch rotation plane were about 2 mm for all couches. Extracted

Utilization of optical tracking to validate a software-driven isocentric approach to robotic couch movements for proton radiotherapy.

Science.gov (United States)

Hsi, Wen C; Law, Aaron; Schreuder, Andreas N; Zeidan, Omar A

2014-08-01

An optical tracking and positioning system (OTPS) was developed to validate the software-driven isocentric (SDI) approach to control the six-degrees-of-freedom movement of a robotic couch. The SDI approach to movements rotating around a predefined isocenter, referred to as a GeoIso, instead of a mechanical pivot point was developed by the robot automation industry. With robotic couch-sag corrections for weight load in a traditional SDI approach, movements could be accurately executed for a GeoIso located within a 500 mm cubic volume on the couch for treatments. The accuracy of SDI movement was investigated using the OTPS. The GeoIso was assumed to align with the proton beam isocenter (RadIso) for gantry at the reference angle. However, the misalignment between GeoIso and RadIso was quantitatively investigated by measuring the displacements at various couch angles for a target placed at the RadIso at an initial couch angle. When circular target displacements occur on a plane, a relative isocenter shift (RIS) correction could be applied in the SDI movement to minimize target displacements. Target displacements at a fixed gantry angle without and with RIS correction were measured for 12 robotic couches. Target displacements for various gantry angles were performed on three couches in gantry rooms to study the gantry-induced RadIso shift. The RIS correction can also be applied for the RadIso shift. A new SDI approach incorporating the RIS correction with the couch sag is described in this study. In parallel, the accuracy of SDI translation movements for various weight loads of patients on the couch was investigated during positioning of patients for proton prostate treatments. For a fixed gantry angle, measured target displacements without RIS correction for couch rotations in the horizontal plane varied from 4 to 20 mm. However, measured displacements perpendicular to couch rotation plane were about 2 mm for all couches. Extracted misalignments of GeoIso and RadIso in

Robotics in Cardiac Surgery: Past, Present, and Future

Directory of Open Access Journals (Sweden)

Bryan Bush

2013-07-01

Full Text Available Robotic cardiac operations evolved from minimally invasive operations and offer similar theoretical benefits, including less pain, shorter length of stay, improved cosmesis, and quicker return to preoperative level of functional activity. The additional benefits offered by robotic surgical systems include improved dexterity and degrees of freedom, tremor-free movements, ambidexterity, and the avoidance of the fulcrum effect that is intrinsic when using long-shaft endoscopic instruments. Also, optics and operative visualization are vastly improved compared with direct vision and traditional videoscopes. Robotic systems have been utilized successfully to perform complex mitral valve repairs, coronary revascularization, atrial fibrillation ablation, intracardiac tumor resections, atrial septal defect closures, and left ventricular lead implantation. The history and evolution of these procedures, as well as the present status and future directions of robotic cardiac surgery, are presented in this review.

Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

OpenAIRE

Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus

2011-01-01

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of h...

Fiber optics in adverse environments

International Nuclear Information System (INIS)

Lyous, P.B.

1982-01-01

Radiation effects in optical fibers are considered, taking into account recent progress in the investigation of radiation resistant optical fibers, radiation damage in optical fibers, radiation-induced transient absorption in optical fibers, X-ray-induced transient attenuation at low temperatures in polymer clad silica (PCS) fibers, optical fiber composition and radiation hardness, the response of irradiated optical waveguides at low temperatures, and the effect of ionizing radiation on fiber-optic waveguides. Other topics explored are related to environmental effects on components of fiber optic systems, and radiation detection systems using optical fibers. Fiber optic systems in adverse environments are also discussed, giving attention to the survivability of Army fiber optics systems, space application of fiber optics systems, fiber optic wavelength multiplexing for civil aviation applications, a new fiber optic data bus topology, fiber optics for aircraft engine/inlet control, and application of fiber optics in high voltage substations

Cultural Robotics: The Culture of Robotics and Robotics in Culture

Directory of Open Access Journals (Sweden)

Hooman Samani

2013-12-01

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

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

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

Optical Transient-Grating Measurements of Spin Diffusion andRelaxation in a Two-Dimensional Electron Gas

Energy Technology Data Exchange (ETDEWEB)

Weber, Christopher Phillip [Univ. of California, Berkeley, CA (United States)

2005-01-01

Spin diffusion in n-GaAs quantum wells, as measured by our optical transient-grating technique, is strongly suppressed relative to that of charge. Over a broad range of temperatures and dopings, the suppression of Ds relative to Dc agrees quantitatively with the prediction of ''spin Coulomb dra'' theory, which takes into account the exchange of spin in electron-electron collisions. Moreover, the spin-diffusion length, Ls, is a nearly constant 1 micrometer over the same range of T and n, despite Ds's varying by nearly two orders of magnitude. This constancy supports the D'yakonov-Perel'-Kachorovskii model of spin relaxation through interrupted precessional dephasing in the spin-orbit field.

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)

Suppression of thermal transients in advanced LIGO interferometers using CO2 laser preheating

Science.gov (United States)

Jaberian Hamedan, V.; Zhao, C.; Ju, L.; Blair, C.; Blair, D. G.

2018-06-01

In high optical power interferometric gravitational wave detectors, such as Advanced LIGO, the thermal effects due to optical absorption in the mirror coatings and the slow thermal response of fused silica substrate cause time dependent changes in the mirror profile. After locking, high optical power builds up in the arm cavities. Absorption induced heating causes optical cavity transverse mode frequencies to drift over a period of hours, relative to the fundamental mode. At high optical power this can cause time dependent transient parametric instability, which can lead to interferometer disfunction. In this paper, we model the use of CO2 laser heating designed to enable the interferometer to be maintained in a thermal condition such that transient changes in the mirrors are greatly reduced. This can minimize transient parametric instability and compensate dark port power fluctuations. Modeling results are presented for both single compensation where a CO2 laser acting on one test mass per cavity, and double compensation using one CO2 laser for each test mass. Using parameters of the LIGO Hanford Observatory X-arm as an example, single compensation allows the maximum mode frequency shift to be limited to 6% of its uncompensated value. However, single compensation causes transient degradation of the contrast defect. Double compensation minimise contrast defect degradation and reduces transients to less than 1% if the CO2 laser spot is positioned within 2 mm of the cavity beam position.

Accurate multi-robot targeting for keyhole neurosurgery based on external sensor monitoring.

Science.gov (United States)

Comparetti, Mirko Daniele; Vaccarella, Alberto; Dyagilev, Ilya; Shoham, Moshe; Ferrigno, Giancarlo; De Momi, Elena

2012-05-01

Robotics has recently been introduced in surgery to improve intervention accuracy, to reduce invasiveness and to allow new surgical procedures. In this framework, the ROBOCAST system is an optically surveyed multi-robot chain aimed at enhancing the accuracy of surgical probe insertion during keyhole neurosurgery procedures. The system encompasses three robots, connected as a multiple kinematic chain (serial and parallel), totalling 13 degrees of freedom, and it is used to automatically align the probe onto a desired planned trajectory. The probe is then inserted in the brain, towards the planned target, by means of a haptic interface. This paper presents a new iterative targeting approach to be used in surgical robotic navigation, where the multi-robot chain is used to align the surgical probe to the planned pose, and an external sensor is used to decrease the alignment errors. The iterative targeting was tested in an operating room environment using a skull phantom, and the targets were selected on magnetic resonance images. The proposed targeting procedure allows about 0.3 mm to be obtained as the residual median Euclidean distance between the planned and the desired targets, thus satisfying the surgical accuracy requirements (1 mm), due to the resolution of the diffused medical images. The performances proved to be independent of the robot optical sensor calibration accuracy.

Overview of Fiber-Optical Sensors

Science.gov (United States)

Depaula, Ramon P.; Moore, Emery L.

1987-01-01

Design, development, and sensitivity of sensors using fiber optics reviewed. State-of-the-art and probable future developments of sensors using fiber optics described in report including references to work in field. Serves to update previously published surveys. Systems incorporating fiber-optic sensors used in medical diagnosis, navigation, robotics, sonar, power industry, and industrial controls.

The search for optical emission on and before the GRB trigger with the WIDGET telescope

International Nuclear Information System (INIS)

Tamagawa, T.; Usui, F.

2005-01-01

WIDGET is a robotic telescope for monitoring the HETE-2 field-of-view to detect Gamma-Ray Burst optical flashes or possible optical precursors. The system has 62 o wide field-of-view which covers about 80% of HETE-2 one with a 2k x 2k Apogee U10 CCD camera and a Canon EF 24 mm f/1.4 wide-angle lens without a band pass filter. WIDGET has been in operation since June 2004 at Akeno observing site where is about 200 Km apart from Tokyo. Typical limiting magnitude with S/N = 3 at the site is V = 10 mag for 5 seconds exposure and V = 11 mag for 30 seconds exposure. We had already six coincident observations with the HETE-2 position alerts. It was, however, cloudy for all cases due to rainy season in Japan. The expected number of coincident observations under clear sky is about 5 events per year. We will extend the system in early 2005 for Swift era to monitor optical transients in wider field-of-view, multi-color or polarization modes

Transient photoconductivity and femtosecond nonlinear optical properties of a conjugated polymer-graphene oxide composite

Energy Technology Data Exchange (ETDEWEB)

Nalla, Venkatram; Ji Wei [Department of Physics, National University of Singapore, Singapore 117542 (Singapore); Polavarapu, Lakshminarayana; Manga, Kiran Kumar; Goh, Bee Min; Loh, Kian Ping; Xu Qinghua, E-mail: chmxqh@nus.edu.sg, E-mail: phyjiwei@nus.edu.sg [Department of Chemistry, National University of Singapore, Singapore 117543 (Singapore)

2010-10-15

A water soluble conjugated thiophene polymer, sodium salt of poly[2-(3-thienyl)ethoxy-4-butylsulfonate] (TPP), and graphene oxide (GO) composite film (GO-TPP) device was prepared. Transient photoconductivity measurements were carried out on the GO-TPP composite film using 150 ns laser pulses of 527 nm wavelength. Highly efficient photocurrent generation was observed from the GO-TPP film. The relationships of the film photoconductivity, photocurrent decay time and electron decay times with the incident light intensity were investigated. The photoconductive gain of the film was determined to be greater than 40% and to be independent of the light intensity. Furthermore, the femtosecond nonlinear optical properties of the GO-TPP film were measured using 800 nm femtosecond laser pulses and the composite film exhibited high nonlinear absorption and nonlinear refraction coefficients.

Transient photoconductivity and femtosecond nonlinear optical properties of a conjugated polymer-graphene oxide composite

International Nuclear Information System (INIS)

Nalla, Venkatram; Ji Wei; Polavarapu, Lakshminarayana; Manga, Kiran Kumar; Goh, Bee Min; Loh, Kian Ping; Xu Qinghua

2010-01-01

A water soluble conjugated thiophene polymer, sodium salt of poly[2-(3-thienyl)ethoxy-4-butylsulfonate] (TPP), and graphene oxide (GO) composite film (GO-TPP) device was prepared. Transient photoconductivity measurements were carried out on the GO-TPP composite film using 150 ns laser pulses of 527 nm wavelength. Highly efficient photocurrent generation was observed from the GO-TPP film. The relationships of the film photoconductivity, photocurrent decay time and electron decay times with the incident light intensity were investigated. The photoconductive gain of the film was determined to be greater than 40% and to be independent of the light intensity. Furthermore, the femtosecond nonlinear optical properties of the GO-TPP film were measured using 800 nm femtosecond laser pulses and the composite film exhibited high nonlinear absorption and nonlinear refraction coefficients.

Robotic Automation in Computer Controlled Polishing

Science.gov (United States)

Walker, D. D.; Yu, G.; Bibby, M.; Dunn, C.; Li, H.; Wu, Y.; Zheng, X.; Zhang, P.

2016-02-01

We first present a Case Study - the manufacture of 1.4 m prototype mirror-segments for the European Extremely Large Telescope, undertaken by the National Facility for Ultra Precision Surfaces, at the OpTIC facility operated by Glyndwr University. Scale-up to serial-manufacture demands delivery of a 1.4 m off-axis aspheric hexagonal segment with surface precision robots and computer numerically controlled ('CNC') polishing machines for optical fabrication. The objective was not to assess which is superior. Rather, it was to understand for the first time their complementary properties, leading us to operate them together as a unit, integrated in hardware and software. Three key areas are reported. First is the novel use of robots to automate currently-manual operations on CNC polishing machines, to improve work-throughput, mitigate risk of damage to parts, and reduce dependence on highly-skilled staff. Second is the use of robots to pre-process surfaces prior to CNC polishing, to reduce total process time. The third draws the threads together, describing our vision of the automated manufacturing cell, where the operator interacts at cell rather than machine level. This promises to deliver a step-change in end-to-end manufacturing times and costs, compared with either platform used on its own or, indeed, the state-of-the-art used elsewhere.

Monocular Vision-Based Robot Localization and Target Tracking

Directory of Open Access Journals (Sweden)

Bing-Fei Wu

2011-01-01

Full Text Available This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.

Design and analysis on robotic arm for serving hazard container

Science.gov (United States)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Yi, Khoo Zern; Daud, Mohd Hisam

2017-09-01

This paper presents about design, analyses development and fabrication of robotic arm for sorting multi-material. The major problem that urges the initiation of the project is the fact that manufacturing industry is growing at relatively faster rate. Most of the company produce high load robotic arm. Less company creates light weight, and affordable robotic arm. As the result, light weight and affordable robot is developing to cover this issue. Plastic material was used to construct the body of the robotic arm, and an optical sensor was implemented to provide basic recognition of object to be carried. The robotic arm used five servomotors for overall operation; four for its joints, and one for the gripping mechanism. The gripper was designed and fabricated using Perspex due to the light weight and high strength of the material. The operation of the robotic arm was governed by Basic Stamp programming sequence and the device was expected to differentiate material and other objects based on reflective theory, and perform subsequent operations afterwards. The SolidWorks was used to model the detail design of the robotic arm, and to simulate the motion of the device.

Transient Response in Monolithic Mach-Zehnder Optical Modulator Using (Ba,Sr)TiO3 Film Sputtered at Low Temperature on Silicon

Science.gov (United States)

Suzuki, Masato; Nagata, Kazuma; Tanushi, Yuichiro; Yokoyama, Shin

2007-04-01

We have fabricated Mach-Zhender interferometers (MZIs) using the (Ba,Sr)TiO3 (BST) film sputter-deposited at 450 °C, which is a critical temperature for the process after metallization. An optical modulation of about 10% is achieved when 200 V is applied (electric field in BST is 1.2× 104 V/cm). However, the response time of optical modulation to step function voltage is slow (1.0-6.3 s). We propose a model for the slow transient behavior based on movable ions and a long dielectric relaxation time for the BST film, and good qualitative agreement is obtained with experimental results.

An Orientation Sensor for Mobile Robots Using Differentials

Directory of Open Access Journals (Sweden)

Wei-Chen Lee

2013-02-01

Full Text Available Without access to external guidance, such as landmarks or beacons, indoor mobile robots usually orientate themselves by using magnetic compasses or gyroscopes. However, compasses face interference from steel furniture, and gyroscopes suffer from zero drift errors. This paper proposes an orientation sensor that can be used on differentially driven mobile robots to resolve these issues. The sensor innovatively combines the general differentials and an optical encoder so that it can provide only the orientation information. Such a sensor has not been described in any known literature and is cost-efficient compared to the common method of using two encoders for differentially driven mobile robots. The kinematic analysis and the mechanical design of this sensor are presented in this paper. The maximum mean error of the proposed orientation sensor was about 0.7° during the component tests. The application of the sensor on a vacuum cleaning robot was also demonstrated. The use of the proposed sensor may provide less uncertain orientation data for an indoor differentially driven mobile robot.

4D printed actuators with soft-robotic functions

NARCIS (Netherlands)

López-Valdeolivas, M.; Liu, D.; Broer, D.J.; Sánchez-Somolinos, C.

2018-01-01

Soft matter elements undergoing programed, reversible shape change can contribute to fundamental advance in areas such as optics, medicine, microfluidics, and robotics. Crosslinked liquid crystalline polymers have demonstrated huge potential to implement soft responsive elements; however, the

Fully automated MRI-guided robotics for prostate brachytherapy

International Nuclear Information System (INIS)

Stoianovici, D.; Vigaru, B.; Petrisor, D.; Muntener, M.; Patriciu, A.; Song, D.

2008-01-01

The uncertainties encountered in the deployment of brachytherapy seeds are related to the commonly used ultrasound imager and the basic instrumentation used for the implant. An alternative solution is under development in which a fully automated robot is used to place the seeds according to the dosimetry plan under direct MRI-guidance. Incorporation of MRI-guidance creates potential for physiological and molecular image-guided therapies. Moreover, MRI-guided brachytherapy is also enabling for re-estimating dosimetry during the procedure, because with the MRI the seeds already implanted can be localised. An MRI compatible robot (MrBot) was developed. The robot is designed for transperineal percutaneous prostate interventions, and customised for fully automated MRI-guided brachytherapy. With different end-effectors, the robot applies to other image-guided interventions of the prostate. The robot is constructed of non-magnetic and dielectric materials and is electricity free using pneumatic actuation and optic sensing. A new motor (PneuStep) was purposely developed to set this robot in motion. The robot fits alongside the patient in closed-bore MRI scanners. It is able to stay fully operational during MR imaging without deteriorating the quality of the scan. In vitro, cadaver, and animal tests showed millimetre needle targeting accuracy, and very precise seed placement. The robot tested without any interference up to 7T. The robot is the first fully automated robot to function in MRI scanners. Its first application is MRI-guided seed brachytherapy. It is capable of automated, highly accurate needle placement. Extensive testing is in progress prior to clinical trials. Preliminary results show that the robot may become a useful image-guided intervention instrument. (author)

Getting started with robotics in general surgery with cholecystectomy: the Canadian experience

Science.gov (United States)

Jayaraman, Shiva; Davies, Ward; Schlachta, Christopher M.

2009-01-01

Background The value of robotics in general surgery may be for advanced minimally invasive procedures. Unlike other specialties, formal fellowship training opportunities for robotic general surgery are few. As a result, most surgeons currently develop robotic skills in practice. Our goal was to determine whether robotic cholecystectomy is a safe and effective bridge to advanced robotics in general surgery. Methods Before performing advanced robotic procedures, 2 surgeons completed the Intuitive Surgical da Vinci training course and agreed to work together on all procedures. Clinical surgery began with da Vinci cholecystectomy with a plan to begin advanced procedures after at least 10 cholecystectomies. We performed a retrospective review of our pilot series of robotic cholecystectomies and compared them with contemporaneous laparoscopic controls. The primary outcome was safety, and the secondary outcome was learning curve. Results There were 16 procedures in the robotics arm and 20 in the laparoscopic arm. Two complications (da Vinci port-site hernia, transient elevation of liver enzymes) occurred in the robotic arm, whereas only 1 laparoscopic patient (slow to awaken from anesthetic) experienced a complication. None was significant. The mean time required to perform robotic cholecystectomy was significantly longer than laparoscopic surgery (91 v. 41 min, p robotic procedures (14 v. 11 min, p = 0.015). We observed a trend showing longer mean anesthesia time for robotic procedures (23 v. 15 min). Regarding learning curve, the mean operative time needed for the first 3 robotic procedures was longer than for the last 3 (101 v. 80 min); however, this difference was not significant. Since this experience, the team has confidently gone on to perform robotic biliary, pancreatic, gastresophageal, intestinal and colorectal operations. Conclusion Robotic cholecystectomy can be performed reliably; however, owing to the significant increase in operating room resources, it

Getting started with robotics in general surgery with cholecystectomy: the Canadian experience.

Science.gov (United States)

Jayaraman, Shiva; Davies, Ward; Schlachta, Christopher M

2009-10-01

The value of robotics in general surgery may be for advanced minimally invasive procedures. Unlike other specialties, formal fellowship training opportunities for robotic general surgery are few. As a result, most surgeons currently develop robotic skills in practice. Our goal was to determine whether robotic cholecystectomy is a safe and effective bridge to advanced robotics in general surgery. Before performing advanced robotic procedures, 2 surgeons completed the Intuitive Surgical da Vinci training course and agreed to work together on all procedures. Clinical surgery began with da Vinci cholecystectomy with a plan to begin advanced procedures after at least 10 cholecystectomies. We performed a retrospective review of our pilot series of robotic cholecystectomies and compared them with contemporaneous laparoscopic controls. The primary outcome was safety, and the secondary outcome was learning curve. There were 16 procedures in the robotics arm and 20 in the laparoscopic arm. Two complications (da Vinci port-site hernia, transient elevation of liver enzymes) occurred in the robotic arm, whereas only 1 laparoscopic patient (slow to awaken from anesthetic) experienced a complication. None was significant. The mean time required to perform robotic cholecystectomy was significantly longer than laparoscopic surgery (91 v. 41 min, p robotic procedures (14 v. 11 min, p = 0.015). We observed a trend showing longer mean anesthesia time for robotic procedures (23 v. 15 min). Regarding learning curve, the mean operative time needed for the first 3 robotic procedures was longer than for the last 3 (101 v. 80 min); however, this difference was not significant. Since this experience, the team has confidently gone on to perform robotic biliary, pancreatic, gastresophageal, intestinal and colorectal operations. Robotic cholecystectomy can be performed reliably; however, owing to the significant increase in operating room resources, it cannot be justified for routine use. Our

Burst Alert Robotic Telescope and Optical Afterglows

Czech Academy of Sciences Publication Activity Database

Nekola, Martin; Hudec, René; Jelínek, M.; Kubánek, P.; Polášek, Cyril; Štrobl, Jan

2009-01-01

Roč. 18, 3/4 (2009), s. 374-378 ISSN 1392-0049. [INTEGRAL/BART workshop 2009. Karlovy Vary, 26.03.2009-29.03.2009] R&D Projects: GA ČR GA205/08/1207 Grant - others:ESA(XE) ESA-PECS project No. 98023; Spanish Ministry of Education and Science(ES) AP2003-1407 Institutional research plan: CEZ:AV0Z10030501 Keywords : gamma rays bursts, * observations * robotic telescopes Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics Impact factor: 1.032, year: 2009

SRAO: the first southern robotic AO system

Science.gov (United States)

Law, Nicholas M.; Ziegler, Carl; Tokovinin, Andrei

2016-08-01

We present plans for SRAO, the first Southern Robotic AO system. SRAO will use AO-assisted speckle imaging and Robo-AO-heritage high efficiency observing to confirm and characterize thousands of planet candidates produced by major new transit surveys like TESS, and is the first AO system to be capable of building a comprehensive several-thousand-target multiplicity survey at sub-AU scales across the main sequence. We will also describe results from Robo-AO, the first robotic LGS-AO system. Robo-AO has observed tens of thousands of Northern targets, often using a similar speckle or Lucky-Imaging assisted mode. SRAO will be a moderate-order natural-guide-star adaptive optics system which uses an innovative photoncounting wavefront sensor and EMCCD speckle-imaging camera to guide on faint stars with the 4.1m SOAR telescope. The system will produce diffraction-limited imaging in the NIR on targets as faint as mν = 16. In AO-assisted speckle imaging mode the system will attain the 30-mas visible diffraction limit on targets at least as faint as mν = 17. The system will be the first Southern hemisphere robotic adaptive optics system, with overheads an order of magnitude smaller than comparable systems. Using Robo-AO's proven robotic AO software, SRAO will be capable of observing overheads on sub-minute scales, allowing the observation of at least 200 targets per night. SRAO will attain three times the angular resolution of the Palomar Robo-AO system in the visible.

Robotics

Science.gov (United States)

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

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

Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

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

2016-01-01

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

Panoramic optical-servoing for industrial inspection and repair

Science.gov (United States)

Sallinger, Christian; O'Leary, Paul; Retschnig, Alexander; Kammerhofer, Martin

2004-05-01

Recently specialized robots were introduced to perform the task of inspection and repair in large cylindrical structures such as ladles, melting furnaces and converters. This paper reports on the image processing system and optical servoing for one such a robot. A panoramic image of the vessels inner surface is produced by performing a coordinated robot motion and image acquisition. The level of projective distortion is minimized by acquiring a high density of images. Normalized phase correlation calculated via the 2D Fourier transform is used to calculate the shift between the single images. The narrow strips from the dense image map are then stitched together to build the panorama. The mapping between the panoramic image and the positioning of the robot is established during the stitching of the images. This enables optical feedback. The robots operator can locate a defect on the surface by selecting the area of the image. Calculation of the forward and inverse kinematics enable the robot to automatically move to the location on the surface requiring repair. Experimental results using a standard 6R industrial robot have shown the full functionality of the system concept. Finally, were test measurements carried out successfully, in a ladle at a temperature of 1100° C.

MASTER Optical Detection of the First LIGO/Virgo Neutron Star Binary Merger GW170817

Science.gov (United States)

Lipunov, V. M.; Gorbovskoy, E.; Kornilov, V. G.; . Tyurina, N.; Balanutsa, P.; Kuznetsov, A.; Vlasenko, D.; Kuvshinov, D.; Gorbunov, I.; Buckley, D. A. H.; Krylov, A. V.; Podesta, R.; Lopez, C.; Podesta, F.; Levato, H.; Saffe, C.; Mallamachi, C.; Potter, S.; Budnev, N. M.; Gress, O.; Ishmuhametova, Yu.; Vladimirov, V.; Zimnukhov, D.; Yurkov, V.; Sergienko, Yu.; Gabovich, A.; Rebolo, R.; Serra-Ricart, M.; Israelyan, G.; Chazov, V.; Wang, Xiaofeng; Tlatov, A.; Panchenko, M. I.

2017-11-01

Following the discovery of the gravitational-wave source GW170817 by three Laser Interferometer Gravitational-wave Observatory (LIGO)/Virgo antennae (Abbott et al., 2017a), the MASTER Global Robotic Net telescopes obtained the first image of the NGC 4993 host galaxy. An optical transient, MASTER OTJ130948.10-232253.3/SSS17a was later found, which appears to be a kilonova resulting from the merger of two neutron stars (NSs). Here we describe this independent detection and photometry of the kilonova made in white light, and in B, V, and R filters. We note that the luminosity of this kilonova in NGC 4993 is very close to those measured for other kilonovae possibly associated with gamma-ray burst (GRB) 130603 and GRB 080503.

Liverpool Telescope classification of ATLAS16bdg as a Type Ia supernova near maximum light

Science.gov (United States)

Mundell, C. G.; Smith, R. J.; Childress, M. J.

2016-06-01

On 2016 June 15 at approximately 21:03 UT, we performed multicolour optical imaging, spectroscopy and polarimetry with the 2-m robotic Liverpool Telescope IO:O camera of galaxy NGC4708 in which a bright optical transient was reported by Tonry et al. ATel #9151 (ATLAS16bdg).

A tool to separate optical/infrared disc and jet emission in X-ray transient outbursts: the colour-magnitude diagrams of XTE J1550-564

NARCIS (Netherlands)

Russell, D.M.; Maitra, D.; Dunn, R.J.H.; Fender, R.P.

2011-01-01

It is now established that thermal disc emission and non-thermal jet emission can both play a role at optical/infrared (OIR) wavelengths in X-ray transients. The spectra of the jet and disc components differ, as do their dependence on mass accretion properties. Here we demonstrate that the OIR

Shoulder-Mounted Robot for MRI-guided arthrography: Accuracy and mounting study.

Science.gov (United States)

Monfaredi, R; Wilson, E; Sze, R; Sharma, K; Azizi, B; Iordachita, I; Cleary, K

2015-08-01

A new version of our compact and lightweight patient-mounted MRI-compatible 4 degree-of-freedom (DOF) robot for MRI-guided arthrography procedures is introduced. This robot could convert the traditional two-stage arthrography procedure (fluoroscopy-guided needle insertion followed by a diagnostic MRI scan) to a one-stage procedure, all in the MRI suite. The results of a recent accuracy study are reported. A new mounting technique is proposed and the mounting stability is investigated using optical and electromagnetic tracking on an anthropomorphic phantom. Five volunteer subjects including 2 radiologists were asked to conduct needle insertion in 4 different random positions and orientations within the robot's workspace and the displacement of the base of the robot was investigated during robot motion and needle insertion. Experimental results show that the proposed mounting method is stable and promising for clinical application.

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...

A novel teaching system for industrial robots.

Science.gov (United States)

Lin, Hsien-I; Lin, Yu-Hsiang

2014-03-27

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.

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...

Rapidly Evolving Transients in the Dark Energy Survey

Energy Technology Data Exchange (ETDEWEB)

Pursiainen, M.; et al.

2018-03-13

We present the results of a search for rapidly evolving transients in the Dark Energy Survey Supernova Programme. These events are characterized by fast light curve evolution (rise to peak in $\\lesssim 10$ d and exponential decline in $\\lesssim30$ d after peak). We discovered 72 events, including 37 transients with a spectroscopic redshift from host galaxy spectral features. The 37 events increase the total number of rapid optical transients by more than factor of two. They are found at a wide range of redshifts ($0.05M_\\mathrm{g}>-22.25$). The multiband photometry is well fit by a blackbody up to few weeks after peak. The events appear to be hot ($T\\approx10000-30000$ K) and large ($R\\approx 10^{14}-2\\cdot10^{15}$ cm) at peak, and generally expand and cool in time, though some events show evidence for a receding photosphere with roughly constant temperature. Spectra taken around peak are dominated by a blue featureless continuum consistent with hot, optically thick ejecta. We compare our events with a previously suggested physical scenario involving shock breakout in an optically thick wind surrounding a core-collapse supernova (CCSNe), we conclude that current models for such a scenario might need an additional power source to describe the exponential decline. We find these transients tend to favor star-forming host galaxies, which could be consistent with a core-collapse origin. However, more detailed modeling of the light curves is necessary to determine their physical origin.

Sensory prediction on a whiskered robot: A tactile analogy to "optic flow"

Directory of Open Access Journals (Sweden)

Christopher L Schroeder

2012-10-01

Full Text Available When an animal moves an array of sensors (e.g., the hand, the eye through the environment, spatial and temporal gradients of sensory data are related by the velocity of the moving sensory array. In vision, the relationship between spatial and temporal brightness gradients is quantified in the optical flow equation. In the present work, we suggest an analog to optical flow for the rodent vibrissal (whisker array, in which the perceptual intensity that flows over the array is bending moment. Changes in bending moment are directly related to radial object distance, defined as the distance between the base of a whisker and the point of contact with the object. Using both simulations and a 1x5 array (row of artificial whiskers, we demonstrate that local object curvature can be estimated based on differences in radial distance across the array. We then develop two algorithms, both based on tactile flow, to predict the future contact points that will be obtained as the whisker array translates along the object. The translation of the robotic whisker array represents the rat's head velocity. The first algorithm uses a calculation of the local object slope, while the second uses a calculation of the local object curvature. Both algorithms successfully predict future contact points for simple surfaces. The algorithm based on curvature was found to more accurately predict future contact points as surfaces became more irregular. We quantify the inter-related effects of whisker spacing and the object’s spatial frequencies, and examine the issues that arise in the presence of real-world noise, friction, and slip.

A Simple Solution for Programming of a Robotic Arm

Directory of Open Access Journals (Sweden)

Bogdan Laurean

2014-12-01

Full Text Available This paper presents a method to actuate, programming and control of a Robotic arm based on a monomobil telescopic planetary gear and a DC motor. Experimental model of robot was designed and manufactured at the Faculty of Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02. The DC motor as actuator rotates a reel. The wires on the reel will produce a linear displacement of telescopic modules. The command of the DC motor is realized by a programmable logic controller. The outputs of the programmable logic controller are connected in a "H" bridge. The rotation of the reel in one direction or another has the effect of lengthening or shortening the robotic arm. The value of robotic arm length is monitored by an optical incremental encoder. The value of displacement will correspond to number of steps from an up/down counter.

Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots

Directory of Open Access Journals (Sweden)

Rene de Jesus Romero-Troncoso

2011-04-01

Full Text Available Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint’s angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

Fused smart sensor network for multi-axis forward kinematics estimation in industrial robots.

Science.gov (United States)

Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus

2011-01-01

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint's angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.

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

Agile beam laser radar using computational imaging for robotic perception

Science.gov (United States)

Powers, Michael A.; Stann, Barry L.; Giza, Mark M.

2015-05-01

This paper introduces a new concept that applies computational imaging techniques to laser radar for robotic perception. We observe that nearly all contemporary laser radars for robotic (i.e., autonomous) applications use pixel basis scanning where there is a one-to-one correspondence between world coordinates and the measurements directly produced by the instrument. In such systems this is accomplished through beam scanning and/or the imaging properties of focal-plane optics. While these pixel-basis measurements yield point clouds suitable for straightforward human interpretation, the purpose of robotic perception is the extraction of meaningful features from a scene, making human interpretability and its attendant constraints mostly unnecessary. The imposing size, weight, power and cost of contemporary systems is problematic, and relief from factors that increase these metrics is important to the practicality of robotic systems. We present a system concept free from pixel basis sampling constraints that promotes efficient and adaptable sensing modes. The cornerstone of our approach is agile and arbitrary beam formation that, when combined with a generalized mathematical framework for imaging, is suited to the particular challenges and opportunities of robotic perception systems. Our hardware concept looks toward future systems with optical device technology closely resembling modern electronically-scanned-array radar that may be years away from practicality. We present the design concept and results from a prototype system constructed and tested in a laboratory environment using a combination of developed hardware and surrogate devices for beam formation. The technological status and prognosis for key components in the system is discussed.

Wide Field Radio Transient Surveys

Science.gov (United States)

Bower, Geoffrey

2011-04-01

The time domain of the radio wavelength sky has been only sparsely explored. Nevertheless, serendipitous discovery and results from limited surveys indicate that there is much to be found on timescales from nanoseconds to years and at wavelengths from meters to millimeters. These observations have revealed unexpected phenomena such as rotating radio transients and coherent pulses from brown dwarfs. Additionally, archival studies have revealed an unknown class of radio transients without radio, optical, or high-energy hosts. The new generation of centimeter-wave radio telescopes such as the Allen Telescope Array (ATA) will exploit wide fields of view and flexible digital signal processing to systematically explore radio transient parameter space, as well as lay the scientific and technical foundation for the Square Kilometer Array. Known unknowns that will be the target of future transient surveys include orphan gamma-ray burst afterglows, radio supernovae, tidally-disrupted stars, flare stars, and magnetars. While probing the variable sky, these surveys will also provide unprecedented information on the static radio sky. I will present results from three large ATA surveys (the Fly's Eye survey, the ATA Twenty CM Survey (ATATS), and the Pi GHz Survey (PiGSS)) and several small ATA transient searches. Finally, I will discuss the landscape and opportunities for future instruments at centimeter wavelengths.

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…

More steps towards process automation for optical fabrication

Science.gov (United States)

Walker, David; Yu, Guoyu; Beaucamp, Anthony; Bibby, Matt; Li, Hongyu; McCluskey, Lee; Petrovic, Sanja; Reynolds, Christina

2017-06-01

In the context of Industrie 4.0, we have previously described the roles of robots in optical processing, and their complementarity with classical CNC machines, providing both processing and automation functions. After having demonstrated robotic moving of parts between a CNC polisher and metrology station, and auto-fringe-acquisition, we have moved on to automate the wash-down operation. This is part of a wider strategy we describe in this paper, leading towards automating the decision-making operations required before and throughout an optical manufacturing cycle.

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

Wave-guided Optical Waveguides tracked and coupled using dynamic diffractive optics

DEFF Research Database (Denmark)

Glückstad, Jesper; Villangca, Mark Jayson; Bañas, Andrew Rafael

With light’s miniscule momentum, shrinking robotics down to the micro- and nano-scale regime creates opportunities for exploiting optical forces and near-field light delivery in advanced actuation and control atthe smallest physical dimensions. Advancing light-driven nano- or micro-actuation requ......With light’s miniscule momentum, shrinking robotics down to the micro- and nano-scale regime creates opportunities for exploiting optical forces and near-field light delivery in advanced actuation and control atthe smallest physical dimensions. Advancing light-driven nano- or micro...... waveguides (WOWs) [2]. As the WOWs are optically trapped and maneuvered in 3D-space, it is important to maintain efficient light-coupling through these free-standing waveguides within their operating volume [3]. We propose the use ofdynamic diffractive techniques to create focal spots that will track...... and couple to the WOWs during full volume operation. This is done by using a spatial light modulator to encode the necessary diffractive phase patterns to generate the multiple and dynamic coupling spots. The method is initially tested for a single WOW and we have experimentally demonstrated dynamic tracking...

A lightweight, inexpensive robotic system for insect vision.

Science.gov (United States)

Sabo, Chelsea; Chisholm, Robert; Petterson, Adam; Cope, Alex

2017-09-01

Designing hardware for miniaturized robotics which mimics the capabilities of flying insects is of interest, because they share similar constraints (i.e. small size, low weight, and low energy consumption). Research in this area aims to enable robots with similarly efficient flight and cognitive abilities. Visual processing is important to flying insects' impressive flight capabilities, but currently, embodiment of insect-like visual systems is limited by the hardware systems available. Suitable hardware is either prohibitively expensive, difficult to reproduce, cannot accurately simulate insect vision characteristics, and/or is too heavy for small robotic platforms. These limitations hamper the development of platforms for embodiment which in turn hampers the progress on understanding of how biological systems fundamentally work. To address this gap, this paper proposes an inexpensive, lightweight robotic system for modelling insect vision. The system is mounted and tested on a robotic platform for mobile applications, and then the camera and insect vision models are evaluated. We analyse the potential of the system for use in embodiment of higher-level visual processes (i.e. motion detection) and also for development of navigation based on vision for robotics in general. Optic flow from sample camera data is calculated and compared to a perfect, simulated bee world showing an excellent resemblance. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Adjustment of gripping force by optical systems

Science.gov (United States)

Jalba, C. K.; Barz, C.

2018-01-01

With increasing automation, robotics also requires ever more intelligent solutions in the handling of various tasks. In this context, many grippers must also be re-designed. For this, they must always be adapted for different requirements. The equipment of the gripper systems with sensors should help to make the gripping process more intelligent. In order to achieve such objectives, optical systems can also be used. This work analyzes how the gripping force can be adjusted by means of an optical recognition. The result of this work is the creation of a connection between optical recognition, tolerances, gripping force and real-time control. In this way, algorithms can be created, with the aid of which robot grippers as well as other gripping systems become more intelligent.

A study on dynamically reconfigurable robotic systems, 3

International Nuclear Information System (INIS)

Fukuda, Toshio; Kawauchi, Yoshio; Buss, M.; Asama, Hajime.

1990-01-01

The dynamically reconfigurable robotic system (DRRS) is a new kind of robotic system which is able to reconfigurate itself to an optimal structure depending on the purpose and exvironment. To realize this concept, we proposed the CEBOT (cell-structured robot). Communication is needed in the CEBOT system as follows. When cells are separated, a communication master cell needs to know the other cell's function and position and determine the target cell for docking. Mobile cells should be able to coordinate with other mobile cell. When cells are docked, forming a cell structure/module, a master cell should control the bending joint cell and know which cells the construction is composed of. In this paper, we propose a communication protocol for both cases with optical sensor applicable to CEBOT. Some experimental results are shown by realizing the proposed communication method between cells. (author)

Polymer optical fiber strain gauge for human-robot interaction forces assessment on an active knee orthosis

Science.gov (United States)

Leal-Junior, Arnaldo G.; Frizera, Anselmo; Marques, Carlos; Sánchez, Manuel R. A.; Botelho, Thomaz R.; Segatto, Marcelo V.; Pontes, Maria José

2018-03-01

This paper presents the development of a polymer optical fiber (POF) strain gauge based on the light coupling principle, which the power attenuation is created by the misalignment between two POFs. The misalignment, in this case, is proportional to the strain on the structure that the fibers are attached. This principle has the advantages of low cost, ease of implementation, temperature insensitiveness, electromagnetic fields immunity and simplicity on the sensor interrogation and signal processing. Such advantages make the proposed solution an interesting alternative to the electronic strain gauges. For this reason, an analytical model for the POF strain gauge is proposed and validated. Furthermore, the proposed POF sensor is applied on an active orthosis for knee rehabilitation exercises through flexion/extension cycles. The controller of the orthosis provides 10 different levels of robotic assistance on the flexion/extension movement. The POF strain gauge is tested at each one of these levels. Results show good correlation between the optical and electronic strain gauges with root mean squared deviation (RMSD) of 1.87 Nm when all cycles are analyzed, which represents a deviation of less than 8%. For the application, the proposed sensor presented higher stability than the electronic one, which can provide advantages on the rehabilitation exercises and on the inner controller of the device.

Initial experience with a robotically operated video optical telescopic-microscope in cranial neurosurgery: feasibility, safety, and clinical applications.

Science.gov (United States)

Gonen, Lior; Chakravarthi, Srikant S; Monroy-Sosa, Alejandro; Celix, Juanita M; Kojis, Nathaniel; Singh, Maharaj; Jennings, Jonathan; Fukui, Melanie B; Rovin, Richard A; Kassam, Amin B

2017-05-01

OBJECTIVE The move toward better, more effective optical visualization in the field of neurosurgery has been a focus of technological innovation. In this study, the authors' objectives are to describe the feasibility and safety of a new robotic optical platform, namely, the robotically operated video optical telescopic-microscope (ROVOT-m), in cranial microsurgical applications. METHODS A prospective database comprising patients who underwent a cranial procedure between April 2015 and September 2016 was queried, and the first 200 patients who met the inclusion criteria were selected as the cohort for a retrospective chart review. Only adults who underwent microsurgical procedures in which the ROVOT-m was used were considered for the study. Preoperative, intraoperative, and postoperative data were retrieved from electronic medical records. The authors address the feasibility and safety of the ROVOT-m by studying various intraoperative variables and by reporting perioperative morbidity and mortality, respectively. To assess the learning curve, cranial procedures were categorized into 6 progressively increasing complexity groups. The main categories of pathology were I) intracerebral hemorrhages (ICHs); II) intraaxial tumors involving noneloquent regions or noncomplex extraaxial tumors; III) intraaxial tumors involving eloquent regions; IV) skull base pathologies; V) intraventricular lesions; and VI) cerebrovascular lesions. In addition, the entire cohort was evenly divided into early and late cohorts. RESULTS The patient cohort comprised 104 female (52%) and 96 male (48%) patients with a mean age of 56.7 years. The most common pathological entities encountered were neoplastic lesions (153, 76.5%), followed by ICH (20, 10%). The distribution of cases by complexity categories was 11.5%, 36.5%, 22%, 20%, 3.5%, and 6.5% for Categories I, II, II, IV, V, and VI, respectively. In all 200 cases, the surgical goal was achieved without the need for intraoperative conversion

The search for optical emission on and before the GRB trigger with the WIDGET telescope

Energy Technology Data Exchange (ETDEWEB)

Tamagawa, T. [RIKEN, Saitama (Japan); Usui, F. [Japan Aerospace Exploration Agency, Kanakawa (Japan). Institute of Space and Astronautical Science Sagamihara; Urata, Y. [RIKEN, Saitama (Japan); Tokyo Institute of Technology, Tokyo (Japan)] (and others)

2005-07-15

WIDGET is a robotic telescope for monitoring the HETE-2 field-of-view to detect Gamma-Ray Burst optical flashes or possible optical precursors. The system has 62{sup o} wide field-of-view which covers about 80% of HETE-2 one with a 2k x 2k Apogee U10 CCD camera and a Canon EF 24 mm f/1.4 wide-angle lens without a band pass filter. WIDGET has been in operation since June 2004 at Akeno observing site where is about 200 Km apart from Tokyo. Typical limiting magnitude with S/N = 3 at the site is V = 10{sup mag} for 5 seconds exposure and V = 11{sup mag} for 30 seconds exposure. We had already six coincident observations with the HETE-2 position alerts. It was, however, cloudy for all cases due to rainy season in Japan. The expected number of coincident observations under clear sky is about 5 events per year. We will extend the system in early 2005 for Swift era to monitor optical transients in wider field-of-view, multi-color or polarization modes.

Towards Versatile Robots Through Open Heterogeneous Modular Robots

DEFF Research Database (Denmark)

Lyder, Andreas

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

Transient Infrared Emission Spectroscopy

Science.gov (United States)

Jones, Roger W.; McClelland, John F.

1989-12-01

Transient Infrared Emission Spectroscopy (TIRES) is a new technique that reduces the occurrence of self-absorption in optically thick solid samples so that analytically useful emission spectra may be observed. Conventional emission spectroscopy, in which the sample is held at an elevated, uniform temperature, is practical only for optically thin samples. In thick samples the emission from deep layers of the material is partially absorbed by overlying layers.1 This self-absorption results in emission spectra from most optically thick samples that closely resemble black-body spectra. The characteristic discrete emission bands are severely truncated and altered in shape. TIRES bypasses this difficulty by using a laser to heat only an optically thin surface layer. The increased temperature of the layer is transient since the layer will rapidly cool and thicken by thermal diffusion; hence the emission collection must be correlated with the laser heating. TIRES may be done with both pulsed and cw lasers.2,3 When a pulsed laser is used, the spectrometer sampling must be synchronized with the laser pulsing so that only emission during and immediately after each laser pulse is observed.3 If a cw laser is used, the sample must move rapidly through the beam. The hot, transient layer is then in the beam track on the sample at and immediately behind the beam position, so the spectrometer field of view must be limited to this region near the beam position.2 How much self-absorption the observed emission suffers depends on how thick the heated layer has grown by thermal diffusion when the spectrometer samples the emission. Use of a pulsed laser synchronized with the spectrometer sampling readily permits reduction of the time available for heat diffusion to about 100 acs .3 When a cw laser is used, the heat-diffusion time is controlled by how small the spectrometer field of view is and by how rapidly the sample moves past within this field. Both a very small field of view and a

The BOOTES-5 telescope at San Pedro Martir National Astronomical Observatory, Mexico

Science.gov (United States)

Hiriart, D.; Valdez, J.; Martínez, B.; García, B.; Cordova, A.; Colorado, E.; Guisa, G.; Ochoa, J. L.; Nuñez, J. M.; Ceseña, U.; Cunniffe, R.; Murphy, D.; Lee, W.; Park, Il H.; Castro-Tirado, A. J.

2016-12-01

BOOTES-5 is the fifth robotic observatory of the international network of robotic telescopes BOOTES (Burst Observer and Optical Transient Exploring Optical System). It is located at the National Astronomical Observatory at Sierra San Pedro Martir, Baja California, Mexico. It was dedicated on November 26, 2015 and it is in the process of testing. Its main scientific objective is the observation and monitoring of the optic counterparts of gamma-ray bursts as quickly as possible once they have been detected from space or other ground-based observatories. BOOTES-5 fue nombrado Telescopio Javier Gorosabel en memoria del astrónomo español Javier Gorosabel Urkia.

Reprogramming the articulated robotic arm for glass handling by using Arduino microcontroller

Science.gov (United States)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Kadir, Mohd Asmadi Akmal; Daud, Mohd Hisam

2017-09-01

The application of articulated robotic arm in industries is raised due to the expansion of using robot to replace human task, especially for the harmful tasks. However a few problems happen with the program use to schedule the arm, Thus the purpose of this project is to design, fabricate and integrate an articulated robotic arm by using Arduino microcontroller for handling glass sorting system. This project was designed to segregate glass and non-glass waste which would be pioneer step for recycling. This robotic arm has four servo motors to operate as a whole; three for the body and one for holding mechanism. This intelligent system is controlled by Arduino microcontroller and build with optical sensor to provide the distinguish objects that will be handled. Solidworks model was used to produce the detail design of the robotic arm and make the mechanical properties analysis by using a CAD software.

An integrated movement capture and control platform applied towards autonomous movements of surgical robots.

Science.gov (United States)

Daluja, Sachin; Golenberg, Lavie; Cao, Alex; Pandya, Abhilash K; Auner, Gregory W; Klein, Michael D

2009-01-01

Robotic surgery has gradually gained acceptance due to its numerous advantages such as tremor filtration, increased dexterity and motion scaling. There remains, however, a significant scope for improvement, especially in the areas of surgeon-robot interface and autonomous procedures. Previous studies have attempted to identify factors affecting a surgeon's performance in a master-slave robotic system by tracking hand movements. These studies relied on conventional optical or magnetic tracking systems, making their use impracticable in the operating room. This study concentrated on building an intrinsic movement capture platform using microcontroller based hardware wired to a surgical robot. Software was developed to enable tracking and analysis of hand movements while surgical tasks were performed. Movement capture was applied towards automated movements of the robotic instruments. By emulating control signals, recorded surgical movements were replayed by the robot's end-effectors. Though this work uses a surgical robot as the platform, the ideas and concepts put forward are applicable to telerobotic systems in general.

Robotic Anterior and Midline Skull Base Surgery: Preclinical Investigations

International Nuclear Information System (INIS)

O'Malley, Bert W.; Weinstein, Gregory S.

2007-01-01

Purpose: To develop a minimally invasive surgical technique to access the midline and anterior skull base using the optical and technical advantages of robotic surgical instrumentation. Methods and Materials: Ten experimental procedures focusing on approaches to the nasopharynx, clivus, sphenoid, pituitary sella, and suprasellar regions were performed on one cadaver and one live mongrel dog. Both the cadaver and canine procedures were performed in an approved training facility using the da Vinci Surgical Robot. For the canine experiments, a transoral robotic surgery (TORS) approach was used, and for the cadaver a newly developed combined cervical-transoral robotic surgery (C-TORS) approach was investigated and compared with standard TORS. The ability to access and dissect tissues within the various areas of the midline and anterior skull base were evaluated, and techniques to enhance visualization and instrumentation were developed. Results: Standard TORS approaches did not provide adequate access to the midline and anterior skull base; however, the newly developed C-TORS approach was successful in providing the surgical access to these regions of the skull base. Conclusion: Robotic surgery is an exciting minimally invasive approach to the skull base that warrants continued preclinical investigation and development

Innovative instrumentation for detecting optical transients in the hypothesis of a new improved mirror at solar furnace of Almeria

Energy Technology Data Exchange (ETDEWEB)

Nanni, D.; Bartolini, C.; Cosentino, G.; Guarnieri, A.; Piccioni, A.; Beskin, G.; La Padula, C.

2002-07-01

The improvement of the solar Furnace mirror as light collector, with an expected Point Spread Function (PSF) of about less than 0.1 degree centigree, could provide a sufficient image definition for astronomical observations of Optical Transients (OTs). Wide-angle large aperture optics, combined with a finely pixelated imaging camera located in the focal plane 7.50 meters away from the mirrors, could offer a field of view (FOV) of 3 degree centigree diameter (30cm length). All these requirements involve the filling of focal plane by means of light having a spatial resolution of few millimeters and a time-resolution of the imager in the range of 50-1000 frame/s. A realistic approach, with regard to such demanding resolution, could be reached exploring properties of devices alternative to Photo-Multipliers tube (PMT) such as Multi Anode Photomultiplier tubes (MAPMT), semiconductor and hybrid devices (CCD, CMOS, HPD, Amorphous silicon detector etc.). These sensors, that during the last years have had a rapid development triggered by scientific, industrial and medical requirement, used or individually or coupled with optical field de magnifier (e. g. Tapers), present an efficient photon detection and a very high spatial resolution. (Author) 12 refs.

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

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

An unusually brilliant transient in the galaxy M85.

Science.gov (United States)

Kulkarni, S R; Ofek, E O; Rau, A; Cenko, S B; Soderberg, A M; Fox, D B; Gal-Yam, A; Capak, P L; Moon, D S; Li, W; Filippenko, A V; Egami, E; Kartaltepe, J; Sanders, D B

2007-05-24

Historically, variable and transient sources have both surprised astronomers and provided new views of the heavens. Here we report the discovery of an optical transient in the outskirts of the lenticular galaxy Messier 85 in the Virgo cluster. With a peak absolute R magnitude of -12, this event is distinctly brighter than novae, but fainter than type Ia supernovae (which are expected in a population of old stars in lenticular galaxies). Archival images of the field do not show a luminous star at that position with an upper limit in the g filter of about -4.1 mag, so it is unlikely to be a giant eruption from a luminous blue variable star. Over a two-month period, the transient source emitted radiation energy of almost 10(47) erg and subsequently faded in the optical sky. It is similar to, but six times more luminous at peak than, an enigmatic transient in the galaxy M31 (ref. 1). A possible origin of M85 OT2006-1 is a stellar merger. If so, searches for similar events in nearby galaxies will not only allow study of the physics of hyper-Eddington sources, but also probe an important phase in the evolution of stellar binary systems.

Robot engineering

Energy Technology Data Exchange (ETDEWEB)

Jung, Seul

2006-02-15

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

Robot engineering

International Nuclear Information System (INIS)

Jung, Seul

2006-02-01

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

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

OpenAIRE

Cheng, Frank Shaopeng

2008-01-01

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

Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

Science.gov (United States)

Park, Yong-Lae; Black, Richard; Moslehi, Behzad; Cutkosky, Mark; Chau, Kelvin

2012-01-01

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

Directory of Open Access Journals (Sweden)

Ricard Campos

2016-03-01

Full Text Available Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project.

Nonlinear Diffusion and Transient Osmosis

International Nuclear Information System (INIS)

Igarashi, Akira; Rondoni, Lamberto; Botrugno, Antonio; Pizzi, Marco

2011-01-01

We investigate both analytically and numerically the concentration dynamics of a solution in two containers connected by a narrow and short channel, in which diffusion obeys a porous medium equation. We also consider the variation of the pressure in the containers due to the flow of matter in the channel. In particular, we identify a phenomenon, which depends on the transport of matter across nano-porous membranes, which we call ''transient osmosis . We find that nonlinear diffusion of the porous medium equation type allows numerous different osmotic-like phenomena, which are not present in the case of ordinary Fickian diffusion. Experimental results suggest one possible candidate for transiently osmotic processes. (electromagnetism, optics, acoustics, heat transfer, classical mechanics, and fluid dynamics)

Localization from Visual Landmarks on a Free-Flying Robot

Science.gov (United States)

Coltin, Brian; Fusco, Jesse; Moratto, Zack; Alexandrov, Oleg; Nakamura, Robert

2016-01-01

We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.

Pose estimation for mobile robots working on turbine blade

Energy Technology Data Exchange (ETDEWEB)

Ma, X.D.; Chen, Q.; Liu, J.J.; Sun, Z.G.; Zhang, W.Z. [Tsinghua Univ., Beijing (China). Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering

2009-03-11

This paper discussed a features point detection and matching task technique for mobile robots used in wind turbine blade applications. The vision-based scheme used visual information from the robot's surrounding environment to match successive image frames. An improved pose estimation algorithm based on a scale invariant feature transform (SIFT) was developed to consider the characteristics of local images of turbine blades, pose estimation problems, and conditions. The method included a pre-subsampling technique for reducing computation and bidirectional matching for improving precision. A random sample consensus (RANSAC) method was used to estimate the robot's pose. Pose estimation conditions included a wide pose range; the distance between neighbouring blades; and mechanical, electromagnetic, and optical disturbances. An experimental platform was used to demonstrate the validity of the proposed algorithm. 20 refs., 6 figs.

Flocking multiple microparticles with automatically controlled optical tweezers: solutions and experiments.

Science.gov (United States)

Chen, Haoyao; Wang, Can; Lou, Yunjiang

2013-06-01

This paper presents an efficient approach to achieve microparticles flocking with robotics and optical tweezers technologies. All particles trapped by optical tweezers can be automatically moved toward a predefined region without collision. The main contribution of this paper lies in the proposal of several solutions to the flocking manipulation of microparticles in microenvironments. First, a simple flocking controller is proposed to generate the desired positions and velocities for particles' movement. Second, a velocity saturation method is implemented to prevent the desired velocities from exceeding a safe limit. Third, a two-layer control architecture is proposed for the motion control of optical tweezers. This architecture can help make many robotic manipulations achievable under microenvironments. The proposed approach with these solutions can be applied to many bioapplications especially in cell engineering and biomedicine. Experiments on yeast cells with a robot-tweezers system are finally performed to verify the effectiveness of the proposed approach.

Generic robot architecture

Science.gov (United States)

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

2010-09-21

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

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

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

2017-01-01

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

Phase-dependent Photometric and Spectroscopic Characterization of the MASTER-Net Optical Transient J212444.87+321738.3: An Oxygen-rich Mira

Science.gov (United States)

Ghosh, Supriyo; Mondal, Soumen; Das, Ramkrishna; Banerjee, D. P. K.; Ashok, N. M.; Hambsch, Franz-Josef; Dutta, Somnath

2018-05-01

We describe the time-dependent properties of a new spectroscopically confirmed Mira variable, which was discovered in 2013 as MASTER-Net Optical Transient J212444.87+321738.3 toward the Cygnus constellation. We have performed long-term optical/near-infrared (NIR) photometric and spectroscopic observations to characterize the object. From the optical/NIR light curves, we estimate a variability period of 465 ± 30 days. The wavelength-dependent amplitudes of the observed light curves range from ΔI ∼ 4 mag to ΔK ∼ 1.5 mag. The (J ‑ K) color index varies from 1.78 to 2.62 mag over phases. Interestingly, a phase lag of ∼60 days between optical and NIR light curves is also seen, as in other Miras. Our optical/NIR spectra show molecular features of TiO, VO, CO, and strong water bands that are a typical signature of oxygen-rich Mira. We rule out S- or C-type as ZrO bands at 1.03 and 1.06 μm and C2 band at 1.77 μm are absent. We estimate the effective temperature of the object from the Spectral Energy Distribution, and distance and luminosity from standard Period–Luminosity relations. The optical/NIR spectra display time-dependent atomic and molecular features (e.g., TiO, Na I, Ca I, H2O, CO), as commonly observed in Miras. Such spectroscopic observations are useful for studying pulsation variability in Miras.

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Directory of Open Access Journals (Sweden)

Farshad Arvin

2014-07-01

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

Radio and white-light observations of coronal transients

International Nuclear Information System (INIS)

Dulk, G.A.

1980-01-01

Optical, radio and X-ray evidence of violent mass motions in the corona has existed for some years but only recently have the form, nature, frequency and implication of the transients become obvious. The author reviews the observed properties of coronal transients, concentrating on the white-light and radio manifestations. The classification according to speeds seems to be meaningful, with the slow transients having thermal emissions at radio wavelengths and the fast ones non-thermal. The possible mechanisms involved in the radio bursts are discussed and the estimates of various forms of energy are reviewed. It appears that the magnetic energy transported from the Sun by the transient exceeds that of any other form, and that magnetic forces dominate in the dynamics of the motions. The conversion of magnetic energy into mechanical energy, by expansion of the fields, provides a possible driving force for the coronal and interplanetary shock waves. (Auth.)

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

Science.gov (United States)

Wehner, Walter S.

2014-01-01

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

Spectroscopic study of the optical counterpart to the fast X-ray transient IGR J17544-2619 based on observations at the 1.5-m RTT-150 telescope

Science.gov (United States)

Bikmaev, I. F.; Nikolaeva, E. A.; Shimansky, V. V.; Galeev, A. I.; Zhuchkov, R. Ya.; Irtuganov, E. N.; Melnikov, S. S.; Sakhibullin, N. A.; Grebenev, S. A.; Sharipova, L. M.

2017-10-01

We present the results of our long-term photometric and spectroscopic observations at the Russian-Turkish RTT-150 telescope for the optical counterpart to one of the best-known sources, representatives of the class of fast X-ray transients, IGR J17544-2619. Based on our optical data, we have determined for the first time the orbital and physical parameters of the binary system by the methods of Doppler spectroscopy.We have calculated theoretical spectra of the optical counterpart by applying non- LTE corrections for selected lines and obtained the parameters of the stellar atmosphere ( T eff = 33 000 K, log g = 3.85, R = 9.5 R ⊙, and M = 23 M ⊙). The latter suggest that the optical star is not a supergiant as has been thought previously.

Transient Micromotors That Disappear When No Longer Needed.

Science.gov (United States)

Chen, Chuanrui; Karshalev, Emil; Li, Jinxing; Soto, Fernando; Castillo, Roxanne; Campos, Isaac; Mou, Fangzhi; Guan, Jianguo; Wang, Joseph

2016-11-22

Transient self-destroyed micromotors that autonomously disappear in biological media at controlled rates upon completing their task, without leaving a toxic residue, are presented. The propulsion and degradation characteristics of the self-destroyed Mg/ZnO, Mg/Si, and Zn/Fe Janus micromotors and single-component Zn micromotors are described. The degradation of the Janus micromotors relies on the different corrosion rates of their core-shell components. Inductively coupled plasma optical emission spectrometry measurements are used to probe the time-dependent degradation of the different constituents of the micromotors. The toxicity of the transient micromotors is discussed toward their potential use in biomedical applications. This concept of transient micromotors offers considerable potential for diverse practical applications in the near future.

Relative hardness measurement of soft objects by a new fiber optic sensor

Science.gov (United States)

Ahmadi, Roozbeh; Ashtaputre, Pranav; Abou Ziki, Jana; Dargahi, Javad; Packirisamy, Muthukumaran

2010-06-01

The measurement of relative hardness of soft objects enables replication of human finger tactile perception capabilities. This ability has many applications not only in automation and robotics industry but also in many other areas such as aerospace and robotic surgery where a robotic tool interacts with a soft contact object. One of the practical examples of interaction between a solid robotic instrument and a soft contact object occurs during robotically-assisted minimally invasive surgery. Measuring the relative hardness of bio-tissue, while contacting the robotic instrument, helps the surgeons to perform this type of surgery more reliably. In the present work, a new optical sensor is proposed to measure the relative hardness of contact objects. In order to measure the hardness of a contact object, like a human finger, it is required to apply a small force/deformation to the object by a tactile sensor. Then, the applied force and resulting deformation should be recorded at certain points to enable the relative hardness measurement. In this work, force/deformation data for a contact object is recorded at certain points by the proposed optical sensor. Recorded data is used to measure the relative hardness of soft objects. Based on the proposed design, an experimental setup was developed and experimental tests were performed to measure the relative hardness of elastomeric materials. Experimental results verify the ability of the proposed optical sensor to measure the relative hardness of elastomeric samples.

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.

IntelliTable: Inclusively-Designed Furniture with Robotic Capabilities.

Science.gov (United States)

Prescott, Tony J; Conran, Sebastian; Mitchinson, Ben; Cudd, Peter

2017-01-01

IntelliTable is a new proof-of-principle assistive technology system with robotic capabilities in the form of an elegant universal cantilever table able to move around by itself, or under user control. We describe the design and current capabilities of the table and the human-centered design methodology used in its development and initial evaluation. The IntelliTable study has delivered robotic platform programmed by a smartphone that can navigate around a typical home or care environment, avoiding obstacles, and positioning itself at the user's command. It can also be configured to navigate itself to pre-ordained places positions within an environment using ceiling tracking, responsive optical guidance and object-based sonar navigation.

Modelling of industrial robot in LabView Robotics

Science.gov (United States)

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

2017-08-01

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

The RCT 1.3 m robotic telescope: broadband color transformation and extinction calibration

Energy Technology Data Exchange (ETDEWEB)

Strolger, L.-G.; Gott, A. M.; Carini, M.; Gelderman, R.; Laney, C. D.; McGruder, C. [Western Kentucky University, Bowling Green, KY 42101 (United States); Engle, S.; Guinan, E. [Villanova University, Villanova, PA 19085 (United States); Treffers, R. R. [Starman Systems, LLC, Alamo, CA 94507 (United States); Walter, D. K., E-mail: strolger@stsci.edu [South Carolina State University, Orangeburg, SC 29117 (United States)

2014-03-01

The Robotically Controlled Telescope (RCT) 1.3 m telescope, formerly known as the Kitt Peak National Observatory (KPNO) 50 inch telescope, has been refurbished as a fully robotic telescope, with an autonomous scheduler to take full advantage of the observing site without the requirement of a human presence. Here we detail the current configuration of the RCT and present, as a demonstration of its high-priority science goals, the broadband UBVRI photometric calibration of the optical facility. In summary, we find the linear color transformation and extinction corrections to be consistent with similar optical KPNO facilities, to within a photometric precision of 10% (at 1σ). While there were identified instrumental errors that likely added to the overall uncertainty, associated with since-resolved issues in engineering and maintenance of the robotic facility, a preliminary verification of this calibration gave a good indication that the solution is robust, perhaps to a higher precision than this initial calibration implies. The RCT has been executing regular science operations since 2009 and is largely meeting the science requirements set during its acquisition and redesign.

Towards Sociable Robots

DEFF Research Database (Denmark)

Ngo, Trung Dung

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

Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

Energy Technology Data Exchange (ETDEWEB)

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

2009-09-15

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

Robot Futures

DEFF Research Database (Denmark)

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

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

Soft Robotics Week

CERN Document Server

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

2017-01-01

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

Towards Versatile Robots Through Open Heterogeneous Modular Robots

OpenAIRE

Lyder, Andreas

2010-01-01

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

Accuracy Analysis of a Robotic Radionuclide Inspection and Mapping System for Surface Contamination

International Nuclear Information System (INIS)

Mauer, Georg F.; Kawa, Chris

2008-01-01

capacitive, ultrasound, and optical Laser range sensors. The unshielded capacitive range sensors were found to be influenced by objects in their vicinity, and to have comparatively low sensitivity. Therefore they were not used for gap measurement. We did, however, use them successfully to detect obstacles in the field of motion of the sensor head. The four sensors pointing diagonally from four corners of the sensor head are capacitive range sensors, which stop the robot motion any time a pre-set threshold signal level is exceeded. Ultrasound range sensors were found to have good resolution. The ultrasound beam was frequently deflected sideways by the wall's roughness, resulting in a spurious signal peaks. On the other hand, ultrasound signals are inherently insensitive to variations of the optical surface properties. Laser range sensing proved to be generally less noisy than ultrasound measurements. The aforementioned sensitivity to the target surface's optical properties was not evident on grey, non-reflective surfaces. On such surfaces, laser range sensing was found to be superior to ultrasound measurements. Occasionally, however, surface reflectivity and specularity caused erroneous measurements. The computational burden of measuring and filtering the sensor data in real time made it impractical to control the robot directly based on sensor feedback. The robot performs a first horizontal surface range scan merely to gage the surface profile. During the subsequent passes, the robot records the radiation measurements, while recording the range data for the next pass, with the range sensor positioned below the radiation sensor. The decoupling of measurements from robot control prevents the robot controller from responding to spurious sensor signals, ensuring steadier and safer radiation surveying. The controller is configured to accept either optical or ultrasound range signals, so as to respond better to user-specific requirements. A detailed analysis of non-contact range

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...

Wireless Data Acquisition of Transient Signals for Mobile Spectrometry Applications.

Science.gov (United States)

Trzcinski, Peter; Weagant, Scott; Karanassios, Vassili

2016-05-01

Wireless data acquisition using smartphones or handhelds offers increased mobility, it provides reduced size and weight, it has low electrical power requirements, and (in some cases) it has an ability to access the internet. Thus, it is well suited for mobile spectrometry applications using miniaturized, field-portable spectrometers, or detectors for chemical analysis in the field (i.e., on-site). There are four main wireless communications standards that can be used for wireless data acquisition, namely ZigBee, Bluetooth, Wi-Fi, and UWB (ultra-wide band). These are briefly reviewed and are evaluated for applicability to data acquisition of transient signals (i.e., time-domain) in the field (i.e., on-site) from a miniaturized, field-portable photomultiplier tube detector and from a photodiode array detector installed in a miniaturized, field-portable fiber optic spectrometer. These are two of the most widely used detectors for optical measurements in the ultraviolet-visible range of the spectrum. A miniaturized, 3D-printed, battery-operated microplasma-on-a-chip was used for generation of transient optical emission signals. Elemental analysis from liquid microsamples, a microplasma, and a handheld or a smartphone will be used as examples. Development and potential applicability of wireless data acquisition of transient optical emission signals for taking part of the lab to the sample types of mobile, field-portable spectrometry applications will be discussed. The examples presented are drawn from past and ongoing work in the authors' laboratory. A handheld or a smartphone were used as the mobile computing devices of choice. © The Author(s) 2016.

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.

Radio and white-light observations of coronal transients

Science.gov (United States)

Dulk, G. A.

1980-01-01

Optical, radio and X-ray evidence of violent mass motions in the corona has existed for some years but only recently have the form, nature, frequency and implication of the transients become obvious. In this paper the observed properties of coronal transients are reviewed, with concentration on the white-light and radio manifestations. The classification according to speeds seems to be meaningful, with the slow transients having thermal emissions at radio wavelengths and the fast ones nonthermal. The possible mechanisms involved in the radio bursts are then discussed and estimates of various forms of energy are reviewed. It appears that the magnetic energy transported from the sun by the transient exceeds that of any other form, and that magnetic forces dominate in the dynamics of the motions. The conversion of magnetic energy into mechanical energy, by expansion of the field, provides a possible driving force for the coronal and interplanetary shock waves.

Transient measurements with an ultrafast scanning tunneling microscope on semiconductor surfaces

DEFF Research Database (Denmark)

Keil, Ulrich Dieter Felix; Jensen, Jacob Riis; Hvam, Jørn Märcher

1998-01-01

We demonstrate: the use of an ultrafast scanning tunneling microscope on a semiconductor surface. Laser-induced transient signals with 1.8 ps rise time are detected, The investigated sample is a low-temperature grown GaAs layer plated on a sapphire substrate with a thin gold layer that serves as st...... bias contact, For comparison, the measurements are performed with the tip in contact to the sample as well as in tunneling above the surface, In contact and under bias, the transient signals are identified as a transient photocurrent, An additional signal is generated by a transient voltage induced...... by the nonuniform carrier density created by the absorption of the light (photo Dember effect). The transient depends in sign and in shape on the direction of optical excitation. This signal is the dominating transient in tunneling mode. The signals are explained by a capacitive coupling across the tunneling gap...

Numerical modeling of optical coherent transient processes with complex configurations - II. Angled beams with arbitrary phase modulations

International Nuclear Information System (INIS)

Chang Tiejun; Tian Mingzhen; Barber, Zeb W.; Randall Babbitt, Wm.

2004-01-01

This work is a continuation of the development of the theoretical model for optical coherent transient (OCT) processes with complex configurations. A theoretical model for angled beams with arbitrary phase modulation has been developed based on the model presented in our previous work for the angled beam geometry. A numerical tool has been devised to simulate the OCT processes involving angled beams with the frequency detuning, chirped, and phase-modulated laser pulses. The simulations for pulse shaping and arbitrary waveform generation (AWG) using OCT processes have been performed. The theoretical analysis of programming and probe schemes for pulse shaper and AWG is also presented including the discussions on the rephasing condition and the phase compensation. The results from the analysis, the simulation, and the experiment show very good agreement

Studies of electron-hole recombination processes at deep levels in GaAs and GaP by means of transient optical absorption spectroscopy

International Nuclear Information System (INIS)

Sugiyama, T.; Ishikawa, Y.; Tanimura, K.; Hayashi, Y.; Itoh, N.

1989-01-01

Studies of recombination processes by means of transient optical absorption (TOA) spectroscopy in GaAs and GaP are reviewed. It is pointed out that the technique can reveal production of excited states having long lifetimes and of non-luminescent metastable states. Two distinct recombination processes in GaAs containing EL2 defects are discussed: one is at the metastable EL2 defects, accompanied with transformation to the EL2 defects and the other is at deep acceptors through pair recombination. (author) 11 refs., 2 figs

Exploiting Child-Robot Aesthetic Interaction for a Social Robot

OpenAIRE

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

2012-01-01

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

Evolutionary robotics

Indian Academy of Sciences (India)

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

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

Science.gov (United States)

Fong, Terry

2017-01-01

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

SPIRITS: Uncovering Unusual Infrared Transients with Spitzer

International Nuclear Information System (INIS)

Kasliwal, Mansi M.; Jencson, Jacob E.; Tinyanont, Samaporn; Cao, Yi; Cook, David; Bally, John; Masci, Frank; Armus, Lee; Cody, Ann Marie; Bond, Howard E.; Contreras, Carlos; Dykhoff, Devin A.; Amodeo, Samuel; Carlon, Robert L.; Cass, Alexander C.; Corgan, David T.; Faella, Joseph; Boyer, Martha; Cantiello, Matteo; Fox, Ori D.

2017-01-01

We present an ongoing, five-year systematic search for extragalactic infrared transients, dubbed SPIRITS—SPitzer InfraRed Intensive Transients Survey. In the first year, using Spitzer /IRAC, we searched 190 nearby galaxies with cadence baselines of one month and six months. We discovered over 1958 variables and 43 transients. Here, we describe the survey design and highlight 14 unusual infrared transients with no optical counterparts to deep limits, which we refer to as SPRITEs (eSPecially Red Intermediate-luminosity Transient Events). SPRITEs are in the infrared luminosity gap between novae and supernovae, with [4.5] absolute magnitudes between −11 and −14 (Vega-mag) and [3.6]–[4.5] colors between 0.3 mag and 1.6 mag. The photometric evolution of SPRITEs is diverse, ranging from <0.1 mag yr −1 to >7 mag yr −1 . SPRITEs occur in star-forming galaxies. We present an in-depth study of one of them, SPIRITS 14ajc in Messier 83, which shows shock-excited molecular hydrogen emission. This shock may have been triggered by the dynamic decay of a non-hierarchical system of massive stars that led to either the formation of a binary or a protostellar merger.

SPIRITS: Uncovering Unusual Infrared Transients with Spitzer

Energy Technology Data Exchange (ETDEWEB)

Kasliwal, Mansi M.; Jencson, Jacob E.; Tinyanont, Samaporn; Cao, Yi; Cook, David [Division of Physics, Mathematics and Astronomy, California Institute of Technology, Pasadena, CA 91125 (United States); Bally, John [Center for Astrophysics and Space Astronomy, University of Colorado, 389 UCB, Boulder, CO 80309 (United States); Masci, Frank; Armus, Lee [Infrared Processing and Analysis Center, California Institute of Technology, Pasadena, CA 91125 (United States); Cody, Ann Marie [NASA Ames Research Center, Moffett Field, CA 94035 (United States); Bond, Howard E. [Dept. of Astronomy and Astrophysics, Pennsylvania State University, University Park, PA 16802 (United States); Contreras, Carlos [Las Campanas Observatory, Carnegie Observatories, Casilla 601, La Serena (Chile); Dykhoff, Devin A.; Amodeo, Samuel; Carlon, Robert L.; Cass, Alexander C.; Corgan, David T.; Faella, Joseph [Minnesota Institute for Astrophysics, School of Physics and Astronomy, 116 Church Street, S. E., University of Minnesota, Minneapolis, MN 55455 (United States); Boyer, Martha [NASA Goddard Space Flight Center, MC 665, 8800 Greenbelt Road, Greenbelt, MD 20771 (United States); Cantiello, Matteo [Center for Computational Astrophysics, Flatiron Institute, 162 Fifth Avenue, New York, NY 10010 (United States); Fox, Ori D. [Space Telescope Science Institute, 3700 San Martin Drive, Baltimore, MD 21218 (United States); and others

2017-04-20

We present an ongoing, five-year systematic search for extragalactic infrared transients, dubbed SPIRITS—SPitzer InfraRed Intensive Transients Survey. In the first year, using Spitzer /IRAC, we searched 190 nearby galaxies with cadence baselines of one month and six months. We discovered over 1958 variables and 43 transients. Here, we describe the survey design and highlight 14 unusual infrared transients with no optical counterparts to deep limits, which we refer to as SPRITEs (eSPecially Red Intermediate-luminosity Transient Events). SPRITEs are in the infrared luminosity gap between novae and supernovae, with [4.5] absolute magnitudes between −11 and −14 (Vega-mag) and [3.6]–[4.5] colors between 0.3 mag and 1.6 mag. The photometric evolution of SPRITEs is diverse, ranging from <0.1 mag yr{sup −1} to >7 mag yr{sup −1}. SPRITEs occur in star-forming galaxies. We present an in-depth study of one of them, SPIRITS 14ajc in Messier 83, which shows shock-excited molecular hydrogen emission. This shock may have been triggered by the dynamic decay of a non-hierarchical system of massive stars that led to either the formation of a binary or a protostellar merger.

Positron beam studies of transients in semiconductors

International Nuclear Information System (INIS)

Beling, C.D.; Ling, C.C.; Cheung, C.K.; Naik, P.S.; Zhang, J.D.; Fung, S.

2006-01-01

Vacancy-sensing positron deep level transient spectroscopy (PDLTS) is a positron beam-based technique that seeks to provide information on the electronic ionization levels of vacancy defects probed by the positron through the monitoring of thermal transients. The experimental discoveries leading to the concept of vacancy-sensing PDLTS are first reviewed. The major problem associated with this technique is discussed, namely the strong electric fields establish in the near surface region of the sample during the thermal transient which tend to sweep positrons into the contact with negligible defect trapping. New simulations are presented which suggest that under certain conditions a sufficient fraction of positrons may be trapped into ionizing defects rendering PDLTS technique workable. Some suggestions are made for techniques that might avoid the problematic electric field problem, such as optical-PDLTS where deep levels are populated using light and the use of high forward bias currents for trap filling

Mold production for polymer optics

Science.gov (United States)

Boerret, Rainer; Raab, Jonas; Speich, Marco

2014-09-01

The fields of application for polymer optics are huge and thus the need for polymer optics is steadily growing. Most polymer optics are produced in high numbers by injection molding. Therefore molds and dies that fulfill special requirements are needed. Polishing is usually the last process in the common process chain for production of molds for polymer optics. Usually this process step is done manually by experienced polishers. Due to the small number of skilled professionals and health problems because of the monotonous work the idea was to support or probably supersede manual polishing. Polishing using an industrial robot as movement system enables totally new possibilities in automated polishing. This work focuses on the surface generation with a newly designed polishing setup and on the code generation for the robot movement. The process starts on ground surfaces and with different tools and polishing agents surfaces that fulfill the requirements for injection molding of optics can be achieved. To achieve this the attention has to be focused not only on the process itself but also on tool path generation. A proprietary software developed in the Centre for Optical Technologies in Aalen University allows the tool path generation on almost any surface. This allows the usage of the newly developed polishing processes on different surfaces and enables an easy adaption. Details of process and software development will be presented as well as results from different polishing tests on different surfaces.

ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

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

Robotic buildings(s)

NARCIS (Netherlands)

Bier, H.H.

2014-01-01

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

Cloud Robotics Platforms

Directory of Open Access Journals (Sweden)

Busra Koken

2015-01-01

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

Distributed Robotics Education

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2011-01-01

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

A Touch-Communication Framework for Drug Delivery Based on a Transient Microbot System.

Science.gov (United States)

Yifan Chen; Kosmas, Panagiotis; Anwar, Putri Santi; Limin Huang

2015-06-01

Recent progress in bioresorbable radio frequency electronics and engineered bacteria has promised the prospect of realizing a transient microbot (TM) system for therapeutic applications. The inorganic or organic miniature robots will dissolve into the human body after completing the required tasks and cause no side-effect. In this paper, we propose a potential architecture of a TM system for transporting pharmaceutical compounds inside the body, and analyze the system using a micro-to-macro cross-scale communication model. The remote controllability and tangibility of a TM essentially lead to a touch-communication (TouchCom) paradigm. Externally maneuverable and trackable TMs are responsible for the delivery of drug particles (information molecules in the TouchCom context). The loading/injection and unloading of the drug correspond to the transmitting and receiving processes in the TouchCom framework. Subsequently, we investigate simulation tools for the propagation and transient characteristics of TMs in the blood vessels. We also define the propagation delay, path loss, as well as angular and delay spectra of targeting intensity, which are parallel to their counterpart concepts in the conventional wireless channel. Finally, our approach is illustrated with comprehensive simulation studies of targeted drug delivery by using the proposed analytical framework integrating robotics and communications at crossover length scales. The proposed methodology may find important applications in the design and analysis of TM-assisted administration of pharmaceutical compounds.

Radiation-induced transient absorption in single mode optical fibers

International Nuclear Information System (INIS)

Looney, L.D.; Lyons, P.B.

1988-01-01

This paper reviews the measurements conducted by the Los Alamos National Laboratory in support of these NATO efforts wherein radiation-induced transient absorption was measured over time ranges from a few ns to several μs for two single mode fibers. Experimental conditions were varied to provide data for future development of standarized test conditions for single mode fibers. 8 refs., 11 figs

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.

Monitoring and Detecting X-ray Transients with the Swift Observatory

Science.gov (United States)

Markwardt, Craig

2002-01-01

Swift is a multi-wavelength observatory specifically designed to detect transients sources in the gamma-ray energy band 15-200 keV. The primary goals of the mission involve gamma ray burst (GRB) astronomy, namely to determine the origin of GRBs and their afterglows, and use bursts to probe the early Universe. However, Swift will also discover new X-ray transient sources, and it will be possible to bring Swift's considerable multi-wavelength capabilities to bear on these sources, and those discovered by other means. The Burst Alert Telescope (BAT) is a coded mask instrument sensitive to 15-200 keV gamma rays, and has a field of view which covers approximately 1/8th of the sky in a single pointing. Over a typical observing day, the almost the entire sky will be observed and monitored for new transient sources. Sources will be detected within several hours of observation. The two narrow field instruments, the X-ray Telescope and Ultra-Violet Optical Telescope, can provide sensitive simultaneous imaging and spectroscopy observations in the optical through soft X-ray bands. The Swift science operations team will entertain requests for targets of opportunity for sources which are astrophysically significant. Swift will be ideally suited for the detection of transients which produce hard X-rays, such as black hole binaries and some neutron star systems.

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

The Multiaperture Optical (mao) System Based on the Apposition Principle.

Science.gov (United States)

Lin, Shih-Chao

Automation freed mankind from repeated boring labor and/or labor requiring an instantaneous response. When applied as robotics it could even free mankind from dangerous labor such as handling radioactive material. For a robot or an automated system a vision device has proven to be an important element. Almost all artificial vision systems are similar in design to the human eye with its single large lens system. In contrast, the compound eye of an insect is much smaller than the human eye. Therefore, it is proposed to imitate the insect eye in order to develop a small viewing device useful in robotic design. The basic element of the multiaperture optical system described here is a non-imaging light horn. The optical studies on the non-imaging light horn (a simulated insect eye eyelet) have been done and show that this device may produce images when several horns are used together in an array. The study also shows that with several non -imaging devices the position of an object point light source can be determined very easily. One possible realization of multiaperture optical system design based on the apposition principle is proposed and discussed. The multiaperture optical system proposed is a small, low cost device with digital image processing.

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....

Robotically enhanced rubber hand illusion.

Science.gov (United States)

Arata, Jumpei; Hattori, Masashi; Ichikawa, Shohei; Sakaguchi, Masamichi

2014-01-01

The rubber hand illusion is a well-known multisensory illusion. In brief, watching a rubber hand being stroked by a paintbrush while one's own unseen hand is synchronously stroked causes the rubber hand to be attributed to one's own body and to "feel like it's my hand." The rubber hand illusion is thought to be triggered by the synchronized tactile stimulation of both the subject's hand and the fake hand. To extend the conventional rubber hand illusion, we introduce robotic technology in the form of a master-slave telemanipulator. The developed one degree-of-freedom master-slave system consists of an exoskeleton master equipped with an optical encoder that is worn on the subject's index finger and a motor-actuated index finger on the rubber hand, which allows the subject to perform unilateral telemanipulation. The moving rubber hand illusion has been studied by several researchers in the past with mechanically connected rigs between the subject's body and the fake limb. The robotic instruments let us investigate the moving rubber hand illusion with less constraints, thus behaving closer to the classic rubber hand illusion. In addition, the temporal delay between the body and the fake limb can be precisely manipulated. The experimental results revealed that the robotic instruments significantly enhance the rubber hand illusion. The time delay is significantly correlated with the effect of the multisensory illusion, and the effect significantly decreased at time delays over 100 ms. These findings can potentially contribute to the investigations of neural mechanisms in the field of neuroscience and of master-slave systems in the field of robotics.

Bright PanSTARRS Nuclear Transients – what are they?

Directory of Open Access Journals (Sweden)

Smartt S.

2012-12-01

Full Text Available We present an initial analysis of 49 bright transients occurring in the nuclei of galaxies with no previous known Active Galactic Nucleus (AGN. They have been discovered as part of the PanSTARRs 3π survey, and followed up with the Liverpool Telescope. Based on colours, light curve shape, and a small number with optical spectra, these transients seem to fall into three groups. Red/fast transients are nuclear supernovae of various types. Some bright nuclear transients are blue and decay on a timescale of a few months; these may be candidates for tidal disruption events. However most of the events we have found are blue and are either still rising or decaying slowly, on a timescale of years; the few spectra we have show AGN at z ∼ 1. We argue that these transients are background AGN microlensed by stars in foreground galaxies by a factor 10–100. Monitoring such events gives us very promising prospects for measuring the structure of AGN and so testing current theories.

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

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

1999-05-15

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

Robotics education

International Nuclear Information System (INIS)

Benton, O.

1984-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1995-07-01

Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human`s eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. 203 figs, 12 tabs, 72 refs. (Author).

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....

Note: Pulsed single longitudinal mode optical parametric oscillator for sub-Doppler spectroscopy of jet cooled transient species

Science.gov (United States)

Zhang, Qiang; Zhu, Boxing; Zhang, Deping; Gu, Jingwang; Zhao, Dongfeng; Chen, Yang

2017-12-01

We present a pulsed single longitudinal mode optical parametric oscillator that was recently constructed for sub-Doppler spectroscopic studies of transient species in a supersonic slit jet expansion environment. The system consists of a Littman-type grazing-incidence-grating resonator and a KTP crystal and is pumped at 532 nm. By spatially filtering the pump laser beam and employing an active cavity-length-stabilization scheme, a frequency down-conversion efficiency up to 18% and generation of Fourier-transform limited pulses with a typical pulse duration of ˜5.5 ns and a bandwidth less than 120 MHz have been achieved. In combination with a slit jet expansion, a sub-Doppler spectrum of SiC2 has been recorded at ˜498 nm, showing a spectral resolution of Δν/ν ≈ 6.2 × 10-7.

IMAGING WITH MULTIMODAL ADAPTIVE-OPTICS OPTICAL COHERENCE TOMOGRAPHY IN MULTIPLE EVANESCENT WHITE DOT SYNDROME: THE STRUCTURE AND FUNCTIONAL RELATIONSHIP.

Science.gov (United States)

Labriola, Leanne T; Legarreta, Andrew D; Legarreta, John E; Nadler, Zach; Gallagher, Denise; Hammer, Daniel X; Ferguson, R Daniel; Iftimia, Nicusor; Wollstein, Gadi; Schuman, Joel S

2016-01-01

To elucidate the location of pathological changes in multiple evanescent white dot syndrome (MEWDS) with the use of multimodal adaptive optics (AO) imaging. A 5-year observational case study of a 24-year-old female with recurrent MEWDS. Full examination included history, Snellen chart visual acuity, pupil assessment, intraocular pressures, slit lamp evaluation, dilated fundoscopic exam, imaging with Fourier-domain optical coherence tomography (FD-OCT), blue-light fundus autofluorescence (FAF), fundus photography, fluorescein angiography, and adaptive-optics optical coherence tomography. Three distinct acute episodes of MEWDS occurred during the period of follow-up. Fourier-domain optical coherence tomography and adaptive-optics imaging showed disturbance in the photoreceptor outer segments (PR OS) in the posterior pole with each flare. The degree of disturbance at the photoreceptor level corresponded to size and extent of the visual field changes. All findings were transient with delineation of the photoreceptor recovery from the outer edges of the lesion inward. Hyperautofluorescence was seen during acute flares. Increase in choroidal thickness did occur with each active flare but resolved. Although changes in the choroid and RPE can be observed in MEWDS, Fourier-domain optical coherence tomography, and multimodal adaptive optics imaging localized the visually significant changes seen in this disease at the level of the photoreceptors. These transient retinal changes specifically occur at the level of the inner segment ellipsoid and OS/RPE line. En face optical coherence tomography imaging provides a detailed, yet noninvasive method for following the convalescence of MEWDS and provides insight into the structural and functional relationship of this transient inflammatory retinal disease.

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

International Nuclear Information System (INIS)

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

1989-01-01

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

Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

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

Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

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

An Intelligent Robot Programing

Energy Technology Data Exchange (ETDEWEB)

Hong, Seong Yong

2012-01-15

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

An Intelligent Robot Programing

International Nuclear Information System (INIS)

Hong, Seong Yong

2012-01-01

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

Transient reflectivity on vertically aligned single-wall carbon nanotubes

NARCIS (Netherlands)

Galimberti, Gianluca; Ponzoni, Stefano; Ferrini, Gabriele; Hofmann, Stephan; Arshad, Muhammad; Cepek, Cinzia; Pagliara, Stefania

2013-01-01

One-color transient reflectivity measurements are carried out on two different samples of vertically aligned single-wall carbon nanotube bundles and compared with the response recently published on unaligned bundles. The negative sign of the optical response for both samples indicates that the free

Neuro-robotics from brain machine interfaces to rehabilitation robotics

CERN Document Server

Artemiadis

2014-01-01

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

Augmented environments for the targeting of hepatic lesions during image-guided robotic liver surgery.

Science.gov (United States)

Buchs, Nicolas C; Volonte, Francesco; Pugin, François; Toso, Christian; Fusaglia, Matteo; Gavaghan, Kate; Majno, Pietro E; Peterhans, Matthias; Weber, Stefan; Morel, Philippe

2013-10-01

Stereotactic navigation technology can enhance guidance during surgery and enable the precise reproduction of planned surgical strategies. Currently, specific systems (such as the CAS-One system) are available for instrument guidance in open liver surgery. This study aims to evaluate the implementation of such a system for the targeting of hepatic tumors during robotic liver surgery. Optical tracking references were attached to one of the robotic instruments and to the robotic endoscopic camera. After instrument and video calibration and patient-to-image registration, a virtual model of the tracked instrument and the available three-dimensional images of the liver were displayed directly within the robotic console, superimposed onto the endoscopic video image. An additional superimposed targeting viewer allowed for the visualization of the target tumor, relative to the tip of the instrument, for an assessment of the distance between the tumor and the tool for the realization of safe resection margins. Two cirrhotic patients underwent robotic navigated atypical hepatic resections for hepatocellular carcinoma. The augmented endoscopic view allowed for the definition of an accurate resection margin around the tumor. The overlay of reconstructed three-dimensional models was also used during parenchymal transection for the identification of vascular and biliary structures. Operative times were 240 min in the first case and 300 min in the second. There were no intraoperative complications. The da Vinci Surgical System provided an excellent platform for image-guided liver surgery with a stable optic and instrumentation. Robotic image guidance might improve the surgeon's orientation during the operation and increase accuracy in tumor resection. Further developments of this technological combination are needed to deal with organ deformation during surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

Cloud Robotics Model

OpenAIRE

Mester, Gyula

2015-01-01

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

Space Robotics Challenge

Data.gov (United States)

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

Are Sex Robots as Bad as Killing Robots

OpenAIRE

Richardson, Kathleen

2016-01-01

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

Automated transient identification in the Dark Energy Survey

Energy Technology Data Exchange (ETDEWEB)

Goldstein, D. A. [Univ. of California, Berkeley, CA (United States); Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States). et al.

2015-08-20

We describe an algorithm for identifying point-source transients and moving objects on reference-subtracted optical images containing artifacts of processing and instrumentation. The algorithm makes use of the supervised machine learning technique known as Random Forest. We present results from its use in the Dark Energy Survey Supernova program (DES-SN), where it was trained using a sample of 898,963 signal and background events generated by the transient detection pipeline. After reprocessing the data collected during the first DES-SN observing season (2013 September through 2014 February) using the algorithm, the number of transient candidates eligible for human scanning decreased by a factor of 13.4, while only 1.0 percent of the artificial Type Ia supernovae (SNe) injected into search images to monitor survey efficiency were lost, most of which were very faint events. Here we characterize the algorithm's performance in detail, and we discuss how it can inform pipeline design decisions for future time-domain imaging surveys, such as the Large Synoptic Survey Telescope and the Zwicky Transient Facility.

DE L'ABEILLE AU ROBOT : LA RÉGULATION DU FLUX OPTIQUE. Contrôle conjoint de vitesse et d'évitements d'obstacles latéraux pour véhicules totalement actionnés.

OpenAIRE

Serres , Julien

2008-01-01

We developed an autopilot, called LORA (Lateral Optic flow Regulation Autopilot), which is inspired by motion vision in flying insects. It incorporates two interdependent optic flow regulators, each of which controls one translational degree of freedom: a bilateral optic flow regulator controls the robot's speed, while a unilateral optic flow regulator makes the robot avoid lateral obstacles. Simulation experiments show that a fully actuated vehicle, equipped solely with the LORA autopilot, i...

Multi-robot control interface

Science.gov (United States)

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

2011-12-06

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

Robotics

Energy Technology Data Exchange (ETDEWEB)

Lorino, P; Altwegg, J M

1985-05-01

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

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

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

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

Multidirectional Image Sensing for Microscopy Based on a Rotatable Robot

Directory of Open Access Journals (Sweden)

Yajing Shen

2015-12-01

Full Text Available Image sensing at a small scale is essentially important in many fields, including microsample observation, defect inspection, material characterization and so on. However, nowadays, multi-directional micro object imaging is still very challenging due to the limited field of view (FOV of microscopes. This paper reports a novel approach for multi-directional image sensing in microscopes by developing a rotatable robot. First, a robot with endless rotation ability is designed and integrated with the microscope. Then, the micro object is aligned to the rotation axis of the robot automatically based on the proposed forward-backward alignment strategy. After that, multi-directional images of the sample can be obtained by rotating the robot within one revolution under the microscope. To demonstrate the versatility of this approach, we view various types of micro samples from multiple directions in both optical microscopy and scanning electron microscopy, and panoramic images of the samples are processed as well. The proposed method paves a new way for the microscopy image sensing, and we believe it could have significant impact in many fields, especially for sample detection, manipulation and characterization at a small scale.

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

Directory of Open Access Journals (Sweden)

Fernando Gonzalez

2017-12-01

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

Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

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

2017-01-01

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

Robotics Potential Fields

Directory of Open Access Journals (Sweden)

Jordi Lucero

2009-01-01

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

Robot-assisted gastroesophageal surgery: usefulness and limitations.

Science.gov (United States)

Diez Del Val, Ismael; Martinez Blazquez, Cándido; Loureiro Gonzalez, Carlos; Vitores Lopez, Jose Maria; Sierra Esteban, Valentin; Barrenetxea Asua, Julen; Del Hoyo Aretxabala, Izaskun; Perez de Villarreal, Patricia; Bilbao Axpe, Jose Esteban; Mendez Martin, Jaime Jesus

2014-06-01

Robot-assisted surgery overcomes some of the limitations of traditional laparoscopic surgery. We present our experience and lessons learned in two surgical units dedicated to gastro-esophageal surgery. From June 2009 to January 2013, we performed 130 robot-assisted gastroesophageal procedures, including Nissen fundoplication (29), paraesophageal hernia repair (18), redo for failed antireflux surgery (11), esophagectomy (19), subtotal (5) or wedge (4) gastrectomy, Heller myotomy for achalasia (22), gastric bypass for morbid obesity (12), thoracoscopic leiomyomectomy (4), Morgagni hernia repair (3), lower-third esophageal diverticulectomy (1) and two diagnostic procedures. There were 80 men and 50 women with a median age of 54 years (interquartile range: 46-65). Ten patients (7.7 %) had severe postoperative complications: eight after esophagectomy (three leaks-two cervical and one thoracic-managed conservatively), one stapler failure, one chylothorax, one case of gastric migration to the thorax, one case of biliary peritonitis, and one patient with a transient ventricular dyskinesia. One redo procedure needed reoperation because of port-site bleeding, and one patient died of pulmonary complications after a giant paraesophageal hernia repair; 30-day mortality was, therefore, 0.8 %. There were six elective and one forced conversions (hemorrhage), so total conversion was 5.4 %. Median length of stay was 4 days (IQ range 3-7). Robot-assisted gastroesophageal surgery is feasible and safe, and may be applied to most common procedures. It seems of particular value for Heller myotomy, large paraesophageal hernias, redo antireflux surgery, transhiatal dissection, and hand-sewn intrathoracic anastomosis.

A 6-DOF parallel bone-grinding robot for cervical disc replacement surgery.

Science.gov (United States)

Tian, Heqiang; Wang, Chenchen; Dang, Xiaoqing; Sun, Lining

2017-12-01

Artificial cervical disc replacement surgery has become an effective and main treatment method for cervical disease, which has become a more common and serious problem for people with sedentary work. To improve cervical disc replacement surgery significantly, a 6-DOF parallel bone-grinding robot is developed for cervical bone-grinding by image navigation and surgical plan. The bone-grinding robot including mechanical design and low level control is designed. The bone-grinding robot navigation is realized by optical positioning with spatial registration coordinate system defined. And a parametric robot bone-grinding plan and high level control have been developed for plane grinding for cervical top endplate and tail endplate grinding by a cylindrical grinding drill and spherical grinding for two articular surfaces of bones by a ball grinding drill. Finally, the surgical flow for a robot-assisted cervical disc replacement surgery procedure is present. The final experiments results verified the key technologies and performance of the robot-assisted surgery system concept excellently, which points out a promising clinical application with higher operability. Finally, study innovations, study limitations, and future works of this present study are discussed, and conclusions of this paper are also summarized further. This bone-grinding robot is still in the initial stage, and there are many problems to be solved from a clinical point of view. Moreover, the technique is promising and can give a good support for surgeons in future clinical work.

Healthcare Robotics

OpenAIRE

Riek, Laurel D.

2017-01-01

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

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

International Nuclear Information System (INIS)

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

1990-01-01

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

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

Science.gov (United States)

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

2017-01-01

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

Recent advances in robotics

International Nuclear Information System (INIS)

Beni, G.; Hackwood, S.

1984-01-01

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

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

International Nuclear Information System (INIS)

Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun

1995-07-01

Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human's eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. It has been looking for these techniques to expand the working area of human, raise the working efficiencies of remote task to the highest degree, and enhance the industrial

Efficient Topology Estimation for Large Scale Optical Mapping

CERN Document Server

Elibol, Armagan; Garcia, Rafael

2013-01-01

Large scale optical mapping methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that low-cost ROVs usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predefined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This book contributes to the state-of-art in large area image mosaicing methods for underwater surveys using low-cost vehicles equipped with a very limited sensor suite. The main focus has been on global alignment...

Design of An Electronic Narrator on Assistant Robot for Blind People

Directory of Open Access Journals (Sweden)

Ardiansyah Rizqi Andry

2016-01-01

Full Text Available Many personal service robot is developed to help blind people in daily life, such as room cleaning, for navigating, object finding, reading and other activities. In this context, the present work focuses the development of an image-to-speech application for the blind. The project is called Design of An Electronic Narrator on Assistant Robot for Blind People, and the final purpose is the design of an electronic narrator application on personal service robot that helps to narrate a text on a book, magazine, a sheet of paper etc to a blind person. To achieve that, a Raspberry pi board, a light sensor, OpenCV computer vision library, Tesseract OCR (Optical Character Recognition library, eSpeak Text-to-Speech Synthesizer (TTS library are integrated, which is enables the blind person to hear a narration from text on a book, magazine, a sheet etc.

A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting

Science.gov (United States)

Su, Hao; Li, Gang; Rucker, D. Caleb; Webster, Robert J.; Fischer, Gregory S.

2017-01-01

This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable concentric tube continuum mechanism, and is suitable for clinical applications where a curved trajectory is needed. This compact 6 degree-of-freedom (DOF) robotic system is piezoelectrically-actuated, and allows simultaneous robot motion and imaging with no visually observable image artifact. The targeting accuracy is evaluated with optical tracking system and gelatin phantom under live MRI-guidance with Root Mean Square (RMS) errors of 1.94 and 2.17 mm respectively. Furthermore, we demonstrate that the robot has kinematic redundancy to reach the same target through different paths. This was evaluated in both free space and MRI-guided gelatin phantom trails, with RMS errors of 0.48 and 0.59 mm respectively. As the first of its kind, MRI-guided targeted concentric tube needle placements with ex vivo porcine liver are demonstrated with 4.64 mm RMS error through closed-loop control of the piezoelectrically-actuated robot. PMID:26983842

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

Science.gov (United States)

Kazakoff, Elizabeth R.; Bers, Marina Umaschi

2014-01-01

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

UST-ID robotics: Wireless communication and minimum conductor technology, and end-point tracking technology surveys

International Nuclear Information System (INIS)

Holliday, M.A.

1993-10-01

This report is a technology review of the current state-of-the-art in two technologies applicable to the Underground Storage Tank (UST) program at the Hanford Nuclear Reservation. The first review is of wireless and minimal conductor technologies for in-tank communications. The second review is of advanced concepts for independent tool-point tracking. This study addresses the need to provide wireless transmission media or minimum conductor technology for in-tank communications and robot control. At present, signals are conducted via contacting transmission media, i.e., cables. Replacing wires with radio frequencies or invisible light are commonplace in the communication industry. This technology will be evaluated for its applicability to the needs of robotics. Some of these options are radio signals, leaky coax, infrared, microwave, and optical fiber systems. Although optical fiber systems are contacting transmission media, they will be considered because of their ability to reduce the number of conductors. In this report we will identify, evaluate, and recommend the requirements for wireless and minimum conductor technology to replace the present cable system. The second section is a technology survey of concepts for independent end-point tracking (tracking the position of robot end effectors). The position of the end effector in current industrial robots is determined by computing that position from joint information, which is basically a problem of locating a point in three-dimensional space. Several approaches are presently being used in industrial robotics, including: stereo-triangulation with a theodolite network and electrocamera system, photogrammetry, and multiple-length measurement with laser interferometry and wires. The techniques that will be evaluated in this survey are advanced applications of the aforementioned approaches. These include laser tracking (3-D and 5-D), ultrasonic tracking, vision-guided servoing, and adaptive robotic visual tracking

Optic nerve sheath diameter remains constant during robot assisted laparoscopic radical prostatectomy.

Directory of Open Access Journals (Sweden)

Philip Verdonck

Full Text Available During robot assisted laparoscopic radical prostatectomy (RALRP, a CO2 pneumoperitoneum (CO2PP is applied and the patient is placed in a head-down position. Intracranial pressure (ICP is expected to acutely increase under these conditions. A non-invasive method, the optic nerve sheath diameter (ONSD measurement, may warn us that the mechanism of protective cerebrospinal fluid (CSF shifts becomes exhausted.After obtaining IRB approval and written informed consent, ONSD was measured by ocular ultrasound in 20 ASA I-II patients at various stages of the RALRP procedure: baseline awake, after induction, after applying the CO2PP, during head-down position, after resuming the supine position, in the postoperative anaesthesia care unit, and on day one postoperatively. Cerebral perfusion pressure (CPP was calculated as the mean arterial (MAP minus central venous pressure (CVP.The ONSD did not change during head-down position, although the CVP increased from 4.2(2.5 mm Hg to 27.6(3.8 mm Hg. The CPP was decreased 70 min after assuming the head-down position until 15 min after resuming the supine position, but remained above 60 mm Hg at all times.Even though ICP has been documented to increase during CO2PP and head-down positioning, we did not find any changes in ONSD during head-down position. These results indicate that intracranial blood volume does not increase up to a point that CSF migration as a compensation mechanism becomes exhausted, suggesting any increases in ICP are likely to be small.

Fiber optic coherent laser radar 3D vision system

International Nuclear Information System (INIS)

Clark, R.B.; Gallman, P.G.; Slotwinski, A.R.; Wagner, K.; Weaver, S.; Xu, Jieping

1996-01-01

This CLVS will provide a substantial advance in high speed computer vision performance to support robotic Environmental Management (EM) operations. This 3D system employs a compact fiber optic based scanner and operator at a 128 x 128 pixel frame at one frame per second with a range resolution of 1 mm over its 1.5 meter working range. Using acousto-optic deflectors, the scanner is completely randomly addressable. This can provide live 3D monitoring for situations where it is necessary to update once per second. This can be used for decontamination and decommissioning operations in which robotic systems are altering the scene such as in waste removal, surface scarafacing, or equipment disassembly and removal. The fiber- optic coherent laser radar based system is immune to variations in lighting, color, or surface shading, which have plagued the reliability of existing 3D vision systems, while providing substantially superior range resolution

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

Directory of Open Access Journals (Sweden)

Mazen Ghandour

2017-06-01

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

Robots and lattice automata

CERN Document Server

Adamatzky, Andrew

2015-01-01

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

Robot vision

International Nuclear Information System (INIS)

Hall, E.L.

1984-01-01

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

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

CERN Document Server

Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

2012-01-01

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

Robot Wars: US Empire and geopolitics in the robotic age

Science.gov (United States)

Shaw, Ian GR

2017-01-01

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

Comparison of Coincident Multiangle Imaging Spectroradiometer and Moderate Resolution Imaging Spectroradiometer Aerosol Optical Depths over Land and Ocean Scenes Containing Aerosol Robotic Network Sites

Science.gov (United States)

Abdou, Wedad A.; Diner, David J.; Martonchik, John V.; Bruegge, Carol J.; Kahn, Ralph A.; Gaitley, Barbara J.; Crean, Kathleen A.; Remer, Lorraine A.; Holben, Brent

2005-01-01

The Multiangle Imaging Spectroradiometer (MISR) and the Moderate Resolution Imaging Spectroradiometer (MODIS), launched on 18 December 1999 aboard the Terra spacecraft, are making global observations of top-of-atmosphere (TOA) radiances. Aerosol optical depths and particle properties are independently retrieved from these radiances using methodologies and algorithms that make use of the instruments corresponding designs. This paper compares instantaneous optical depths retrieved from simultaneous and collocated radiances measured by the two instruments at locations containing sites within the Aerosol Robotic Network (AERONET). A set of 318 MISR and MODIS images, obtained during the months of March, June, and September 2002 at 62 AERONET sites, were used in this study. The results show that over land, MODIS aerosol optical depths at 470 and 660 nm are larger than those retrieved from MISR by about 35% and 10% on average, respectively, when all land surface types are included in the regression. The differences decrease when coastal and desert areas are excluded. For optical depths retrieved over ocean, MISR is on average about 0.1 and 0.05 higher than MODIS in the 470 and 660 nm bands, respectively. Part of this difference is due to radiometric calibration and is reduced to about 0.01 and 0.03 when recently derived band-to-band adjustments in the MISR radiometry are incorporated. Comparisons with AERONET data show similar patterns.

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

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

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

Modular Robotic Wearable

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2009-01-01

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

Marine Robot Autonomy

CERN Document Server

2013-01-01

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

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…

Exploring transient X-ray sky with Einstein Probe

Science.gov (United States)

Yuan, W.; Zhang, C.; Ling, Z.; Zhao, D.; Chen, Y.; Lu, F.; Zhang, S.

2017-10-01

The Einstein Probe is a small satellite in time-domain astronomy to monitor the soft X-ray sky. It is a small mission in the space science programme of the Chinese Academy of Sciences. It will carry out systematic survey and characterisation of high-energy transients at unprecedented sensitivity, spatial resolution, Grasp and monitoring cadence. Its wide-field imaging capability is achieved by using established technology of micro-pore lobster-eye X-ray focusing optics. Complementary to this is X-ray follow-up capability enabled by a narrow-field X-ray telescope. It is capable of on-board triggering and real time downlink of transient alerts, in order to trigger fast follow-up observations at multi-wavelengths. Its scientific goals are concerned with discovering and characterising diverse types of X-ray transients, including tidal disruption events, supernova shock breakouts, high-redshift GRBs, and of particular interest, X-ray counterparts of gravitational wave events.

Social Robots

DEFF Research Database (Denmark)

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

Non-manufacturing applications of robotics

International Nuclear Information System (INIS)

Dauchez, P.

2000-12-01

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

Transient birefringence effects in electromagnetically induced transparency

International Nuclear Information System (INIS)

Parshkov, O M

2015-01-01

We report the results of numerical modelling of transient birefringence that arises as a result of electromagnetically induced transparency on degenerate quantum transitions between the states with J = 0, 1 and 2 in the presence of the Doppler broadening of spectral lines. It is shown that in the case of a linearly polarised control field, the effect of transient birefringence leads to a decay of the input circularly polarised probe pulse into separate linearly polarised pulses inside a medium. In the case of a circularly polarised control field, the effect of transient birefringence manifests itself in a decay of the input linearly polarised probe pulse into separate circularly polarised pulses. It is shown that the distance that a probe pulse has to pass in a medium before decaying into subpulses is considerably greater in the first case than in the second. The influence of the input probe pulse power and duration on the process of spatial separation into individual pulses inside a medium is studied. A qualitative analysis of the obtained results is presented. (nonlinear optical phenomena)

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

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

2007-01-01

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

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

Science.gov (United States)

2010-04-01

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

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

Do Magnetic Fields drive high-energy explosive transients?

OpenAIRE

Mundell, Carole

2017-01-01

I will review the current state-of-the-art in real-time, rapid response optical imaging and polarimetric followup of transient sources such as Gamma Ray Bursts. I will interpret current results within the context of the external shock model and present predictions for future mm- and cm-wave radio observatories. Recent observational results from new radio pilot studies will also be presented.

Do Magnetic Fields Drive High-Energy Explosive Transients?

Science.gov (United States)

Mundell, Carole

2017-10-01

I will review the current state-of-the-art in real-time, rapid response optical imaging and polarimetric followup of transient sources such as Gamma Ray Bursts. I will interpret current results within the context of the external shock model and present predictions for future mm- and cm-wave radio observatories. Recent observational results from new radio pilot studies will also be presented.

Dynamic modeling and optimal joint torque coordination of advanced robotic systems

Science.gov (United States)

Kang, Hee-Jun

The development is documented of an efficient dynamic modeling algorithm and the subsequent optimal joint input load coordination of advanced robotic systems for industrial application. A closed-form dynamic modeling algorithm for the general closed-chain robotic linkage systems is presented. The algorithm is based on the transfer of system dependence from a set of open chain Lagrangian coordinates to any desired system generalized coordinate set of the closed-chain. Three different techniques for evaluation of the kinematic closed chain constraints allow the representation of the dynamic modeling parameters in terms of system generalized coordinates and have no restriction with regard to kinematic redundancy. The total computational requirement of the closed-chain system model is largely dependent on the computation required for the dynamic model of an open kinematic chain. In order to improve computational efficiency, modification of an existing open-chain KIC based dynamic formulation is made by the introduction of the generalized augmented body concept. This algorithm allows a 44 pct. computational saving over the current optimized one (O(N4), 5995 when N = 6). As means of resolving redundancies in advanced robotic systems, local joint torque optimization is applied for effectively using actuator power while avoiding joint torque limits. The stability problem in local joint torque optimization schemes is eliminated by using fictitious dissipating forces which act in the necessary null space. The performance index representing the global torque norm is shown to be satisfactory. In addition, the resulting joint motion trajectory becomes conservative, after a transient stage, for repetitive cyclic end-effector trajectories. The effectiveness of the null space damping method is shown. The modular robot, which is built of well defined structural modules from a finite-size inventory and is controlled by one general computer system, is another class of evolving

Next generation light robotic

DEFF Research Database (Denmark)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Kristel Knaepen

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

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

Science.gov (United States)

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

2015-01-01

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

The fast transient sky with Gaia

Science.gov (United States)

Wevers, Thomas; Jonker, Peter G.; Hodgkin, Simon T.; Kostrzewa-Rutkowska, Zuzanna; Harrison, Diana L.; Rixon, Guy; Nelemans, Gijs; Roelens, Maroussia; Eyer, Laurent; van Leeuwen, Floor; Yoldas, Abdullah

2018-01-01

The ESA Gaia satellite scans the whole sky with a temporal sampling ranging from seconds and hours to months. Each time a source passes within the Gaia field of view, it moves over 10 charge coupled devices (CCDs) in 45 s and a light curve with 4.5 s sampling (the crossing time per CCD) is registered. Given that the 4.5 s sampling represents a virtually unexplored parameter space in optical time domain astronomy, this data set potentially provides a unique opportunity to open up the fast transient sky. We present a method to start mining the wealth of information in the per CCD Gaia data. We perform extensive data filtering to eliminate known onboard and data processing artefacts, and present a statistical method to identify sources that show transient brightness variations on ≲2 h time-scales. We illustrate that by using the Gaia photometric CCD measurements, we can detect transient brightness variations down to an amplitude of 0.3 mag on time-scales ranging from 15 s to several hours. We search an area of ∼23.5 deg2 on the sky and find four strong candidate fast transients. Two candidates are tentatively classified as flares on M-dwarf stars, while one is probably a flare on a giant star and one potentially a flare on a solar-type star. These classifications are based on archival data and the time-scales involved. We argue that the method presented here can be added to the existing Gaia Science Alerts infrastructure for the near real-time public dissemination of fast transient events.

Roles and Self-Reconfigurable Robots

DEFF Research Database (Denmark)

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

2007-01-01

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

Robot Teachers

DEFF Research Database (Denmark)

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

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

Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

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

2007-01-01

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

Optic flow estimation on trajectories generated by bio-inspired closed-loop flight.

Science.gov (United States)

Shoemaker, Patrick A; Hyslop, Andrew M; Humbert, J Sean

2011-05-01

We generated panoramic imagery by simulating a fly-like robot carrying an imaging sensor, moving in free flight through a virtual arena bounded by walls, and containing obstructions. Flight was conducted under closed-loop control by a bio-inspired algorithm for visual guidance with feedback signals corresponding to the true optic flow that would be induced on an imager (computed by known kinematics and position of the robot relative to the environment). The robot had dynamics representative of a housefly-sized organism, although simplified to two-degree-of-freedom flight to generate uniaxial (azimuthal) optic flow on the retina in the plane of travel. Surfaces in the environment contained images of natural and man-made scenes that were captured by the moving sensor. Two bio-inspired motion detection algorithms and two computational optic flow estimation algorithms were applied to sequences of image data, and their performance as optic flow estimators was evaluated by estimating the mutual information between outputs and true optic flow in an equatorial section of the visual field. Mutual information for individual estimators at particular locations within the visual field was surprisingly low (less than 1 bit in all cases) and considerably poorer for the bio-inspired algorithms that the man-made computational algorithms. However, mutual information between weighted sums of these signals and comparable sums of the true optic flow showed significant increases for the bio-inspired algorithms, whereas such improvement did not occur for the computational algorithms. Such summation is representative of the spatial integration performed by wide-field motion-sensitive neurons in the third optic ganglia of flies.

Motor contagion during human-human and human-robot interaction.

Directory of Open Access Journals (Sweden)

Ambra Bisio

Full Text Available Motor resonance mechanisms are known to affect humans' ability to interact with others, yielding the kind of "mutual understanding" that is the basis of social interaction. However, it remains unclear how the partner's action features combine or compete to promote or prevent motor resonance during interaction. To clarify this point, the present study tested whether and how the nature of the visual stimulus and the properties of the observed actions influence observer's motor response, being motor contagion one of the behavioral manifestations of motor resonance. Participants observed a humanoid robot and a human agent move their hands into a pre-specified final position or put an object into a container at various velocities. Their movements, both in the object- and non-object- directed conditions, were characterized by either a smooth/curvilinear or a jerky/segmented trajectory. These trajectories were covered with biological or non-biological kinematics (the latter only by the humanoid robot. After action observation, participants were requested to either reach the indicated final position or to transport a similar object into another container. Results showed that motor contagion appeared for both the interactive partner except when the humanoid robot violated the biological laws of motion. These findings suggest that the observer may transiently match his/her own motor repertoire to that of the observed agent. This matching might mediate the activation of motor resonance, and modulate the spontaneity and the pleasantness of the interaction, whatever the nature of the communication partner.

Motor contagion during human-human and human-robot interaction.

Science.gov (United States)

Bisio, Ambra; Sciutti, Alessandra; Nori, Francesco; Metta, Giorgio; Fadiga, Luciano; Sandini, Giulio; Pozzo, Thierry

2014-01-01

Motor resonance mechanisms are known to affect humans' ability to interact with others, yielding the kind of "mutual understanding" that is the basis of social interaction. However, it remains unclear how the partner's action features combine or compete to promote or prevent motor resonance during interaction. To clarify this point, the present study tested whether and how the nature of the visual stimulus and the properties of the observed actions influence observer's motor response, being motor contagion one of the behavioral manifestations of motor resonance. Participants observed a humanoid robot and a human agent move their hands into a pre-specified final position or put an object into a container at various velocities. Their movements, both in the object- and non-object- directed conditions, were characterized by either a smooth/curvilinear or a jerky/segmented trajectory. These trajectories were covered with biological or non-biological kinematics (the latter only by the humanoid robot). After action observation, participants were requested to either reach the indicated final position or to transport a similar object into another container. Results showed that motor contagion appeared for both the interactive partner except when the humanoid robot violated the biological laws of motion. These findings suggest that the observer may transiently match his/her own motor repertoire to that of the observed agent. This matching might mediate the activation of motor resonance, and modulate the spontaneity and the pleasantness of the interaction, whatever the nature of the communication partner.

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...

Effects of transients in LIGO suspensions on searches for gravitational waves.

Science.gov (United States)

Walker, M; Abbott, T D; Aston, S M; González, G; Macleod, D M; McIver, J; Abbott, B P; Abbott, R; Adams, C; Adhikari, R X; Anderson, S B; Ananyeva, A; Appert, S; Arai, K; Ballmer, S W; Barker, D; Barr, B; Barsotti, L; Bartlett, J; Bartos, I; Batch, J C; Bell, A S; Betzwieser, J; Billingsley, G; Birch, J; Biscans, S; Biwer, C; Blair, C D; Bork, R; Brooks, A F; Ciani, G; Clara, F; Countryman, S T; Cowart, M J; Coyne, D C; Cumming, A; Cunningham, L; Danzmann, K; Da Silva Costa, C F; Daw, E J; DeBra, D; DeRosa, R T; DeSalvo, R; Dooley, K L; Doravari, S; Driggers, J C; Dwyer, S E; Effler, A; Etzel, T; Evans, M; Evans, T M; Factourovich, M; Fair, H; Fernández Galiana, A; Fisher, R P; Fritschel, P; Frolov, V V; Fulda, P; Fyffe, M; Giaime, J A; Giardina, K D; Goetz, E; Goetz, R; Gras, S; Gray, C; Grote, H; Gushwa, K E; Gustafson, E K; Gustafson, R; Hall, E D; Hammond, G; Hanks, J; Hanson, J; Hardwick, T; Harry, G M; Heintze, M C; Heptonstall, A W; Hough, J; Izumi, K; Jones, R; Kandhasamy, S; Karki, S; Kasprzack, M; Kaufer, S; Kawabe, K; Kijbunchoo, N; King, E J; King, P J; Kissel, J S; Korth, W Z; Kuehn, G; Landry, M; Lantz, B; Lockerbie, N A; Lormand, M; Lundgren, A P; MacInnis, M; Márka, S; Márka, Z; Markosyan, A S; Maros, E; Martin, I W; Martynov, D V; Mason, K; Massinger, T J; Matichard, F; Mavalvala, N; McCarthy, R; McClelland, D E; McCormick, S; McIntyre, G; Mendell, G; Merilh, E L; Meyers, P M; Miller, J; Mittleman, R; Moreno, G; Mueller, G; Mullavey, A; Munch, J; Nuttall, L K; Oberling, J; Oliver, M; Oppermann, P; Oram, Richard J; O'Reilly, B; Ottaway, D J; Overmier, H; Palamos, J R; Paris, H R; Parker, W; Pele, A; Penn, S; Phelps, M; Pierro, V; Pinto, I; Principe, M; Prokhorov, L G; Puncken, O; Quetschke, V; Quintero, E A; Raab, F J; Radkins, H; Raffai, P; Reid, S; Reitze, D H; Robertson, N A; Rollins, J G; Roma, V J; Romie, J H; Rowan, S; Ryan, K; Sadecki, T; Sanchez, E J; Sandberg, V; Savage, R L; Schofield, R M S; Sellers, D; Shaddock, D A; Shaffer, T J; Shapiro, B; Shawhan, P; Shoemaker, D H; Sigg, D; Slagmolen, B J J; Smith, B; Smith, J R; Sorazu, B; Staley, A; Strain, K A; Tanner, D B; Taylor, R; Thomas, M; Thomas, P; Thorne, K A; Thrane, E; Torrie, C I; Traylor, G; Tuyenbayev, D; Vajente, G; Valdes, G; van Veggel, A A; Vecchio, A; Veitch, P J; Venkateswara, K; Vo, T; Vorvick, C; Ward, R L; Warner, J; Weaver, B; Weiss, R; Weßels, P; Willke, B; Wipf, C C; Worden, J; Wu, G; Yamamoto, H; Yancey, C C; Yu, Hang; Yu, Haocun; Zhang, L; Zucker, M E; Zweizig, J

2017-12-01

This paper presents an analysis of the transient behavior of the Advanced LIGO (Laser Interferometer Gravitational-wave Observatory) suspensions used to seismically isolate the optics. We have characterized the transients in the longitudinal motion of the quadruple suspensions during Advanced LIGO's first observing run. Propagation of transients between stages is consistent with modeled transfer functions, such that transient motion originating at the top of the suspension chain is significantly reduced in amplitude at the test mass. We find that there are transients seen by the longitudinal motion monitors of quadruple suspensions, but they are not significantly correlated with transient motion above the noise floor in the gravitational wave strain data, and therefore do not present a dominant source of background noise in the searches for transient gravitational wave signals. Using the suspension transfer functions, we compared the transients in a week of gravitational wave strain data with transients from a quadruple suspension. Of the strain transients between 10 and 60 Hz, 84% are loud enough that they would have appeared above the sensor noise in the top stage quadruple suspension monitors if they had originated at that stage at the same frequencies. We find no significant temporal correlation with the suspension transients in that stage, so we can rule out suspension motion originating at the top stage as the cause of those transients. However, only 3.2% of the gravitational wave strain transients are loud enough that they would have been seen by the second stage suspension sensors, and none of them are above the sensor noise levels of the penultimate stage. Therefore, we cannot eliminate the possibility of transient noise in the detectors originating in the intermediate stages of the suspension below the sensing noise.

Robot fish bio-inspired fishlike underwater robots

CERN Document Server

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

2015-01-01

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

Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

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

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

Directory of Open Access Journals (Sweden)

Addythia Saphala

2015-10-01

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

Presentation robot Advee

Czech Academy of Sciences Publication Activity Database

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

2012-01-01

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

Robotic surgery update.

Science.gov (United States)

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

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

Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

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

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

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

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

Robotic seeding

DEFF Research Database (Denmark)

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

2017-01-01

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

Neural PID Control of Robot Manipulators With Application to an Upper Limb Exoskeleton.

Science.gov (United States)

Yu, Wen; Rosen, Jacob

2013-04-01

In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.

An Adaptive Robot Game

DEFF Research Database (Denmark)

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

2010-01-01

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

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

DEFF Research Database (Denmark)

Andersen, Rasmus Skovgaard

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

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

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

Advanced mechanics in robotic systems

CERN Document Server

Nava Rodríguez, Nestor Eduardo

2011-01-01

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

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

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

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

Science.gov (United States)

Arnold, Thomas; Scheutz, Matthias

2017-06-01

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

Pulsed x-ray induced attenuation measurements of single mode optical fibers and coupler materials

International Nuclear Information System (INIS)

Johan, A.; Charre, P.

1994-01-01

Pulsed X-ray induced transient radiation attenuation measurements of single mode optical fibers have been performed versus total dose, light wavelength, optical power and fiber coil diameter in order to determine the behavior of parameters sensitive to ionizing radiation. The results did not show any photobleaching phenomenon and the attenuation was found independent of the spool diameter. As expected, transient attenuation was lower for higher wave-lengths. The recovery took place in the millisecond range and was independent of total dose, light wavelength and optical power. In optical modules and devices a large range of behaviors was observed according to coupler material i.e., Corning coupler showed a small peak attenuation that remained more than one day later; on the other hand LiTaO 3 material experienced an order of magnitude higher peak attenuation and a recovery in the millisecond range. For applications with optical fibers and integrated optics devices the authors showed that in many cases the optical fiber (length above 100 m) is the most sensitive device in a transient ionizing radiation field

Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

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

Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.

Science.gov (United States)

Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhang, W J

2012-10-01

The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.

All-optical equalization of power transients on four 40 Gbit/s WDM channels using a fiber-based device

DEFF Research Database (Denmark)

Kjær, Rasmus; Oxenløwe, Leif Katsuo; Palsdottir, Bera

2008-01-01

Simultaneous transient suppression of four transient-impaired 40 Gbit/s RZ-ASK WDM channels is demonstrated. Sensitivity improvements are in excess of 5 dB and transmission penalties are significantly reduced.......Simultaneous transient suppression of four transient-impaired 40 Gbit/s RZ-ASK WDM channels is demonstrated. Sensitivity improvements are in excess of 5 dB and transmission penalties are significantly reduced....

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...

Improved Deep Belief Networks (IDBN Dynamic Model-Based Detection and Mitigation for Targeted Attacks on Heavy-Duty Robots

Directory of Open Access Journals (Sweden)

Lianpeng Li

2018-04-01

Full Text Available In recent years, the robots, especially heavy-duty robots, have become the hardest-hit areas for targeted attacks. These attacks come from both the cyber-domain and the physical-domain. In order to improve the security of heavy-duty robots, this paper proposes a detection and mitigation mechanism which based on improved deep belief networks (IDBN and dynamic model. The detection mechanism consists of two parts: (1 IDBN security checks, which can detect targeted attacks from the cyber-domain; (2 Dynamic model and security detection, used to detect the targeted attacks which can possibly lead to a physical-domain damage. The mitigation mechanism was established on the base of the detection mechanism and could mitigate transient and discontinuous attacks. Moreover, a test platform was established to carry out the performance evaluation test for the proposed mechanism. The results show that, the detection accuracy for the attack of the cyber-domain of IDBN reaches 96.2%, and the detection accuracy for the attack of physical-domain control commands reaches 94%. The performance evaluation test has verified the reliability and high efficiency of the proposed detection and mitigation mechanism for heavy-duty robots.

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....

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

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

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

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

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

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

Science.gov (United States)

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

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

Humanlike Robots - The Upcoming Revolution in Robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-01-01

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

Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

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

Transient Evolutional Dynamics of Quantum-Dot Molecular Phase Coherence for Sensitive Optical Switching

Science.gov (United States)

Shen, Jian Qi; Gu, Jing

2018-04-01

Atomic phase coherence (quantum interference) in a multilevel atomic gas exhibits a number of interesting phenomena. Such an atomic quantum coherence effect can be generalized to a quantum-dot molecular dielectric. Two quantum dots form a quantum-dot molecule, which can be described by a three-level Λ-configuration model { |0> ,|1> ,|2> } , i.e., the ground state of the molecule is the lower level |0> and the highly degenerate electronic states in the two quantum dots are the two upper levels |1> ,|2> . The electromagnetic characteristics due to the |0>-|1> transition can be controllably manipulated by a tunable gate voltage (control field) that drives the |2>-|1> transition. When the gate voltage is switched on, the quantum-dot molecular state can evolve from one steady state (i.e., |0>-|1> two-level dressed state) to another steady state (i.e., three-level coherent-population-trapping state). In this process, the electromagnetic characteristics of a quantum-dot molecular dielectric, which is modified by the gate voltage, will also evolve. In this study, the transient evolutional behavior of the susceptibility of a quantum-dot molecular thin film and its reflection spectrum are treated by using the density matrix formulation of the multilevel systems. The present field-tunable and frequency-sensitive electromagnetic characteristics of a quantum-dot molecular thin film, which are sensitive to the applied gate voltage, can be utilized to design optical switching devices.

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

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

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

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

Science.gov (United States)

Marras, Stefano; Porfiri, Maurizio

2012-08-07

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

Laser electro-optic system for rapid three-dimensional /3-D/ topographic mapping of surfaces

Science.gov (United States)

Altschuler, M. D.; Altschuler, B. R.; Taboada, J.

1981-01-01

It is pointed out that the generic utility of a robot in a factory/assembly environment could be substantially enhanced by providing a vision capability to the robot. A standard videocamera for robot vision provides a two-dimensional image which contains insufficient information for a detailed three-dimensional reconstruction of an object. Approaches which supply the additional information needed for the three-dimensional mapping of objects with complex surface shapes are briefly considered and a description is presented of a laser-based system which can provide three-dimensional vision to a robot. The system consists of a laser beam array generator, an optical image recorder, and software for controlling the required operations. The projection of a laser beam array onto a surface produces a dot pattern image which is viewed from one or more suitable perspectives. Attention is given to the mathematical method employed, the space coding technique, the approaches used for obtaining the transformation parameters, the optics for laser beam array generation, the hardware for beam array coding, and aspects of image acquisition.

Micro robot bible

International Nuclear Information System (INIS)

Yoon, Jin Yeong

2000-08-01

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

Micro robot bible

Energy Technology Data Exchange (ETDEWEB)

Yoon, Jin Yeong

2000-08-15

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

Robots at Work

OpenAIRE

Graetz, Georg; Michaels, Guy

2015-01-01

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

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

Directory of Open Access Journals (Sweden)

Nicole Mirnig

2017-05-01

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

ROILA : RObot Interaction LAnguage

NARCIS (Netherlands)

Mubin, O.

2011-01-01

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

Transient reflectivity on vertically aligned single-wall carbon nanotubes

Energy Technology Data Exchange (ETDEWEB)

Galimberti, Gianluca; Ponzoni, Stefano; Ferrini, Gabriele [Interdisciplinary Laboratory for Advanced Materials Physics (i-LAMP) and Dipartimento di Matematica e Fisica, Università Cattolica del Sacro Cuore, I-25121 Brescia (Italy); Hofmann, Stephan [Department of Engineering, University of Cambridge, Cambridge CB3 0FA (United Kingdom); Arshad, Muhammad [Zernike Institute for Advanced Materials, University of Groningen (Netherlands); ICTP, Strada Costiera 11, I-34151 Trieste (Italy); National Centre for Physics Quaid-i-Azam University Islamabad (Pakistan); Cepek, Cinzia [Istituto Officina dei Materiali — CNR, Laboratorio TASC, Area Science Park, Basovizza, I-34149 Trieste (Italy); Pagliara, Stefania, E-mail: pagliara@dmf.unicatt.it [Interdisciplinary Laboratory for Advanced Materials Physics (i-LAMP) and Dipartimento di Matematica e Fisica, Università Cattolica del Sacro Cuore, I-25121 Brescia (Italy)

2013-09-30

One-color transient reflectivity measurements are carried out on two different samples of vertically aligned single-wall carbon nanotube bundles and compared with the response recently published on unaligned bundles. The negative sign of the optical response for both samples indicates that the free electron character revealed on unaligned bundles is only due to the intertube interactions favored by the tube bending. Neither the presence of bundles nor the existence of structural defects in aligned bundles is able to induce a free-electron like behavior of the photoexcited carriers. This result is also confirmed by the presence of non-linear excitonic effects in the transient response of the aligned bundles. - Highlights: • Transient reflectivity measurements on two aligned carbon nanotube samples • Relationship between unalignment and/or bundling and intertube interaction • The bundling is not able to modify the intertube interactions • The presence of structural defects does not affect the intertube interactions • A localized exciton-like behavior has been revealed in these samples.

Evidence for robots.

Science.gov (United States)

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Francisco J. Rodríguez-Lera

2018-03-01

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

1st Iberian Robotics Conference

CERN Document Server

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

2014-01-01

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

Springer handbook of robotics

CERN Document Server

Khatib, Oussama

2016-01-01

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

Innovations in robotic surgery.

Science.gov (United States)

Gettman, Matthew; Rivera, Marcelino

2016-05-01

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

Transient Spectroscopy of Photoexcitations and Morphology Control of Organometal Trihalide Perovskites

Science.gov (United States)

Zhai, Yaxin; Lafalce, Evan; Sheng, Chuan-Xiang; Zhang, Chuang; Sun, Dali; Vardeny, Zeev Valy

We studied the photoexcitation dynamics in various hybrid perovskites by using broadband ps transient photomodulation (PM) spectroscopy and variable stripe length (VSL) technique. We observed both excitonic and free carriers spectral features in MAPbI3 but mainly excitonic transition in MAPbI1.1Br1.9 and MAPbI3-xClx films. We also fabricated MAPbBr3 films with nano-crystal pinning (NCP) treatment, which allows for smaller crystalline grain size. The transient spectra show a narrower and longer-lived photobleaching band in NCP treated films consistent with the increase in the photoluminescence efficiency. In addition the net optical gain measured by VSL is markedly increased up to 300 cm-1, and the lasing threshold is concurrently reduced. Measurement of the waveguide losses in the NCP films shows that the improvement in lasing properties can partly be attributed to the reduced optical scattering. Work supported by the AFOSR through a MURI Grant RA 9550-14-1-0037.

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

International Nuclear Information System (INIS)

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

1990-01-01

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

Soft-Material Robotics

OpenAIRE

Wang, L; Nurzaman, SG; Iida, Fumiya

2017-01-01

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

Transient many-body instability in driven Dirac materials

Science.gov (United States)

Pertsova, Anna; Triola, Christopher; Balatsky, Alexander

The defining feature of a Dirac material (DM) is the presence of nodes in the low-energy excitation spectrum leading to a strong energy dependence of the density of states (DOS). The vanishing of the DOS at the nodal point implies a very low effective coupling constant which leads to stability of the node against electron-electron interactions. Non-equilibrium or driven DM, in which the DOS and hence the effective coupling can be controlled by external drive, offer a new platform for investigating collective instabilities. In this work, we discuss the possibility of realizing transient collective states in driven DMs. Motivated by recent pump-probe experiments which demonstrate the existence of long-lived photo-excited states in DMs, we consider an example of a transient excitonic instability in an optically-pumped DM. We identify experimental signatures of the transient excitonic condensate and provide estimates of the critical temperatures and lifetimes of these states for few important examples of DMs, such as single-layer graphene and topological-insulator surfaces.

AssistMe robot, an assistance robotic platform

Directory of Open Access Journals (Sweden)

A. I. Alexan

2012-06-01

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

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

OpenAIRE

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

2016-01-01

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

The Photometry Pipeline of the Watcher Robotic Telescope

Directory of Open Access Journals (Sweden)

A. Ferrero

2010-01-01

Full Text Available The Watcher robotic telescope was developed primarily to perform rapid optical follow-up observations of Gamma-Ray Bursts (GRBs. Secondary scientific goals include blazar monitoring and variable star studies. An automated photometry pipeline to rapidly analyse data from Watcher has been implemented. Details of the procedures to get image zero-point, source instrumental measurement, and limiting magnitude are presented. Sources of uncertainty are assessed and the performance of the pipeline is tested by comparison with a number of catalogue sources.

Educational Robotics as Mindtools

Science.gov (United States)

Mikropoulos, Tassos A.; Bellou, Ioanna

2013-01-01

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

Robot friendship: Can a robot be a friend?

DEFF Research Database (Denmark)

Emmeche, Claus

2014-01-01

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

Multi-robot caravanning

KAUST Repository

Denny, Jory

2013-11-01

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

Self-Organizing Robots

CERN Document Server

Murata, Satoshi

2012-01-01

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

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

Science.gov (United States)

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

2013-06-01

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

Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

DEFF Research Database (Denmark)

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

2009-01-01

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

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

NARCIS (Netherlands)

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

2017-01-01

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

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

NARCIS (Netherlands)

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

2013-01-01

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

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

Science.gov (United States)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

Robotic hand project

OpenAIRE

Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

2014-01-01

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

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

OpenAIRE

Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

2018-01-01

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

Developing a successful robotics program.

Science.gov (United States)

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

2012-01-01

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

Communication of Robot Status to Improve Human-Robot Collaboration

Data.gov (United States)

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

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

Directory of Open Access Journals (Sweden)

Fatemeh Maleki

2015-03-01

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

Robotics in medicine

Science.gov (United States)

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

2015-11-01

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

Dynamics of Molecular Gyroscopes Created by Strong Optical Fields

Science.gov (United States)

Mullin, Amy

2015-03-01

We explore the behavior of molecules in ultra-high angular momentum states prepared in an optical centrifuge and detected with transient IR absorption spectroscopy. In the optical centrifuge, the polarizable electron cloud of molecules interacts with the electric field of linearly polarized light that angularly accelerates over the time of the optical pulse. The centrifuge pulse is generated by combining oppositely chirped pulsed of light. Trapped molecules are driven into high angular momentum states that are spatially oriented with the optical field and have energies far above the average at 300 K. High resolution transient IR spectroscopy reveals the dynamics of collisional energy transfer for the super-rotors. Polarization-dependent studies show that the initial angular momentum orientation persists for many collisions, indicating that molecules in an optical centrifuge behave as quantum gyroscopes. Time-dependent population and energy profiles for individual J- states give information about the dynamics of super-rotors. Research support provided by NSF and the University of Maryland.

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

Science.gov (United States)

Sabanović, Selma

2014-06-01

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

German robots: The impact of industrial robots on workers

OpenAIRE

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

2017-01-01

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

Autonomous military robotics

CERN Document Server

Nath, Vishnu

2014-01-01

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

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

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

Toward cognitive robotics

Science.gov (United States)

Laird, John E.

2009-05-01

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

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Directory of Open Access Journals (Sweden)

Xingguang Duan

2018-01-01

Full Text Available In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Science.gov (United States)

Duan, Xingguang; Gao, Liang; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning. PMID:29599948

Conceptions of health service robots

DEFF Research Database (Denmark)

Lystbæk, Christian Tang

2015-01-01

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

Continuum limbed robots for locomotion

Science.gov (United States)

Mutlu, Alper

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

Soft computing in advanced robotics

CERN Document Server

Kobayashi, Ichiro; Kim, Euntai

2014-01-01

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

Robotics and remote systems applications

International Nuclear Information System (INIS)

Rabold, D.E.

1996-01-01

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

Situation Assessment for Mobile Robots

DEFF Research Database (Denmark)

Beck, Anders Billesø

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

The transient electric field measurement system for EAST device

Energy Technology Data Exchange (ETDEWEB)

Wang, Y., E-mail: wayong@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China); Ji, Z.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China); Zhu, C.M. [The Experiment & Verification Center of State Grid Electric Power Research Institute (The Automation Equipment EMC Lab. of State Grid Co.), Nanjing, Jiangsu (China); Zhang, Z.C.; Ma, T.F.; Xu, Z.H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

2016-11-15

The electromagnetic environment around the Experimental Advanced Superconducting Tokamak (EAST) device is very complex during plasma discharge experiment. In order to fully monitor the changes of electric field around the EAST device during plasma discharge, a transient electric field measurement system based on PCI eXtensions for Instrumentation (PXI) platform has been designed. A digitizer is used for high-speed data acquisition of raw signals from electric field sensors, and a Field Programmable Gate Array (FPGA) module is used for realizing an on-the-fly fast Fourier transform (FFT) and inverse fast Fourier transform (IFFT) algorithm including a beforehand identified antenna factor (AF) to achieve finally a calibrated and filtered electric field measurement, then these signals can be displayed and easily analyzed. The raw signals from electric field sensors are transferred through optical fiber by optical isolation to reduce electromagnetic interference (EMI). The high speed data streaming technology is used for data storage. A prototype of this system has been realized to measure the transient electric field strength, with the real-time processing and continuous acquisition ability of one channel of 14-bit resolution and up to 50 MHz sampling rate, and 6 KHz FFT frequency resolution.

The bright optical flash from GRB 060117

Czech Academy of Sciences Publication Activity Database

Jelínek, M.; Prouza, Michael; Kubánek, Petr; Hudec, René; Nekola, Martin; Řídký, Jan; Grygar, Jiří; Boháčová, Martina; Castro-Tirado, A.J.; Gorosabel, J.; Hrabovský, Miroslav; Mandát, Dušan; Nosek, D.; Nožka, Libor; Palatka, Miroslav; Pandey, S.B.; Pech, Miroslav; Schovánek, Petr; Šmída, Radomír; Trávníček, Petr; de Ugarte Postigo, A.; Vítek, S.

2006-01-01

Roč. 454, - (2006), L119-L122 ISSN 0004-6361 R&D Projects: GA MŠk(CZ) LC527; GA MŠk LA 134; GA AV ČR KJB300100502; GA AV ČR IAA3003206 Institutional research plan: CEZ:AV0Z10100502; CEZ:AV0Z10030501 Keywords : Gamma Ray Bursts * prompt optical emission * optical transient Subject RIV: BH - Optics, Masers, Lasers Impact factor: 3.971, year: 2006

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...

FIRST RESULTS FROM THE CATALINA REAL-TIME TRANSIENT SURVEY

International Nuclear Information System (INIS)

Drake, A. J.; Djorgovski, S. G.; Mahabal, A.; Graham, M. J.; Williams, R.; Beshore, E.; Larson, S.; Boattini, A.; Gibbs, A.; Hill, R.; Kowalski, R.; Christensen, E.; Catelan, M.

2009-01-01

We report on the results from the first six months of the Catalina Real-Time Transient Survey (CRTS). In order to search for optical transients (OTs) with timescales of minutes to years, the CRTS analyses data from the Catalina Sky Survey which repeatedly covers 26,000 of square degrees on the sky. The CRTS provides a public stream of transients that are bright enough to be followed up using small telescopes. Since the beginning of the survey, all CRTS transients have been made available to astronomers around the world in real time using HTML tables,RSS feeds, and VOEvents. As part of our public outreach program, the detections are now also available in Keyhole Markup Language through Google Sky. The initial discoveries include over 350 unique OTs rising more than 2 mag from past measurements. Sixty two of these are classified as supernovae (SNe), based on light curves, prior deep imaging and spectroscopic data. Seventy seven are due to cataclysmic variables (CVs; only 13 previously known), while an additional 100 transients were too infrequently sampled to distinguish between faint CVs and SNe. The remaining OTs include active galactic nucleus, blazars, high-proper-motions stars, highly variable stars (such as UV Ceti stars), and transients of an unknown nature. Our results suggest that there is a large population of SNe missed by many current SN surveys because of selection biases. These objects appear to be associated with faint host galaxies. We also discuss the unexpected discovery of white dwarf binary systems through dramatic eclipses.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

Science.gov (United States)

Cepollina, Frank J. (Inventor); Burns, Richard D. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor); Jedhrich, Nicholas M. (Inventor)

2009-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Open Issues in Evolutionary Robotics.

Science.gov (United States)

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

2016-01-01

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

Mergeable nervous systems for robots.

Science.gov (United States)

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

2017-09-12

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

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

Science.gov (United States)

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

2009-01-01

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

[Robotics in pediatric surgery].

Science.gov (United States)

Camps, J I

2011-10-01

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

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

Science.gov (United States)

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

2014-07-01

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

Time-dependent evolution of an optical vortex in photorefractive media

DEFF Research Database (Denmark)

Mamaev, A.V.; Saffman, M.; Zozulya, A.A.

1997-01-01

We study the transient decay and rotation of a singly charged optical vortex in media with a photorefractive nonlinearity under conditions where the light intensity is high compared to the saturation intensity. Transient decay of an initially circular vortex is characterized by charge-dependent r...

[Robot-aided training in rehabilitation].

Science.gov (United States)

Hachisuka, Kenji

2010-02-01

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

A discussion of the eccentric binary hypothesis for transient X-ray sources

International Nuclear Information System (INIS)

Avni, Y.; Goldman, I.

1979-01-01

The eccentric binary hypothesis for transient x-ray sources in the framework of the gradual acceleration stellar wind model proposed by Barlow and Cohen is examined. It is found that a consideration of the ratio of maximum to minimum luminosities and of the ratio of the durations of the high and low states, for a typical transient x-ray source, yields a rather high eccentricity, despite the gradual acceleration of the wind. When typical physical parameters for the binary members are taken into account, we find that a consistent description is possible only for very eccentric orbits (e>=0.9), thus the model is inadequate as a general explanation of the x-ray transient phenomenon. The recurrent transient x-ray source 4U 1630-47, which was considered in ihe past to be a realization of the eccentric binary model is studied and it is demonstrated that it cannot be described consistently within the framework of the model, unless the optical primary is very peculiar. (author)

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

Science.gov (United States)

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

2015-03-01

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

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

Science.gov (United States)

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

2017-01-01

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

DSLs in robotics

DEFF Research Database (Denmark)

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

2017-01-01

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

Robots de servicio

OpenAIRE

Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

2008-01-01

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

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

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