WorldWideScience

Sample records for robotic range clearance

  1. Robotic Range Clearance Competition (R2C2)

    Science.gov (United States)

    2011-10-01

    MON TUE MAP MAP VEG automated vegetation clearance, automated Aug 10 Aug 11 WED THU Med VEG ia and Visitor D MAP ay Aug 12 FRI SURF...competitors will not be penalized if they enter this area. For the competition we will add an additional Pan , Tilt, Zoom (PTZ) Camera that will be...Johnston’s Corner –Gas Station Restaurant: Pizza, Fired Chicken , Subs 550 W Whalen St., Guernsey, WY 82214 (307) 836-3155 R2C2 Competitor Information

  2. Kinematics Simulation Analysis of Packaging Robot with Joint Clearance

    Science.gov (United States)

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

    2018-03-01

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

  3. Visual Control of Robots Using Range Images

    Directory of Open Access Journals (Sweden)

    Fernando Torres

    2010-08-01

    Full Text Available In the last years, 3D-vision systems based on the time-of-flight (ToF principle have gained more importance in order to obtain 3D information from the workspace. In this paper, an analysis of the use of 3D ToF cameras to guide a robot arm is performed. To do so, an adaptive method to simultaneous visual servo control and camera calibration is presented. Using this method a robot arm is guided by using range information obtained from a ToF camera. Furthermore, the self-calibration method obtains the adequate integration time to be used by the range camera in order to precisely determine the depth information.

  4. Development of wall ranging radiation inspection robot

    International Nuclear Information System (INIS)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S.

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall

  5. Development of wall ranging radiation inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall.

  6. Design and Development of Vision Based Blockage Clearance Robot for Sewer Pipes

    Directory of Open Access Journals (Sweden)

    Krishna Prasad Nesaian

    2012-03-01

    Full Text Available Robotic technology is one of the advanced technologies, which is capable of completing tasks at situations where humans are unable to reach, see or survive. The underground sewer pipelines are the major tools for the transportation of effluent water. A lot of troubles caused by blockage in sewer pipe will lead to overflow of effluent water, sanitation problems. So robotic vehicle that is capable of traveling at underneath effluent water determining blockage using ultrasonic sensors and clearing by means of drilling mechanism is done. In addition to that wireless camera is fixed which acts as a robot vision by which we can monitor video and capture images using MATLAB tool. Thus in this project a prototype model of underground sewer pipe blockage clearance robot with drilling type will be developed

  7. Range-Space Predictive Control for Optimal Robot Motion

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Böhm, Josef

    2008-01-01

    Roč. 1, č. 1 (2008), s. 1-7 ISSN 1998-0140 R&D Projects: GA ČR GP102/06/P275 Institutional research plan: CEZ:AV0Z10750506 Keywords : Accurate manipulation * Industrial robotics * Predictive control * Range-space control Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0305644.pdf

  8. Task path planning, scheduling and learning for free-ranging robot systems

    Science.gov (United States)

    Wakefield, G. Steve

    1987-01-01

    The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

  9. Close Range Photogrammetry in Space - Measuring the On-Orbit Clearance between Hardware on the International Space Station

    Science.gov (United States)

    Liddle, Donn

    2017-01-01

    When photogrammetrists read an article entitled "Photogrammetry in Space" they immediately think of terrestrial mapping using satellite imagery. However in the last 19 years the roll of close range photogrammetry in support of the manned space flight program has grown exponentially. Management and engineers have repeatedly entrusted the safety of the vehicles and their crews to the results of photogrammetric analysis. In February 2010, the Node 3 module was attached to the port side Common Berthing Mechanism (CBM) of the International Space Station (ISS). Since this was not the location at which the module was originally designed to be located on the ISS, coolant lines containing liquid ammonia, were installed externally from the US Lab to Node 3 during a spacewalk. During mission preparation I had developed a plan and a set of procedures to have the astronauts acquire stereo imagery of these coolant lines at the conclusion of the spacewalk to enable us to map their as-installed location relative to the rest of the space station. Unfortunately, the actual installation of the coolant lines took longer than expected and in an effort to wrap up the spacewalk on time, the mission director made a real-time call to drop the photography. My efforts to reschedule the photography on a later spacewalk never materialized, so rather than having an as-installed model for the location of coolant lines, the master ISS CAD database continued to display an as-designed model of the coolant lines. Fast forward to the summer of 2015, the ISS program planned to berth a Japanese cargo module to the nadir Common Berthing Mechanism (CBM), immediately adjacent to the Node 3 module. A CAD based clearance analysis revealed a negative four inch clearance between the ammonia lines and a thruster nozzle on the port side of the cargo vehicle. Recognizing that the model of the ammonia line used in the clearance analysis was "as-designed" rather than "as-installed", I was asked to determine the

  10. Calibration and control for range imaging in mobile robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Dorum, O.H. [Norges Tekniske Hoegskole, Trondheim (Norway). Div. of Computer Systems and Telematics; Hoover, A. [University of South Florida, Tampa, FL (United States). Dept. of Computer Science and Engineering; Jones, J.P. [Oak Ridge National Lab., TN (United States)

    1994-06-01

    This paper addresses some issues in the development of sensor-based systems for mobile robot navigation which use range imaging sensors as the primary source for geometric information about the environment. In particular, we describe a model of scanning laser range cameras which takes into account the properties of the mechanical system responsible for image formation and a calibration procedure which yields improved accuracy over previous models. In addition, we describe an algorithm which takes the limitations of these sensors into account in path planning and path execution. In particular, range imaging sensors are characterized by a limited field of view and a standoff distance -- a minimum distance nearer than which surfaces cannot be sensed. These limitations can be addressed by enriching the concept of configuration space to include information about what can be sensed from a given configuration, and using this information to guide path planning and path following.

  11. Range-Image Acquisition for Discriminated Objects in a Range-gated Robot Vision System

    Energy Technology Data Exchange (ETDEWEB)

    Park, Seung-Kyu; Ahn, Yong-Jin; Park, Nak-Kyu; Baik, Sung-Hoon; Choi, Young-Soo; Jeong, Kyung-Min [KAERI, Daejeon (Korea, Republic of)

    2015-05-15

    The imaging capability of a surveillance vision system from harsh low-visibility environments such as in fire and detonation areas is a key function to monitor the safety of the facilities. 2D and range image data acquired from low-visibility environment are important data to assess the safety and prepare appropriate countermeasures. Passive vision systems, such as conventional camera and binocular stereo vision systems usually cannot acquire image information when the reflected light is highly scattered and absorbed by airborne particles such as fog. In addition, the image resolution captured through low-density airborne particles is decreased because the image is blurred and dimmed by the scattering, emission and absorption. Active vision systems, such as structured light vision and projected stereo vision are usually more robust for harsh environment than passive vision systems. However, the performance is considerably decreased in proportion to the density of the particles. The RGI system provides 2D and range image data from several RGI images and it moreover provides clear images from low-visibility fog and smoke environment by using the sum of time-sliced images. Nowadays, the Range-gated (RG) imaging is an emerging technology in the field of surveillance for security applications, especially in the visualization of invisible night and fog environment. Although RGI viewing was discovered in the 1960's, this technology is, nowadays becoming more applicable by virtue of the rapid development of optical and sensor technologies. Especially, this system can be adopted in robot-vision system by virtue of its compact portable configuration. In contrast to passive vision systems, this technology enables operation even in harsh environments like fog and smoke. During the past decades, several applications of this technology have been applied in target recognition and in harsh environments, such as fog, underwater vision. Also, this technology has been

  12. Range-Image Acquisition for Discriminated Objects in a Range-gated Robot Vision System

    International Nuclear Information System (INIS)

    Park, Seung-Kyu; Ahn, Yong-Jin; Park, Nak-Kyu; Baik, Sung-Hoon; Choi, Young-Soo; Jeong, Kyung-Min

    2015-01-01

    The imaging capability of a surveillance vision system from harsh low-visibility environments such as in fire and detonation areas is a key function to monitor the safety of the facilities. 2D and range image data acquired from low-visibility environment are important data to assess the safety and prepare appropriate countermeasures. Passive vision systems, such as conventional camera and binocular stereo vision systems usually cannot acquire image information when the reflected light is highly scattered and absorbed by airborne particles such as fog. In addition, the image resolution captured through low-density airborne particles is decreased because the image is blurred and dimmed by the scattering, emission and absorption. Active vision systems, such as structured light vision and projected stereo vision are usually more robust for harsh environment than passive vision systems. However, the performance is considerably decreased in proportion to the density of the particles. The RGI system provides 2D and range image data from several RGI images and it moreover provides clear images from low-visibility fog and smoke environment by using the sum of time-sliced images. Nowadays, the Range-gated (RG) imaging is an emerging technology in the field of surveillance for security applications, especially in the visualization of invisible night and fog environment. Although RGI viewing was discovered in the 1960's, this technology is, nowadays becoming more applicable by virtue of the rapid development of optical and sensor technologies. Especially, this system can be adopted in robot-vision system by virtue of its compact portable configuration. In contrast to passive vision systems, this technology enables operation even in harsh environments like fog and smoke. During the past decades, several applications of this technology have been applied in target recognition and in harsh environments, such as fog, underwater vision. Also, this technology has been

  13. Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

    Science.gov (United States)

    Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

    2017-04-20

    This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods.

  14. 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.

  15. Feature tracking for visual servo based range regulation on a mobile robot

    CSIR Research Space (South Africa)

    Burke, Michael G

    2009-11-01

    Full Text Available This poster presents a visual servo approach to straight line range and velocity regulation. The difference in velocity between a lead mobile robot and a follower is regulated through velocity control of the follower, in order to maintain a constant...

  16. Technetium-99m mercaptoacetyltriglycine clearance values in children with minimal renal disease: can a normal range be determined?

    International Nuclear Information System (INIS)

    Meyer, G.; Hahn, K.; Piepsz, A.; Kolinska, J.; Lepej, J.; Sixt, R.

    1998-01-01

    Use of technetium-99m labelled mercaptoacetyltriglycine ( 99m Tc-MAG3) simplifies and improves the quantification of renal clearance in children by virtue of its permanent availability, good imaging properties and low radiation exposure. Due to the lack of reference values for 99m Tc-MAG3 clearance in children, the Paediatric Task Group of the EANM initiated a multicentre study to evaluate 99m Tc-MAG3 clearance values in children with minimal renal disease. One hundred and twenty-five children aged between 12 months and 17 years, classified as renally healthy using defined diagnostic criteria, were included in the study. 99m Tc-MAG3 clearance was calculated using an algorithm on the basis of a single blood sample taken at any time between 30 and 40 min after tracer injection. In addition, the absolute 99m -Tc-MAG3 clearance values were normalized to body surface area. For further evaluation the children were classified into several groups according to age. There was a continuous increase in non-corrected 99m Tc-MAG3 clearance values from the age of 1 year up to the age of 17 years (mean value 8 years: 208±66 ml/min). Normal clearance values for adults were achieved by the age of 8 years. Analysis of the relationship between non-corrected clearance and age yielded a correlation coefficient of r=0.7. When these absolute clearance values were normalized to body surface area, we found nearly constant clearance values for all age groups, with a mean clearance value of 315±114 ml/min x 1.73 m 2 . The correlation coefficient for the relationship between normalized clearance and age was r=0.28. In conclusion, the clearance of 99m Tc-MAG3 increases continuously throughout childhood into adolescence due to the maturation and growth of the kidney. After normalization of the absolute clearance to body surface area, no correlation between clearance and age could be proven. (orig.)

  17. Infrared Range Sensor Array for 3D Sensing in Robotic Applications

    Directory of Open Access Journals (Sweden)

    Yongtae Do

    2013-04-01

    Full Text Available This paper presents the design and testing of multiple infrared range detectors arranged in a two-dimensional (2D array. The proposed system can collect the sparse three-dimensional (3D data of objects and surroundings for robotics applications. Three kinds of tasks are considered using the system: detecting obstacles that lie ahead of a mobile robot, sensing the ground profile for the safe navigation of a mobile robot, and sensing the shape and position of an object on a conveyor belt for pickup by a robot manipulator. The developed system is potentially a simple alternative to high-resolution (and expensive 3D sensing systems, such as stereo cameras or laser scanners. In addition, the system can provide shape information about target objects and surroundings that cannot be obtained using simple ultrasonic sensors. Laboratory prototypes of the system were built with nine infrared range sensors arranged in a 3×3 array and test results confirmed the validity of system.

  18. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... a range of treatment options. Airway Clearance Active Cycle of Breathing Technique Airway Clearance Techniques Autogenic Drainage ... LEGACY GIFT Sponsor a Participant CF Climb CF Cycle for Life Great Strides Xtreme Hike Participate In ...

  19. An adaptive scheme for robot localization and mapping with dynamically configurable inter-beacon range measurements.

    Science.gov (United States)

    Torres-González, Arturo; Martinez-de Dios, Jose Ramiro; Ollero, Anibal

    2014-04-25

    This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates. It also includes a supervision module that monitors the SLAM performance and dynamically selects the measurement gathering configuration balancing SLAM accuracy and resource consumption. The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34% and 14%, respectively) than traditional methods with a lower computational burden (16%) and similar beacon energy consumption.

  20. Recognition of flow in everyday life using sensor agent robot with laser range finder

    Science.gov (United States)

    Goshima, Misa; Mita, Akira

    2011-04-01

    In the present paper, we suggest an algorithm for a sensor agent robot with a laser range finder to recognize the flows of residents in the living spaces in order to achieve flow recognition in the living spaces, recognition of the number of people in spaces, and the classification of the flows. House reform is or will be demanded to prolong the lifetime of the home. Adaption for the individuals is needed for our aging society which is growing at a rapid pace. Home autonomous mobile robots will become popular in the future for aged people to assist them in various situations. Therefore we have to collect various type of information of human and living spaces. However, a penetration in personal privacy must be avoided. It is essential to recognize flows in everyday life in order to assist house reforms and aging societies in terms of adaption for the individuals. With background subtraction, extra noise removal, and the clustering based k-means method, we got an average accuracy of more than 90% from the behavior from 1 to 3 persons, and also confirmed the reliability of our system no matter the position of the sensor. Our system can take advantages from autonomous mobile robots and protect the personal privacy. It hints at a generalization of flow recognition methods in the living spaces.

  1. 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

  2. An Investigation into the Prediction of in Vivo Clearance for a Range of Flavin-containing Monooxygenase Substrates.

    Science.gov (United States)

    Jones, Barry C; Srivastava, Abhishek; Colclough, Nicola; Wilson, Joanne; Reddy, Venkatesh Pilla; Amberntsson, Sara; Li, Danxi

    2017-10-01

    Flavin-containing monooxygenases (FMO) are metabolic enzymes mediating the oxygenation of nucleophilic atoms such as nitrogen, sulfur, phosphorus, and selenium. These enzymes share similar properties to the cytochrome P450 system but can be differentiated through heat inactivation and selective substrate inhibition by methimazole. This study investigated 10 compounds with varying degrees of FMO involvement to determine the nature of the correlation between human in vitro and in vivo unbound intrinsic clearance. To confirm and quantify the extent of FMO involvement six of the compounds were investigated in human liver microsomal (HLM) in vitro assays using heat inactivation and methimazole substrate inhibition. Under these conditions FMO contribution varied from 21% (imipramine) to 96% (itopride). Human hepatocyte and HLM intrinsic clearance (CL int ) data were scaled using standard methods to determine the predicted unbound intrinsic clearance (predicted CL int u ) for each compound. This was compared with observed unbound intrinsic clearance (observed CL int u ) values back calculated from human pharmacokinetic studies. A good correlation was observed between the predicted and observed CL int u using hepatocytes ( R 2 = 0.69), with 8 of the 10 compounds investigated within or close to a factor of 2. For HLM the in vitro-in vivo correlation was maintained ( R 2 = 0.84) but the accuracy was reduced with only 3 out of 10 compounds falling within, or close to, twofold. This study demonstrates that human hepatocytes and HLM can be used with standard scaling approaches to predict the human in vivo clearance for FMO substrates. Copyright © 2017 by The American Society for Pharmacology and Experimental Therapeutics.

  3. 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.

  4. Lung mucociliary clearance

    International Nuclear Information System (INIS)

    Mortensen, J.; Lange, P.; Nyboe, J.; Groth, S.

    1994-01-01

    The aim of this study was to establish reference values for mucociliary clearance and mucociliary clearance reserve capacity as determined by β 2 -adrenergic agonist-induced increase in mucociliary clearance. We studied 62 healthy females (n=33) and males (n=29). Their ages ranged evenly between 18 and 84 years. Fifty-three of the subjects were life-long non-smokers, while nine were ex-smokers. Multiple linear regression analyses showed that mucociliary clearance was significantly faster when the radioaerosol was deposited in the central airways than when it was deposited in the peripheral airways, and faster in life-long non-smokers than in ex-smokers. There was no influence of age, and no convincing association with sex. The variation was less within than between subjects. Mean mucociliary clearance reserve capacity was 21.3% (SD: 10.0%, P 2 agonist-induced increase in lung mucociliary clearance was significantly larger (P<0.05) than the stimulation which has previously been reported in patients with asthma, bronchiectasis or cystic fibrosis. The signal-to-noise ratio of the mucociliary clearance reserve capacity in relation to measurement of baseline mucociliary clearance indicates that measurement of mucociliary clearance reserve capacity may be a more efficient means of distinguishing between ''normal'' and ''abnormal'' mucociliary clearance than single measurement of baseline mucociliary clearance. (orig.)

  5. Characterization of in vitro glucuronidation clearance of a range of drugs in human kidney microsomes: comparison with liver and intestinal glucuronidation and impact of albumin.

    Science.gov (United States)

    Gill, Katherine L; Houston, J Brian; Galetin, Aleksandra

    2012-04-01

    Previous studies have shown the importance of the addition of albumin for characterization of hepatic glucuronidation in vitro; however, no reports exist on the effects of albumin on renal or intestinal microsomal glucuronidation assays. This study characterized glucuronidation clearance (CL(int, UGT)) in human kidney, liver, and intestinal microsomes in the presence and absence of bovine serum albumin (BSA) for seven drugs with differential UDP-glucuronosyltransferase (UGT) 1A9 and UGT2B7 specificity, namely, diclofenac, ezetimibe, gemfibrozil, mycophenolic acid, naloxone, propofol, and telmisartan. The impact of renal CL(int, UGT) on accuracy of in vitro-in vivo extrapolation (IVIVE) of glucuronidation clearance was investigated. Inclusion of 1% BSA for acidic drugs and 2% for bases/neutral drugs in incubations was found to be suitable for characterization of CL(int, UGT) in different tissues. Although BSA increased CL(int, UGT) in all tissues, the extent was tissue- and drug-dependent. Scaled CL(int, UGT) in the presence of BSA ranged from 2.22 to 207, 0.439 to 24.4, and 0.292 to 23.8 ml · min(-1) · g tissue(-1) in liver, kidney, and intestinal microsomes. Renal CL(int, UGT) (per gram of tissue) was up to 2-fold higher in comparison with that for liver for UGT1A9 substrates; in contrast, CL(int, UGT) for UGT2B7 substrates represented approximately one-third of hepatic estimates. Scaled renal CL(int, UGT) (in the presence of BSA) was up to 30-fold higher than intestinal glucuronidation for the drugs investigated. Use of in vitro data obtained in the presence of BSA and inclusion of renal clearance improved the IVIVE of glucuronidation clearance, with 50% of drugs predicted within 2-fold of observed values. Characterization and consideration of kidney CL(int, UGT) is particularly important for UGT1A9 substrates.

  6. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... in part to specialized CF care and a range of treatment options. Airway Clearance Active Cycle of ... a cure for CF and supports a broad range of research initiatives to tackle the disease from ...

  7. Robotics

    Indian Academy of Sciences (India)

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

  8. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... specialized CF care and a range of treatment options. Airway Clearance Active Cycle of Breathing Technique Airway ... on their own. Share Facebook Twitter Email More options Print Share Facebook Twitter Email Print Permalink All ...

  9. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... a Family Parenting as an Adult With CF Treatments and Therapies People with cystic fibrosis are living ... to specialized CF care and a range of treatment options. Airway Clearance Active Cycle of Breathing Technique ...

  10. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... a Family Parenting as an Adult With CF Treatments and Therapies People with cystic fibrosis are living longer and ... to specialized CF care and a range of treatment options. Airway Clearance Active Cycle of Breathing Technique ...

  11. Multi-sensors multi-baseline mapping system for mobile robot using stereovision camera and laser-range device

    Directory of Open Access Journals (Sweden)

    Mohammed Faisal

    2016-06-01

    Full Text Available Countless applications today are using mobile robots, including autonomous navigation, security patrolling, housework, search-and-rescue operations, material handling, manufacturing, and automated transportation systems. Regardless of the application, a mobile robot must use a robust autonomous navigation system. Autonomous navigation remains one of the primary challenges in the mobile-robot industry; many control algorithms and techniques have been recently developed that aim to overcome this challenge. Among autonomous navigation methods, vision-based systems have been growing in recent years due to rapid gains in computational power and the reliability of visual sensors. The primary focus of research into vision-based navigation is to allow a mobile robot to navigate in an unstructured environment without collision. In recent years, several researchers have looked at methods for setting up autonomous mobile robots for navigational tasks. Among these methods, stereovision-based navigation is a promising approach for reliable and efficient navigation. In this article, we create and develop a novel mapping system for a robust autonomous navigation system. The main contribution of this article is the fuse of the multi-baseline stereovision (narrow and wide baselines and laser-range reading data to enhance the accuracy of the point cloud, to reduce the ambiguity of correspondence matching, and to extend the field of view of the proposed mapping system to 180°. Another contribution is the pruning the region of interest of the three-dimensional point clouds to reduce the computational burden involved in the stereo process. Therefore, we called the proposed system multi-sensors multi-baseline mapping system. The experimental results illustrate the robustness and accuracy of the proposed system.

  12. Automated Cartography by an Autonomous Mobile Robot Using Ultrasonic Range Finders

    Science.gov (United States)

    1993-09-01

    must be adaptable to changes in its environment and clean the house with no human intervention. In order to be marketed successfully, this device needs...yet exist on the market ? Obviously, the cost of such a device is prohibitively high. Additionally, the robotic technology required to perform the... nLINE to FLINE Configuration Combination not Allowed.\

  13. Dense range map reconstruction from a versatile robotic sensor system with an active trinocular vision and a passive binocular vision.

    Science.gov (United States)

    Kim, Min Young; Lee, Hyunkee; Cho, Hyungsuck

    2008-04-10

    One major research issue associated with 3D perception by robotic systems is the creation of efficient sensor systems that can generate dense range maps reliably. A visual sensor system for robotic applications is developed that is inherently equipped with two types of sensor, an active trinocular vision and a passive stereo vision. Unlike in conventional active vision systems that use a large number of images with variations of projected patterns for dense range map acquisition or from conventional passive vision systems that work well on specific environments with sufficient feature information, a cooperative bidirectional sensor fusion method for this visual sensor system enables us to acquire a reliable dense range map using active and passive information simultaneously. The fusion algorithms are composed of two parts, one in which the passive stereo vision helps active vision and the other in which the active trinocular vision helps the passive one. The first part matches the laser patterns in stereo laser images with the help of intensity images; the second part utilizes an information fusion technique using the dynamic programming method in which image regions between laser patterns are matched pixel-by-pixel with help of the fusion results obtained in the first part. To determine how the proposed sensor system and fusion algorithms can work in real applications, the sensor system is implemented on a robotic system, and the proposed algorithms are applied. A series of experimental tests is performed for a variety of configurations of robot and environments. The performance of the sensor system is discussed in detail.

  14. Mucociliary clearance

    DEFF Research Database (Denmark)

    Munkholm, Mathias; Mortensen, Jann

    2014-01-01

    Mucociliary clearance has long been known to be a significant innate defence mechanism against inhaled microbes and irritants. Important knowledge has been gathered regarding the anatomy and physiology of this system, and in recent years, extensive studies of the pathophysiology related to lung...... pharmacological interventions on clearance rate, to study the importance of defective mucus clearance in different lung diseases or as a diagnostic tool in the work-up of patients with recurrent airway diseases. The aim of this review is to provide an overview of the anatomy, physiology, pathophysiology...

  15. Long-Range Untethered Real-Time Live Gas Main Robotic Inspection System

    Energy Technology Data Exchange (ETDEWEB)

    Hagen Schempf; Daphne D' Zurko

    2004-10-31

    Under funding from the Department of Energy (DOE) and the Northeast Gas Association (NGA), Carnegie Mellon University (CMU) developed an untethered, wireless remote controlled inspection robot dubbed Explorer. The project entailed the design and prototyping of a wireless self-powered video-inspection robot capable of accessing live 6- and 8-inch diameter cast-iron and steel mains, while traversing turns and Ts and elbows under real-time control with live video feedback to an operator. The design is that of a segmented actively articulated and wheel-leg powered robot design, with fisheye imaging capability and self-powered battery storage and wireless real-time communication link. The prototype was functionally tested in an above ground pipe-network, in order to debug all mechanical, electrical and software subsystems, and develop the necessary deployment and retrieval, as well as obstacle-handling scripts. A pressurized natural gas test-section was used to certify it for operation in natural gas at up to 60 psig. Two subsequent live-main field-trials in both cast-iron and steel pipe, demonstrated its ability to be safely launched, operated and retrieved under real-world conditions. The system's ability to safely and repeatably exidrecover from angled and vertical launchers, traverse multi-thousand foot long pipe-sections, make T and varied-angle elbow-turns while wirelessly sending live video and handling command and control messages, was clearly demonstrated. Video-inspection was clearly shown to be a viable tool to understand the state of this critical buried infrastructure, irrespective of low- (cast-iron) or high-pressure (steel) conditions. This report covers the different aspects of specifications, requirements, design, prototyping, integration and testing and field-trialing of the Explorer platform.

  16. Creatinine clearance test

    Science.gov (United States)

    Serum creatinine clearance; Kidney function - creatinine clearance; Renal function - creatinine clearance ... Creatinine is a chemical waste product of creatine. Creatine is a chemical the body makes to supply ...

  17. A novel method of range measuring for a mobile robot based on multi-sensor information fusion

    International Nuclear Information System (INIS)

    Zhang Yi; Luo Yuan; Wang Jifeng

    2005-01-01

    The traditional measuring range for a mobile robot is based on a sonar sensor. Because of different working environments, it is very difficult to obtain high precision by using just one single method of range measurement. So, a hybrid sonar sensor and laser scanner method is put forward to overcome these shortcomings. A novel fusion model is proposed based on basic theory and a method of information fusion. An optimal measurement result has been obtained with information fusion from different sensors. After large numbers of experiments and performance analysis, a conclusion can be drawn that the laser scanner and sonar sensor method with multi-sensor information fusion have a higher precision than the single method of sonar. It can also be the same with different environments

  18. Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

    DEFF Research Database (Denmark)

    Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan

    2015-01-01

    This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...

  19. Calibration between a Laser Range Scanner and an Industrial Robot Manipulator

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

    2014-01-01

    In this paper we present a method for findingthe transformation between a laser scanner and a robotmanipulator. We present the design of a flat calibration targetthat can easily fit between a laser scanner and a conveyor belt,making the method easily implementable in a manufacturingline.We prove...... that the method works by simulating a range ofdifferent orientations of the target, and performs an extensivenumerical evaluation of the targets design parameters to estab-lish the optimal values as well as the worst-case accuracy ofthe method...

  20. Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter

    NARCIS (Netherlands)

    Hiremath, S.A.; Heijden, van der G.W.A.M.; Evert, van F.K.; Stein, A.; Braak, ter C.J.F.

    2014-01-01

    Autonomous navigation of robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. Many existing agricultural robots use computer vision and other sensors to supplement Global Positioning System (GPS) data when navigating. Vision based methods are

  1. Comparison of the endogenous creatinine clearance, the creatinin clearance calculated without urine collection and the isotope clearance

    International Nuclear Information System (INIS)

    Mohacsi, Gabor; Lang, Jenoe; Csernay, Laszlo; Sonkodi, Sandor; Orvostudomanyi Egyetem, Szeged

    1987-01-01

    Observations are reported relating to the endogenous creatinine clearance, the Tc-99m-EDTA-complex clearance and the creatinine clearance estimated via a selected mathematical formula, with special regard to the problems of renal insufficiency and the nephrotic syndrome. The activity applied was in the range of 3.7-7.4 MBq. It was observed that measurement of the isotope clearance can also be applied to determine the endogeneous creatinine clearance in otherwise less suitable patients. A reliable result is obtained even if the renal function is restricted, but the accuracy of the method may be reduced in nephrotic syndrome cases. (author) 24 refs

  2. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

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

  3. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Treatments and Therapies Airway Clearance Airway Clearance Techniques (ACTs) There are different ways to clear your airways. ... or caregiver. Older kids and adults can choose ACTs that they can do on their own. Share ...

  4. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... to loosen mucus from airway walls. See how different airway clearance techniques work to help you clear the thick, sticky mucus ... Offer their tips for fitting ACTs into daily life Airway Clearance Techniques | Webcast ... Facebook Twitter ...

  5. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... today. ANNUAL FUND Become a Corporate Supporter Cause Marketing Make a Charitable Gift Our Corporate Supporters Workplace ... Clearance Airway Clearance Techniques (ACTs) There are different ways to clear your airways. Most are easy to ...

  6. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... D Structure Consortium CFTR Folding Consortium Epithelial Stem Cell Consortium Mucociliary Clearance Consortium SUCCESS WITH THERAPIES RESEARCH ... clapping) or vibration to loosen mucus from airway walls. See how different airway clearance techniques work to ...

  7. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Active Cycle of Breathing Technique Airway Clearance Techniques Autogenic Drainage Basics of Lung Care Chest Physical Therapy ... clearance. Facebook Twitter Email More Related Content Medications Autogenic Drainage Positive Expiratory Pressure High-Frequency Chest Wall ...

  8. 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…

  9. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Cell Consortium Mucociliary Clearance Consortium SUCCESS WITH THERAPIES RESEARCH CONSORTIUM Therapeutics Development Network TDN Coordinating Center Study Services Working With the TDN Tools and Resources ...

  10. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... 3-D Structure Consortium CFTR Folding Consortium Epithelial Stem Cell Consortium Mucociliary Clearance Consortium SUCCESS WITH THERAPIES RESEARCH CONSORTIUM Therapeutics Development Network TDN Coordinating Center ...

  11. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Research Consortia CF Biomarker Consortium CFTR 3-D Structure Consortium CFTR Folding Consortium Epithelial Stem Cell Consortium Mucociliary Clearance Consortium SUCCESS WITH THERAPIES RESEARCH ...

  12. Security Clearance Tracking System

    Data.gov (United States)

    National Archives and Records Administration — SCTS supports the adjudication process of private background investigations and clearances for potential employees, contractors, interns and student workers.

  13. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  14. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Team Your cystic fibrosis care team includes a group of CF health care professionals who partner with ... Awards and Grants Career Development Awards Research Awards Training Awards CF ... Clearance Airway Clearance Techniques (ACTs) There are different ways to clear your ...

  15. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... and Their Families When There's More Than One Person With CF in the Same School Daily Life ... Awards and Grants Career Development Awards Research Awards Training Awards CF ... Clearance Airway Clearance Techniques (ACTs) There are different ways to clear your ...

  16. 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...

  17. 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...

  18. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... today. ANNUAL FUND Become a Corporate Supporter Cause Marketing Make a Charitable Gift Our Corporate Supporters Workplace ... for airway clearance. Facebook Twitter Email More Related Content Medications Autogenic Drainage Positive Expiratory Pressure High-Frequency ...

  19. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... in CF Clinical Care Guidelines Cystic Fibrosis-Related Diabetes Clinical Care Guidelines Liver Disease Clinical Care Guidelines Respiratory Care Guidelines CF Airway Clearance Therapies Clinical Care Guidelines Chronic Medications to Maintain Lung ...

  20. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Make a Charitable Gift Our Corporate Supporters Workplace Engagement DONATE YOUR PROPERTY eCards for a Cure About ... airway walls. See how different airway clearance techniques work to help you clear the thick, sticky mucus ...

  1. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Community in Health Care Reform Milestones in Health Care Reform How Tax Reform Could Impact People With CF The ... Home Life With CF Treatments and Therapies Airway Clearance ...

  2. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Clinician Career Development Awards Clinician Training Awards Mutation Analysis Program Network News Network News: March 2018 Network ... for airway clearance. Facebook Twitter Email More Related Content Medications Autogenic Drainage Positive Expiratory Pressure High-Frequency ...

  3. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... 3-D Structure Consortium CFTR Folding Consortium Epithelial Stem Cell Consortium Mucociliary Clearance Consortium SUCCESS WITH THERAPIES RESEARCH CONSORTIUM Therapeutics Development Network TDN Coordinating Center Study ...

  4. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Clinical Care Guidelines Liver Disease Clinical Care Guidelines Respiratory Care Guidelines CF Airway Clearance Therapies Clinical Care ... attack bacteria. Choose What's Best for You Your respiratory therapist or another member of your CF care ...

  5. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Clinician Career Development Awards Clinician Training Awards Mutation Analysis Program Network News Network News: June 2018 Network ... for airway clearance. Facebook Twitter Email More Related Content Medications Autogenic Drainage Positive Expiratory Pressure High-Frequency ...

  6. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... decisions about your health care. CF Genetics: The Basics CF Mutations Video Series Find Out More About ... of Breathing Technique Airway Clearance Techniques Autogenic Drainage Basics of Lung Care Chest Physical Therapy Coughing and ...

  7. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... 3-D Structure Consortium CFTR Folding Consortium Epithelial Stem Cell Consortium Mucociliary Clearance Consortium SUCCESS WITH THERAPIES RESEARCH ... ACTs involve coughing or huffing . Many of them use percussion (clapping) or vibration to loosen mucus from ...

  8. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... people with cystic fibrosis so that they make smart decisions about CF-related research, treatment, and access ... Facebook Twitter YouTube Instagram Email DONATE Breadcrumb Navigation Home Life With CF Treatments and Therapies Airway Clearance ...

  9. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... ACTs involve coughing or huffing . Many of them use percussion (clapping) or vibration to loosen mucus from airway walls. See how different airway clearance techniques work to help you clear the thick, sticky mucus ...

  10. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Physical Therapy Coughing and Huffing High-Frequency Chest Wall Oscillation Positive Expiratory Pressure Clinical Trials Clinical Trials ... clapping) or vibration to loosen mucus from airway walls. See how different airway clearance techniques work to ...

  11. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... CFTR Modulator Therapies Mucus Thinners Nebulizer Care at Home Vascular Access Devices PICCs and Ports Partnerships for ... Facebook Twitter YouTube Instagram Email DONATE Breadcrumb Navigation Home Life With CF Treatments and Therapies Airway Clearance ...

  12. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... many challenges, including medical, social, and financial. By learning more about how you can manage your disease every day, you can ultimately help find a ... Cycle of Breathing Technique Airway Clearance Techniques Autogenic ...

  13. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Cycle of Breathing Technique Airway Clearance Techniques Autogenic Drainage Basics of Lung Care Chest Physical Therapy Coughing ... Facebook Twitter Email More Related Content Medications Autogenic Drainage Positive Expiratory Pressure High-Frequency Chest Wall Oscillation ( ...

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

    Data.gov (United States)

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

  15. 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.

  16. 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.

  17. Generic clearance values

    International Nuclear Information System (INIS)

    Bossio, M.C.; Muniz, C.C.

    2009-01-01

    This paper analyzes the Generic Clearance Values established for natural and artificial radionuclides with the objective of evaluating their degree of conservatism in views of adopting them into the regulatory body. Generic clearance values for natural radionuclides have been chosen by experts judgments as the optimum boundary between, on one hand, the ubiquitous unmodified soil concentrations and, on the other hand, activity concentrations in ores, mineral sands, industrial residues and wastes. For artificial radionuclides the clearance levels have been derived from the scenarios postulated in the document 'Safety Reports Series Nr 44' of the IAEA considering quantitative exemption criteria. A set of 8 scenarios were postulated covering external, ingestion and inhalation exposure pathways. For each radionuclide, the generic clearance level was derived as the more restrictive value obtained from the scenarios, that is the lowest ratio between the applicable individual dose and the dose per unit activity concentration (Bq/g). The individual dose was calculated by a formula depending on each scenario and pathway, with different parameters, such as exposure time, dosimetric factors, dilution factor, density of the material, geometric factors, etc. It was concluded that the basis and parameters used for the derivation of the generic clearance levels are quite conservative and therefore its the adoption in Argentina has been recommended. It is expected that their implementation will contribute to optimize the regulatory management system. (author)

  18. Generic Clearance Values

    International Nuclear Information System (INIS)

    Bossio, M.C.; Muniz, C.C.

    2010-01-01

    This paper analyzes the Generic Clearance Values established for natural and artificial radionuclides with the objective of evaluating their degree of conservatism in views of adopting them into the regulatory body. Generic clearance values for natural radionuclides have been chosen by experts judgments as the optimum boundary between, on the one hand, the ubiquitous unmodified soil concentrations and, on the other hand, activity concentrations in ores, mineral sands, industrial residues and wastes. For artificial radionuclides the clearance levels have been derived from the scenarios postulated in the document Safety Reports Series 44 of the IAEA considering quantitative exemption criteria. A set of 8 scenarios were postulated covering external, ingestion and inhalation exposure pathways. For each radionuclide, the generic clearance level was derived as the more restrictive value obtained from the scenarios, that is the lowest ratio between the applicable individual dose and the dose per unit activity concentration (Bq/g). The individual dose was calculated by a formula depending on each scenario and pathway, with different parameters, such as exposure time, dosimetric factors, dilution factor, density of the material, geometric factors, etc. It was concluded that the basis and parameters used for the derivation of the generic clearance levels are quite conservative and therefore its the adoption in Argentina has been recommended. It is expected that their implementation will contribute to optimize the regulatory management system. (authors) [es

  19. Study on clearance system

    International Nuclear Information System (INIS)

    Onishi, Yuko; Miura, Hiroshi; Kawasaki, Satoru

    2011-01-01

    The clearance system is a legal system to release 'the radioactive waste not requiring treatment as radioactive waste' from the regulatory control. JNES supports NISA on approval and confirmation of clearance measurement and judgment developed by the operator. The objective of this study is to establish technical base of the validation method of the clearance measurement for various objects. In reactor facilities, the bulk measurement technique or the statistical sampling measurement technique may be applied to large scale objects or concrete walls. In this study, the criteria of those techniques were examined. In uranium processing facilities, it is important to confirm surface state of the object in case of detecting alpha rays. The result of the examination about the influence of the surface rust in the uranium clearance measurement by the alpha ray measurement showed that the pollution was distributed in rust layer uniformly. This result will be reflected to the revision of the Ministerial Ordinance on Clearance in 2011FY. To develop a manual for unexpected incidents, the response procedure for an unexpected incident was prepared, including a response system. (author)

  20. 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...

  1. 2016 International Symposium on Experimental Robotics

    CERN Document Server

    Nakamura, Yoshihiko; Khatib, Oussama; Venture, Gentiane

    2017-01-01

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

  2. 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.

  3. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... NACFC Carolyn and C Richard Mattingly Leadership in Mental Health Care Award Mary M. Kontos Award NACFC Reflections ... help your infant or child manage their lung health, watch parents of children with CF and a respiratory therapist talk about the different techniques they use for airway clearance. ... Instagram Email Find a Clinical Trial Help us blaze ...

  4. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... how you can help your infant or child manage their lung health, watch parents of children with CF and a respiratory therapist talk about the different techniques they use for airway clearance. Facebook Twitter Email More Related Content Medications Autogenic Drainage ...

  5. Study on clearance system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2013-08-15

    The clearance system is a legal system to release 'the radioactive waste not requiring treatment as radioactive waste' from the regulatory control. JNES supports Nuclear Regulatory Agency on approval and confirmation of clearance measurement and judgment developed by the operator. The objective of this study is to establish technical base of the validation method of the clearance measurement for various objects. In uranium processing facilities, simulation sources emitting alpha-rays is used in a validity confirmation examination of the measuring equipment. In this study, these sources were examined by measuring alpha and beta spectra to evaluate the applicability and problem of these sources. In addition, the measuring method detecting gamma-rays was examined. This method can be applied to complicated objects. As a part to develop a manual for unexpected incidents in clearance system, a quick method for measurement of Strontium 90 was examined. In addition, the measuring methods for the judgment of the influence of fallout and for NR (Non-Radioactive) confirmation were examined. (author)

  6. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... cystic fibrosis. CF CARE CENTER finder We provide funding for and accredit more than 120 care centers ... Community in Health Care Reform Milestones in Health Care Reform How Tax Reform Could Impact People With CF The ... Home Life With CF Treatments and Therapies Airway Clearance ...

  7. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Offer their tips for fitting ACTs into daily life Airway Clearance Techniques | Webcast To learn more about how you can help your infant or child manage their lung health, watch parents of children with CF and a respiratory therapist ...

  8. 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...

  9. Robot Vision Library

    Science.gov (United States)

    Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.

    2009-01-01

    The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

  10. Polish and European SST Assets: the Solaris-Panoptes Global Network of Robotic Telescopes and the Borowiec Satellite Laser Ranging System

    Science.gov (United States)

    Konacki, M.; Lejba, P.; Sybilski, P.; Pawłaszek, R.; Kozłowski, S.; Suchodolski, T.; Litwicki, M.; Kolb, U.; Burwitz, V.; Baader, J.; Groot, P.; Bloemen, S.; Ratajczak, M.; Helminiak, K.; Borek, R.; Chodosiewicz, P.

    2016-09-01

    We present the assets of the Nicolaus Copernicus Astronomical Center, Space Research Center (both of the Polish Academy of Sciences), two Polish companies Sybilla Technologies, Cillium Engineering and a non-profit research foundation Baltic Institute of Technology. These assets are enhanced by telescopes belonging to The Open University (UK), the Max Planck Institute for Extraterrestrial Physics and in the future the Radboud University. They consist of the Solaris-Panoptes global network of optical robotic telescopes and the satellite laser ranging station in Borowiec, Poland. These assets will contribute to the Polish and European Space Surveillance and Tracking (SST) program. The Solaris component is composed of four autonomous observatories in the Southern Hemisphere. Solaris nodes are located at the South African Astronomical Observatory (Solaris-1 and Solaris-2), Siding Spring Observatory, Australia (Solaris-3) and Complejo Astronomico El Leoncito, Argentina (Solaris-4). They are equipped with 0.5-m telescopes on ASA DDM-160 direct drive mounts, Andor iKon-L cameras and housed in 3.5-m Baader Planetarium (BP) clamshell domes. The Panoptes component is a network of telescopes operated by software from Sybilla Technologies. It currently consists of 4 telescopes at three locations, all on GM4000 mounts. One 0.36-m (Panoptes-COAST, STL- 1001E camera, 3.5 BP clamshell dome) and one 0.43-m (Panoptes-PIRATE, FLI 16803 camera, 4.5-m BP clamshell dome, with planned exchange to 0.63-m) telescope are located at the Teide Observatory (Tenerfie, Canary Islands), one 0.6-m (Panoptes-COG, SBIG STX 16803 camera, 4.5-m BP clamshell dome) telescope in Garching, Germany and one 0.5-m (Panoptes-MAM, FLI 16803 camera, 4.5-m BP slit dome) in Mammendorf, Germany. Panoptes-COAST and Panoptes-PIRATE are owned by The Open University (UK). Panoptes-COG is owned by the Max Planck Institute

  11. Isotope determinations of renal clearance equivalent with physiological clearance measurements

    International Nuclear Information System (INIS)

    Junges, R.

    1983-01-01

    The concept of renal clearance in nuclear medicine describes the tubular secretion and glomerular filtration of a substance being removed from the blood plasma. The concept of clearance as used physiologically is rather wider and includes consideration of the outflow of the substances remained back in the kidneys. The present paper discusses clearance measurements as seen from a thermodynamic point of view, in which isotope clearances become equivalent with the physiological concept of clearance. In addition, it is possible to quantify each single step of the excretory function of each kidney separately. (orig.) [de

  12. Clearance of labelled creatinine

    International Nuclear Information System (INIS)

    Eberstadt, P.; Liverant, J.

    1982-01-01

    Creatinine, extensively used in clinical work to evaluate glomerular filtration rate (G.F.R.) has caused controversy. Using simultaneously on dogs a gamma emitting agent measuring G.F.R., creatinine clearance proved to be higher. Aided by quantitative determinations and compartmental analysis fortunately the respective dilution spaces can be calculated. In the majority of these animals creatinine spaces are larger but in some equal to the ones of inulin

  13. 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 ...

  14. 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....

  15. 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....

  16. Impact of mechanism vibration characteristics by joint clearance and optimization design of its multi-objective robustness

    Science.gov (United States)

    Zeng, Baoping; Wang, Chao; Zhang, Yu; Gong, Yajun; Hu, Sanbao

    2017-12-01

    Joint clearances and friction characteristics significantly influence the mechanism vibration characteristics; for example: as for joint clearances, the shaft and bearing of its clearance joint collide to bring about the dynamic normal contact force and tangential coulomb friction force while the mechanism works; thus, the whole system may vibrate; moreover, the mechanism is under contact-impact with impact force constraint from free movement under action of the above dynamic forces; in addition, the mechanism topology structure also changes. The constraint relationship between joints may be established by a repeated complex nonlinear dynamic process (idle stroke - contact-impact - elastic compression - rebound - impact relief - idle stroke movement - contact-impact). Analysis of vibration characteristics of joint parts is still a challenging open task by far. The dynamic equations for any mechanism with clearance is often a set of strong coupling, high-dimensional and complex time-varying nonlinear differential equations which are solved very difficultly. Moreover, complicated chaotic motions very sensitive to initial values in impact and vibration due to clearance let high-precision simulation and prediction of their dynamic behaviors be more difficult; on the other hand, their subsequent wearing necessarily leads to some certain fluctuation of structure clearance parameters, which acts as one primary factor for vibration of the mechanical system. A dynamic model was established to the device for opening the deepwater robot cabin door with joint clearance by utilizing the finite element method and analysis was carried out to its vibration characteristics in this study. Moreover, its response model was carried out by utilizing the DOE method and then the robust optimization design was performed to sizes of the joint clearance and the friction coefficient change range so that the optimization design results may be regarded as reference data for selecting bearings

  17. Allometric scaling for predicting human clearance of bisphenol A

    Energy Technology Data Exchange (ETDEWEB)

    Collet, Séverine H., E-mail: s.collet@envt.fr; Picard-Hagen, Nicole, E-mail: n.hagen-picard@envt.fr; Lacroix, Marlène Z., E-mail: m.lacroix@envt.fr; Puel, Sylvie, E-mail: s.puel@envt.fr; Viguié, Catherine, E-mail: c.viguie@envt.fr; Bousquet-Melou, Alain, E-mail: a.bousquet-Melou@envt.fr; Toutain, Pierre-Louis, E-mail: pltoutain@wanadoo.fr; Gayrard, Véronique, E-mail: v.gayrard@envt.fr

    2015-05-01

    The investigation of interspecies differences in bisphenol A (BPA) pharmacokinetics (PK) may be useful for translating findings from animal studies to humans, identifying major processes involved in BPA clearance mechanisms, and predicting BPA PK parameters in man. For the first time, a large range of species in terms of body weight, from 0.02 kg (mice) to 495 kg (horses) was used to predict BPA clearance in man by an allometric approach. BPA PK was evaluated after intravenous administration of BPA in horses, sheep, pigs, dogs, rats and mice. A non-compartmental analysis was used to estimate plasma clearance and steady state volume of distribution and predict BPA PK parameters in humans from allometric scaling. In all the species investigated, BPA plasma clearance was high and of the same order of magnitude as their respective hepatic blood flow. By an allometric scaling, the human clearance was estimated to be 1.79 L/min (equivalent to 25.6 mL/kg.min) with a 95% prediction interval of 0.36 to 8.83 L/min. Our results support the hypothesis that there are highly efficient and hepatic mechanisms of BPA clearance in man. - Highlights: • Allometric scaling was used to predict BPA pharmacokinetic parameters in humans. • In all species, BPA plasma clearance approached hepatic blood flow. • Human BPA clearance was estimated to be 1.79 L/min.

  18. Allometric scaling for predicting human clearance of bisphenol A

    International Nuclear Information System (INIS)

    Collet, Séverine H.; Picard-Hagen, Nicole; Lacroix, Marlène Z.; Puel, Sylvie; Viguié, Catherine; Bousquet-Melou, Alain; Toutain, Pierre-Louis; Gayrard, Véronique

    2015-01-01

    The investigation of interspecies differences in bisphenol A (BPA) pharmacokinetics (PK) may be useful for translating findings from animal studies to humans, identifying major processes involved in BPA clearance mechanisms, and predicting BPA PK parameters in man. For the first time, a large range of species in terms of body weight, from 0.02 kg (mice) to 495 kg (horses) was used to predict BPA clearance in man by an allometric approach. BPA PK was evaluated after intravenous administration of BPA in horses, sheep, pigs, dogs, rats and mice. A non-compartmental analysis was used to estimate plasma clearance and steady state volume of distribution and predict BPA PK parameters in humans from allometric scaling. In all the species investigated, BPA plasma clearance was high and of the same order of magnitude as their respective hepatic blood flow. By an allometric scaling, the human clearance was estimated to be 1.79 L/min (equivalent to 25.6 mL/kg.min) with a 95% prediction interval of 0.36 to 8.83 L/min. Our results support the hypothesis that there are highly efficient and hepatic mechanisms of BPA clearance in man. - Highlights: • Allometric scaling was used to predict BPA pharmacokinetic parameters in humans. • In all species, BPA plasma clearance approached hepatic blood flow. • Human BPA clearance was estimated to be 1.79 L/min

  19. Clearance Kinetics and Clearance Routes of Molecules From the Suprachoroidal Space After Microneedle Injection.

    Science.gov (United States)

    Chiang, Bryce; Wang, Ke; Ethier, C Ross; Prausnitz, Mark R

    2017-01-01

    To determine clearance kinetics and routes of clearance of molecules from the suprachoroidal space (SCS) of live New Zealand White rabbits. Suprachoroidal space collapse rate and pressure changes after microneedle injection into SCS were determined. Fluorescent fundus images were acquired to determine clearance rates of molecules ranging in size from 332 Da to 2 MDa. Microneedle injections of fluorescein were performed, and samples were taken from various sites over time to determine amount of fluorescein exiting the eye. Clearance transport was modeled theoretically and compared with experimental data. After injection, pressures in SCS and vitreous humor spiked and returned to baseline within 20 minutes; there was no difference between these two pressures. Suprachoroidal space collapse occurred within 40 minutes. One hour after fluorescein injection, 46% of fluorescein was still present in the eye, 15% had transported across sclera, 6% had been cleared by choroidal vasculature, and 4% had exited via leakage pathways. Characteristic clearance time increased in proportion with molecular radius, but total clearance of 2 MDa FITC-dextran was significantly slower (21 days) than smaller molecules. These data generally agreed with predictions from a theoretical model of molecular transport. Guided by experimental data in the context of model predictions, molecular clearance from SCS occurred in three regimes: (1) on a time scale of approximately 10 minutes, fluid and molecules exited SCS by diffusion into sclera and choroid, and by pressure-driven reflux via transscleral leakage sites; (2) in approximately 1 hour, molecules cleared from choroid by blood flow; and (3) in 1 to 10 hours, molecules cleared from sclera by diffusion and convection.

  20. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  1. 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...

  2. Rational customs clearance technology choice

    OpenAIRE

    Shramenko, N.; Andriets, V.

    2008-01-01

    Issues concerning cargo delivery efficiencyincrease by choice of rational customs clearance technology have been considered. Three possible variants of customs clearance andmethods which allow to define the most rational version of cargo delivery in international road communication based on main efficiency criteria for definite distance have been presented.

  3. 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…

  4. 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.

  5. Wheeled hopping robot

    Science.gov (United States)

    Fischer, Gary J [Albuquerque, NM

    2010-08-17

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  6. Online monitoring of dynamic tip clearance of turbine blades in high temperature environments

    Science.gov (United States)

    Han, Yu; Zhong, Chong; Zhu, Xiaoliang; Zhe, Jiang

    2018-04-01

    Minimized tip clearance reduces the gas leakage over turbine blade tips and improves the thrust and efficiency of turbomachinery. An accurate tip clearance sensor, measuring the dynamic clearances between blade tips and the turbine case, is a critical component for tip clearance control. This paper presents a robust inductive tip clearance sensor capable of monitoring dynamic tip clearances of turbine machines in high-temperature environments and at high rotational speeds. The sensor can also self-sense the temperature at a blade tip in situ such that temperature effect on tip clearance measurement can be estimated and compensated. To evaluate the sensor’s performance, the sensor was tested for measuring the tip clearances of turbine blades under various working temperatures ranging from 700 K to 1300 K and at turbine rotational speeds ranging from 3000 to 10 000 rpm. The blade tip clearance was varied from 50 to 2000 µm. The experiment results proved that the sensor can accurately measure the blade tip clearances with a temporal resolution of 10 µm. The capability of accurately measuring the tip clearances at high temperatures (~1300 K) and high turbine rotation speeds (~30 000 rpm), along with its compact size, makes it promising for online monitoring and active control of blade tip clearances of high-temperature turbomachinery.

  7. Tip Clearance Control Using Plasma Actuators

    Science.gov (United States)

    2007-03-01

    Clearance Control Using Plasma Actuators 4 posed by Denton (1993). A number of investigators have used partial shrouds, or " winglet " designs to...SDBD actuator Plasma enhanced aerodynamics has been demonstrated in a range of applications involving sepa- ration control, lift enhancement, drag... aerodynamic benefits of a squealer tip geometry. Specifically, the squealer tip is known to reduce the discharge coefficient of the tip gap, thereby

  8. Analysis of conservativity analysis for clearance levels. Final report

    International Nuclear Information System (INIS)

    Deckert, A.; Thierfeldt, S.

    1997-07-01

    When deriving clearance levels for material from nuclear installations it is necessary to proceed with a certain degree of conservativity. This can, however, differ between various sets of clearance levels leading to inconsistencies between clearance pathways. The aim of the work therefore is to compare levels of conservativity for the following two sets of clearance levels: clearance levels for disposal as conventional waste and for metallic materials for recycling/reuse. A method was developed to quantify the degree of conservativity and make it comparable. The actual and future situation for disposal of (conventional) wastes in Germany was analysed. In addition, the masses, nuclide vectors, geographical distribution etc. for slightly radioactive material being cleared for conventional disposal was analysed and modelled and the resulting dose distributions were calculated. The values for the clearance levels were taken from the 1995 recommendation by the German Commission on Radiation Protection (SSK). By using realistic scenarios, the exposure was calculated for the personnel on the landfills and for persons of the general public being exposed via groundwater pathways. It could be shown that the trivial dose range will not be exceeded even if the masses of cleared material per landfill site exceed 100 Mg/a. Because of the types and distribution of nuclear installations in Germany and because of the nuclide vectors it is therefore not necessary to limit the masses per landfill sites. Clearance levels that are determined by the exposure pathways external exposure to and the inhalation of dust by the landfill personnel show a similar level of conservativity as those for metal scrap. This means that the clearance levels for gamma emitting nuclides are not overly restrictive. Although radiologically justified, raising the clearance levels would not lead to an increase of the material quantities because other nuclides of the respective nuclide vectors are limiting. In

  9. Future of robotic surgery.

    Science.gov (United States)

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

    2013-01-01

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

  10. 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.

  11. 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....

  12. 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

  13. Robotic transthoracic esophagectomy.

    Science.gov (United States)

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

    2015-04-23

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

  14. 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.

  15. Robotics in Colorectal Surgery

    Science.gov (United States)

    Weaver, Allison; Steele, Scott

    2016-01-01

    Over the past few decades, robotic surgery has developed from a futuristic dream to a real, widely used technology. Today, robotic platforms are used for a range of procedures and have added a new facet to the development and implementation of minimally invasive surgeries. The potential advantages are enormous, but the current progress is impeded by high costs and limited technology. However, recent advances in haptic feedback systems and single-port surgical techniques demonstrate a clear role for robotics and are likely to improve surgical outcomes. Although robotic surgeries have become the gold standard for a number of procedures, the research in colorectal surgery is not definitive and more work needs to be done to prove its safety and efficacy to both surgeons and patients. PMID:27746895

  16. CO2 clearance by membrane lungs.

    Science.gov (United States)

    Sun, Liqun; Kaesler, Andreas; Fernando, Piyumindri; Thompson, Alex J; Toomasian, John M; Bartlett, Robert H

    2018-05-01

    Commercial membrane lungs are designed to transfer a specific amount of oxygen per unit of venous blood flow. Membrane lungs are much more efficient at removing CO 2 than adding oxygen, but the range of CO 2 transfer is rarely reported. Commercial membrane lungs were studied with the goal of evaluating CO 2 removal capacity. CO 2 removal was measured in 4 commercial membrane lungs under standardized conditions. CO 2 clearance can be greater than 4 times that of oxygen at a given blood flow when the gas to blood flow ratio is elevated to 4:1 or 8:1. The CO 2 clearance was less dependent on surface area and configuration than oxygen transfer. Any ECMO system can be used for selective CO 2 removal.

  17. Remote Lab for Robotics Applications

    Directory of Open Access Journals (Sweden)

    Robinson Jiménez

    2018-01-01

    Full Text Available This article describes the development of a remote lab environment used to test and training sessions for robotics tasks. This environment is made up of the components and devices based on two robotic arms, a network link, Arduino card and Arduino shield for Ethernet, as well as an IP camera. The remote laboratory is implemented to perform remote control of the robotic arms with visual feedback by camera, of the robots actions, where, with a group of test users, it was possible to obtain performance ranges in tasks of telecontrol of up to 92%.

  18. Robot transparency, trust and utility

    Science.gov (United States)

    Wortham, Robert H.; Theodorou, Andreas

    2017-07-01

    As robot reasoning becomes more complex, debugging becomes increasingly hard based solely on observable behaviour, even for robot designers and technical specialists. Similarly, non-specialist users have difficulty creating useful mental models of robot reasoning from observations of robot behaviour. The EPSRC Principles of Robotics mandate that our artefacts should be transparent, but what does this mean in practice, and how does transparency affect both trust and utility? We investigate this relationship in the literature and find it to be complex, particularly in nonindustrial environments where, depending on the application and purpose of the robot, transparency may have a wider range of effects on trust and utility. We outline our programme of research to support our assertion that it is nevertheless possible to create transparent agents that are emotionally engaging despite having a transparent machine nature.

  19. 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

  20. Robots and humans: synergy in planetary exploration

    Science.gov (United States)

    Landis, Geoffrey A.

    2004-01-01

    How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments. Published by Elsevier Ltd.

  1. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

  2. Test Rig for Evaluating Active Turbine Blade Tip Clearance Control Concepts

    Science.gov (United States)

    Lattime, Scott B.; Steinetz, Bruce M.; Robbie, Malcolm G.

    2003-01-01

    Improved blade tip sealing in the high pressure compressor and high pressure turbine can provide dramatic improvements in specific fuel consumption, time-on-wing, compressor stall margin and engine efficiency as well as increased payload and mission range capabilities of both military and commercial gas turbine engines. The preliminary design of a mechanically actuated active clearance control (ACC) system for turbine blade tip clearance management is presented along with the design of a bench top test rig in which the system is to be evaluated. The ACC system utilizes mechanically actuated seal carrier segments and clearance measurement feedback to provide fast and precise active clearance control throughout engine operation. The purpose of this active clearance control system is to improve upon current case cooling methods. These systems have relatively slow response and do not use clearance measurement, thereby forcing cold build clearances to set the minimum clearances at extreme operating conditions (e.g., takeoff, re-burst) and not allowing cruise clearances to be minimized due to the possibility of throttle transients (e.g., step change in altitude). The active turbine blade tip clearance control system design presented herein will be evaluated to ensure that proper response and positional accuracy is achievable under simulated high-pressure turbine conditions. The test rig will simulate proper seal carrier pressure and temperature loading as well as the magnitudes and rates of blade tip clearance changes of an actual gas turbine engine. The results of these evaluations will be presented in future works.

  3. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  4. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  5. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... living longer and more fulfilling lives, thanks in part to specialized CF care and a range of ... Previous Issues Partnerships for Sustaining Daily Care As part of the Cystic Fibrosis Foundation's mission to help ...

  6. Snake Robots Modelling, Mechatronics, and Control

    CERN Document Server

    Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy

    2013-01-01

    Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is de...

  7. 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...

  8. 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

  9. 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...

  10. 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....

  11. 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.

  12. 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.

  13. 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.

  14. Lithium clearance in chronic nephropathy

    DEFF Research Database (Denmark)

    Kamper, A L; Holstein-Rathlou, N H; Leyssac, P P

    1989-01-01

    1. Lithium clearance measurements were made in 72 patients with chronic nephropathy of different aetiology and moderate to severely reduced renal function. 2. Lithium clearance was strictly correlated with glomerular filtration rate, and there was no suggestion of distal tubular reabsorption...... of lithium or influence of osmotic diuresis. 3. Fractional reabsorption of lithium was reduced in most patients with glomerular filtration rates below 25 ml/min. 4. Calculated fractional distal reabsorption of sodium was reduced in most patients with glomerular filtration rates below 50 ml/min. 5. Lithium...... that lithium clearance may be a measure of the delivery of sodium and water from the renal proximal tubule. With this assumption it was found that adjustment of the sodium excretion in chronic nephropathy initially takes place in the distal parts of the nephron (loop of Henle, distal tubule and collecting duct...

  15. [51Cr]EDTA plasma clearance and endogenous creatinine clearance in advanced renal insufficiency

    International Nuclear Information System (INIS)

    Svendsen, U.G.; Munck, O.; Czartoryski, A.; Stafanger, G.

    1978-01-01

    Comparison of [ 51 Cr]EDTA plasma clearance corrected for extrarenal elimination with 24 h endogenous creatinine clearance in patients with advanced renal failure showed that the corrected [ 51 Cr]EDTA clearance was lower than creatinine clearance, and thus might be a better approximation to the glomerular filtration rate in uraemic patients. The corrections cannot be used on [ 51 Cr]EDTA clearance values below the mean extrarenal clearance, averaging 3.7 ml/min. (Auth.)

  16. Refrigeration system with clearance seals

    International Nuclear Information System (INIS)

    Holland, N. J.

    1985-01-01

    In a refrigeration system such as a split Stirling system, fluid seals associated with the reciprocating displacer are virtually dragless clearance seals. Movement of the displacer relative to the pressure variations in the working volume of gas is retarded by a discrete braking element. Because it is not necessary that the brake providing any sealing action, the brake can be designed for greater durability and less dependence on ambient and operating temperatures. Similarly, the clearance seal can be formed of elements having low thermal expansion such that the seal is not temperature dependent. In the primary embodiments the braking element is a split friction brake

  17. Inherited Disorders of Bilirubin Clearance

    Science.gov (United States)

    Memon, Naureen; Weinberger, Barry I; Hegyi, Thomas; Aleksunes, Lauren M

    2016-01-01

    Inherited disorders of hyperbilirubinemia may be caused by increased bilirubin production or decreased bilirubin clearance. Reduced hepatic bilirubin clearance can be due to defective 1) unconjugated bilirubin uptake and intrahepatic storage, 2) conjugation of glucuronic acid to bilirubin (e.g. Gilbert syndrome, Crigler-Najjar syndrome, Lucey-Driscoll syndrome, breast milk jaundice), 3) bilirubin excretion into bile (Dubin-Johnson syndrome), or 4) conjugated bilirubin re-uptake (Rotor syndrome). In this review, the molecular mechanisms and clinical manifestations of these conditions are described, as well as current approaches to diagnosis and therapy. PMID:26595536

  18. Airway Clearance Techniques (ACTs)

    Medline Plus

    Full Text Available ... Our Research The Cystic Fibrosis Foundation is the world’s leader in the search for a cure for CF and supports a broad range of research initiatives to tackle the disease from all angles. RESEARCH OVERVIEW RESEARCH MILESTONES Research We Fund ...

  19. Robotic Art for Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2010-01-01

    on “simple” plug-and-play circuits, ranging from pure sensors-actuators schemes to artefacts with a smaller level of elaboration complexity. Indeed, modular robotic wearable focuses on enhancing the body perception and proprioperception by trying to substitute all of the traditional exoskeletons perceptive...

  20. Line and Circle Formation of Distributed Physical Mobile Robots

    OpenAIRE

    Yun, Xiaoping; Alptekin, Gokhan; Albayrak, Okay

    1997-01-01

    The formation problem of distributed mobile robots was studied in the literature for idealized robots. Idealized robots are able to instantaneously move in any directions, and are equipped with perfect range sensors. In this study, we address the formation problem of distributed mobile robots that are subject to physical constraints. Mobile robots considered in this study have physical dimensions and their motions are governed by physical laws. They are equipped with sonar and ...

  1. Emotion based human-robot interaction

    Directory of Open Access Journals (Sweden)

    Berns Karsten

    2018-01-01

    Full Text Available Human-machine interaction is a major challenge in the development of complex humanoid robots. In addition to verbal communication the use of non-verbal cues such as hand, arm and body gestures or mimics can improve the understanding of the intention of the robot. On the other hand, by perceiving such mechanisms of a human in a typical interaction scenario the humanoid robot can adapt its interaction skills in a better way. In this work, the perception system of two social robots, ROMAN and ROBIN of the RRLAB of the TU Kaiserslautern, is presented in the range of human-robot interaction.

  2. Ultrasonic decontamination robot

    International Nuclear Information System (INIS)

    Patenaude, R.S.

    1984-01-01

    An ultrasonic decontamination robot removes radioactive contamination from the internal surface of the inlet and outlet headers, divider plate, tube sheet, and lower portions of tubes of a nuclear power plant steam generator. A programmable microprocessor controller guides the movement of a robotic arm mounted in the header manway. An ultrasonic transducer having a solvent delivery subsystem through which ultrasonic action is achieved is moved by the arm over the surfaces. A solvent recovery suction tube is positioned within the header to remove solvent therefrom while avoiding interference with the main robotic arm. The solvent composition, temperature, pressure, viscosity, and purity are controlled to optimize the ultrasonic scrubbing action. The ultrasonic transducer is controlled at a power density, frequency, and on-off mode cycle such as to optimize scrubbing action within the range of transducer-to-surface distance and solvent layer thickness selected for the particular conditions encountered. Both solvent and transducer control actions are optimized by the programmable microprocessor. (author)

  3. Salvage robotic radical prostatectomy

    Directory of Open Access Journals (Sweden)

    Samuel D Kaffenberger

    2014-01-01

    Full Text Available Failure of non-surgical primary treatment for localized prostate cancer is a common occurrence, with rates of disease recurrence ranging from 20% to 60%. In a large proportion of patients, disease recurrence is clinically localized and therefore potentially curable. Unfortunately, due to the complex and potentially morbid nature of salvage treatment, radical salvage surgery is uncommonly performed. In an attempt to decrease the morbidity of salvage therapy without sacrificing oncologic efficacy, a number of experienced centers have utilized robotic assistance to perform minimally invasive salvage radical prostatectomy. Herein, we critically evaluate the existing literature on salvage robotic radical prostatectomy with a focus on patient selection, perioperative complications and functional and early oncologic outcomes. These results are compared with contemporary and historical open salvage radical prostatectomy series and supplemented with insights we have gained from our experience with salvage robotic radical prostatectomy. The body of evidence by which conclusions regarding the efficacy and safety of robotic salvage radical prostatectomy can be drawn comprises fewer than 200 patients with limited follow-up. Preliminary results are promising and some outcomes have been favorable when compared with contemporary open salvage prostatectomy series. Advantages of the robotic platform in the performance of salvage radical prostatectomy include decreased blood loss, short length of stay and improved visualization. Greater experience is required to confirm the long-term oncologic efficacy and functional outcomes as well as the generalizability of results achieved at experienced centers.

  4. HPT Clearance Control: Intelligent Engine Systems-Phase 1

    Science.gov (United States)

    2005-01-01

    The following work has been completed to satisfy the Phase I Deliverables for the "HPT Clearance Control" project under NASA GRC's "Intelligent Engine Systems" program: (1) Need for the development of an advanced HPT ACC system has been very clearly laid out, (2) Several existing and potential clearance control systems have been reviewed, (3) A scorecard has been developed to document the system, performance (fuel burn, range, payload, etc.), thermal, and mechanical characteristics of the existing clearance control systems, (4) Engine size and flight cycle selection for the advanced HPT ACC system has been reviewed with "large engine"/"long range mission" combination showing the most benefit, (5) A scoring criteria has been developed to tie together performance parameters for an objective, data driven comparison of competing systems, and (6) The existing HPT ACC systems have been scored based on this scoring system.

  5. A study on autonomous maintenance robot, 7

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Shimasaka, Naoki; Kaneshige, Masanori; Iwasaki, Shinnosuke.

    1990-01-01

    This paper deals with the new mechanism of a new maintenance robot, Mark IV, following the previous reports on pipeline inspection and maintenance robots of Mark I, II, and III. The Mark IV has a mechanism capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces, which is another capability of the maintenance robots, different from the previous ones. The main features of Mark IV are as follows, (i) The robot has a multijoint structure, so that it has better adaptability to the curvartures of pipelines and storage tanks. (ii) The joint of the robot has SMA actuators to make the robot lighter in weight. Some actuator shape characteristics are also examined for the robot structure and control. (iii) The robot has suckers at both ends so that the robot can climb up along the wall from the ground. (iv) A robot with the inch worm mechanisms has many functional motions, such that it can pass over flanges and T-joints, and transfer to adjacent pipelines with a wider range of pipe diameters. (v) A control method is given for the mobile motion control. Thus, the functional level of the maintenance robot has been greatly improved by the introduction of the Mark IV robot. (author)

  6. 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...

  7. 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

  8. Robotic surgery

    Science.gov (United States)

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

  9. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  10. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  11. 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.

  12. Predicting Human Clearance of OATP substrates using Cynomolgus monkey: In vitro-in vivo scaling of hepatic uptake clearance.

    Science.gov (United States)

    de Bruyn, Tom; Ufuk, Ayse; Cantrill, Carina; Kosa, Rachel E; Bi, Yi-An; Niosi, Mark; Modi, Sweta; Rodrigues, A David; Tremaine, Larry M; Varma, Manthena Vs; Galetin, Aleksandra; Houston, J Brian

    2018-05-02

    This work explores the utility of the cynomolgus monkey as a preclinical model to predict hepatic uptake clearance mediated by organic anion transporting polypeptide (OATP) transporters. Nine OATP substrates (rosuvastatin, pravastatin, repaglinide, fexofenadine, cerivastatin, telmisartan, pitavastatin, bosentan and valsartan) were investigated in plated cynomolgus monkey and human hepatocytes. Total uptake clearance and passive diffusion were measured in vitro from initial rates in the absence and presence of the OATP inhibitor rifamycin SV, respectively. Total uptake clearance values in plated hepatocytes ranged over three orders of magnitude in both species with a similar rank order and good agreement in the relative contribution of active transport to total uptake between cynomolgus monkey and human. In vivo hepatic clearance for these nine drugs was determined in cynomolgus monkey after intravenous dosing. Hepatic clearances showed a similar range to human parameters and good predictions from respective hepatocyte parameters (with 2.7 and 3.8-fold bias on average, respectively). The use of cross species empirical scaling factors (based on either dataset average or individual drug scaling factor from cynomolgus monkey data) improved prediction (less bias, better concordance) of human hepatic clearance from human hepatocyte data alone. In vitro intracellular binding in hepatocytes also correlated well between species. It is concluded that the minimal species differences observed for the current dataset between cynomolgus monkey and human hepatocyte uptake, both in vitro and in vivo, support future use of this preclinical model to delineate drug hepatic uptake and enable prediction of human in vivo intrinsic hepatic clearance. The American Society for Pharmacology and Experimental Therapeutics.

  13. Not All Children with Cystic Fibrosis Have Abnormal Esophageal Neutralization during Chemical Clearance of Acid Reflux.

    Science.gov (United States)

    Woodley, Frederick W; Moore-Clingenpeel, Melissa; Machado, Rodrigo Strehl; Nemastil, Christopher J; Jadcherla, Sudarshan R; Hayes, Don; Kopp, Benjamin T; Kaul, Ajay; Di Lorenzo, Carlo; Mousa, Hayat

    2017-09-01

    Acid neutralization during chemical clearance is significantly prolonged in children with cystic fibrosis, compared to symptomatic children without cystic fibrosis. The absence of available reference values impeded identification of abnormal findings within individual patients with and without cystic fibrosis. The present study aimed to test the hypothesis that significantly more children with cystic fibrosis have acid neutralization durations during chemical clearance that fall outside the physiological range. Published reference value for acid neutralization duration during chemical clearance (determined using combined impedance/pH monitoring) was used to assess esophageal acid neutralization efficiency during chemical clearance in 16 children with cystic fibrosis (3 to chemical clearance exceeded the upper end of the physiological range in 9 of 16 (56.3%) children with and in 3 of 16 (18.8%) children without cystic fibrosis ( p =0.0412). The likelihood ratio for duration indicated that children with cystic fibrosis are 2.1-times more likely to have abnormal acid neutralization during chemical clearance, and children with abnormal acid neutralization during chemical clearance are 1.5-times more likely to have cystic fibrosis. Significantly more (but not all) children with cystic fibrosis have abnormally prolonged esophageal clearance of acid. Children with cystic fibrosis are more likely to have abnormal acid neutralization during chemical clearance. Additional studies involving larger sample sizes are needed to address the importance of genotype, esophageal motility, composition and volume of saliva, and gastric acidity on acid neutralization efficiency in cystic fibrosis children.

  14. 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

  15. Robotic presacral neurectomy - technique and results.

    Science.gov (United States)

    Kapetanakis, Vasilis; Jacob, Kristina; Klauschie, Jennifer; Kho, Rosanne; Magrina, Javier

    2012-03-01

    The feasibility, safety and outcomes of robotic presacral neurectomy were evaluated. A retrospective analysis was performed of 33 patients with midline chronic pelvic pain, who underwent robotic presacral neurectomy. Data were collected during the period March 2004-March 2010. All patients underwent robotic presacral neurectomy and additional robotic procedures. Mean operating time for robotic presacral neurectomy was 5.8 (range 4.4-6.9) min. Mean blood loss, including concomitant procedures, was 39 (range 15-150) ml. Most patients were discharged the same day (60%) and mean hospital stay was 0.39 (range 0-2) days. There were no conversions or intra-operative complications. There were two postoperative complications: one pelvic abscess and one Clostridium difficile colitis. Pain improvement was reported by 73% (22/30) of patients. Robotic presacral neurectomy is safe and feasible, resulting in improvement of pelvic pain in selected patients. Copyright © 2011 John Wiley & Sons, Ltd.

  16. Relationship between silicon concentration and creatinine clearance

    International Nuclear Information System (INIS)

    Miura, Y.; Nakai, K.; Itoh, C.; Horikiri, J.; Sera, K.; Sato, M.

    1998-01-01

    Silicon levels in dialysis patients are markedly increasing. Using PIXE we determined the relationship between silicon concentration and creatinine clearance in 30 samples. Urine silicon concentration were significantly correlated to creatinine clearance (p<0.001). And also serum silicon concentration were significantly correlated to creatinine clearance (p<0.0001). (author)

  17. 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.

  18. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  19. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  20. Scaling effects in spiral capsule robots.

    Science.gov (United States)

    Liang, Liang; Hu, Rong; Chen, Bai; Tang, Yong; Xu, Yan

    2017-04-01

    Spiral capsule robots can be applied to human gastrointestinal tracts and blood vessels. Because of significant variations in the sizes of the inner diameters of the intestines as well as blood vessels, this research has been unable to meet the requirements for medical applications. By applying the fluid dynamic equations, using the computational fluid dynamics method, to a robot axial length ranging from 10 -5 to 10 -2  m, the operational performance indicators (axial driving force, load torque, and maximum fluid pressure on the pipe wall) of the spiral capsule robot and the fluid turbulent intensity around the robot spiral surfaces was numerically calculated in a straight rigid pipe filled with fluid. The reasonableness and validity of the calculation method adopted in this study were verified by the consistency of the calculated values by the computational fluid dynamics method and the experimental values from a relevant literature. The results show that the greater the fluid turbulent intensity, the greater the impact of the fluid turbulence on the driving performance of the spiral capsule robot and the higher the energy consumption of the robot. For the same level of size of the robot, the axial driving force, the load torque, and the maximum fluid pressure on the pipe wall of the outer spiral robot were larger than those of the inner spiral robot. For different requirements of the operating environment, we can choose a certain kind of spiral capsule robot. This study provides a theoretical foundation for spiral capsule robots.

  1. 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.

  2. Measurement of single kidney contrast media clearance by multiphasic spiral computed tomography: preliminary results

    International Nuclear Information System (INIS)

    Hackstein, N.; Puille, M.F.; Bak, Benjamin H.; Scharwat, Oliver; Rau, W.S.

    2001-01-01

    Objective. We present preliminary results of a new method (hereinafter called 'CT-clearance') to measure single kidney contrast media clearance by performing multiphasic helical CT of the kidneys. CT-clearance was calculated according to an extension of the Patlak-Plot. In contrast to prior investigators, who repeatedly measured a single slice, this method makes it possible to calculate single kidney clearance from at least three spiral CTs, utilizing the whole kidney volume. Methods. Spiral CT of the kidneys was performed unenhanced and about 30 and 100 s after administration of about 120 ml iopromide. Sum-density of the whole kidneys and aortic density was calculated from this data. Using this data, renal clearance of contrast media was calculated by CT-clearance in 29 patients. As reference, Serum-clearance was calculated in 24 patients by application of a modified one-exponential slope model. Information on the relative kidney function was gained by renal scintigraphy with Tc99m-MAG-3 or Tc99m-DMSA in 29 patients. Results. Linear regression analysis revealed a correlation coefficient of CT-clearance with Serum-clearance of r=0.78 with Cl (CT) [ml/min]=22.2+1.03 * Cl (serum), n=24. Linear regression of the relative kidney function (rkf) of the right kidney calculated by CT-clearance compared to scintigraphy results provided a correlation coefficient r=0.89 with rkf(CT)[%]=18.6+0.58 * rkf(scintigraphy), n=29. Conclusion. The obtained results of contrast media clearance measured by CT-clearance are in the physiological range of the parameter. Future studies should be performed to improve the methodology with the aim of higher accuracy. More specifically, better determination of the aortic density curve might improve the accuracy

  3. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  4. Laboratory experiments in mobile robot navigation

    International Nuclear Information System (INIS)

    Kar, Asim; Pal, Prabir K.

    1997-01-01

    Mobile robots have potential applications in remote surveillance and operation in hazardous areas. To be effective, they must have the ability to navigate on their own to desired locations. Several experimental navigational runs of a mobile robot developed have been conducted. The robot has three wheels of which the front wheel is steered and the hind wheels are driven. The robot is equipped with an ultrasonic range sensor, which is turned around to get range data in all directions. The range data is fed to the input of a neural net, whose output steers the robot towards the goal. The robot is powered by batteries (12V 10Ah). It has an onboard stepper motor controller for driving the wheels and the ultrasonic setup. It also has an onboard computer which runs the navigation program NAV. This program sends the range data and configuration parameters to the operator''s console program OCP, running on a stationary PC, through radio communication on a serial line. Through OCP, an operator can monitor the progress of the robot from a distant control room and intervene if necessary. In this paper the control modules of the mobile robot, its ways of operation and also results of some of the experimental runs recorded are reported. It is seen that the trained net guides the mobile robot through gaps of 1m and above to its destination with about 84% success measured over a small sample of 38 runs

  5. Impairment of nasal mucociliary clearance in woodworkers in the furniture industry

    Science.gov (United States)

    Black, A.; Evans, J. C.; Hadfield, Esme H.; Macbeth, R. G.; Morgan, A.; Walsh, M.

    1974-01-01

    Black, A., Evans, J. C., Hadfield, Esme H., Macbeth, R. G., Morgan, A., and Walsh, M. (1974).British Journal of Industrial Medicine,31, 10-17. Impairment of nasal mucociliary clearance in woodworkers in the furniture industry. Measurements of mucociliary clearance from the anterior end of the middle turbinate were made using technetium-99m-labelled particles in nine woodworkers from the furniture industry and in 12 controls, none of whom had been occupationally exposed to wood dust. Clearance rates in the controls ranged from 1·9 to 18·5 mm min-1 with a mean of 6·8. These values are in good agreement with measurements reported elsewhere for normal subjects. Only one of the woodworkers had a clearance rate which fell within the normal range and he had been occupationally exposed for the shortest period (6 years). In four woodworkers clearance was very slow (furniture industry for more than 10 years. PMID:4821406

  6. 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.

  7. Biomimetic vibrissal sensing for robots.

    Science.gov (United States)

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

    2011-11-12

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

  8. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  9. Service Robots

    DEFF Research Database (Denmark)

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

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

  10. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  11. Robotic and Survey Telescopes

    Science.gov (United States)

    Woźniak, Przemysław

    Robotic telescopes are revolutionizing the way astronomers collect their dataand conduct sky surveys. This chapter begins with a discussion of principles thatguide the process of designing, constructing, and operating telescopes andobservatories that offer a varying degree of automation, from instruments remotelycontrolled by observers to fully autonomous systems requiring no humansupervision during their normal operations. Emphasis is placed on designtrade-offs involved in building end-to-end systems intended for a wide range ofscience applications. The second part of the chapter contains descriptions ofseveral projects and instruments, both existing and currently under development.It is an attempt to provide a representative selection of actual systems thatillustrates state of the art in technology, as well as important ideas and milestonesin the development of the field. The list of presented instruments spans the fullrange in size starting from small all-sky monitors, through midrange robotic andsurvey telescopes, and finishing with large robotic instruments and surveys.Explosive growth of telescope networking is enabling entirely new modesof interaction between the survey and follow-up observing. Increasingimportance of standardized communication protocols and software is stressed.These developments are driven by the fusion of robotic telescope hardware,massive storage and databases, real-time knowledge extraction, and datacross-correlation on a global scale. The chapter concludes with examplesof major science results enabled by these new technologies and futureprospects.

  12. 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.

  13. Development of the clearance level verification evaluation system. 2. Construction of the clearance data management system

    International Nuclear Information System (INIS)

    Kubota, Shintaro; Usui, Hideo; Kawagoshi, Hiroshi

    2014-06-01

    Clearance is defined as the removal of radioactive materials or radioactive objects within authorized practices from any further regulatory control by the regulatory body. In Japan, clearance level and a procedure for its verification has been introduced under the Laws and Regulations, and solid clearance wastes inspected by the national authority can be handled and recycled as normal wastes. The most prevalent type of wastes have generated from the dismantling of nuclear facilities, so the Japan Atomic Energy Agency (JAEA) has been developing the Clearance Level Verification Evaluation System (CLEVES) as a convenient tool. The Clearance Data Management System (CDMS), which is a part of CLEVES, has been developed to support measurement, evaluation, making and recording documents with clearance level verification. In addition, validation of the evaluation result of the CDMS was carried out by inputting the data of actual clearance activities in the JAEA. Clearance level verification is easily applied by using the CDMS for the clearance activities. (author)

  14. 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)

  15. Artificial Intelligence and Robotics

    OpenAIRE

    Perez, Javier Andreu; Deligianni, Fani; Ravi, Daniele; Yang, Guang-Zhong

    2018-01-01

    The recent successes of AI have captured the wildest imagination of both the scientific communities and the general public. Robotics and AI amplify human potentials, increase productivity and are moving from simple reasoning towards human-like cognitive abilities. Current AI technologies are used in a set area of applications, ranging from healthcare, manufacturing, transport, energy, to financial services, banking, advertising, management consulting and government agencies. The global AI mar...

  16. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

  17. Clearance of the cervical spine in clinically unevaluable trauma patients.

    Science.gov (United States)

    Halpern, Casey H; Milby, Andrew H; Guo, Wensheng; Schuster, James M; Gracias, Vicente H; Stein, Sherman C

    2010-08-15

    Meta-analytic costeffectiveness analysis. Our goal was to compare the results of different management strategies for trauma patients in whom the cervical spine was not clinically evaluable due to impaired consciousness, endotracheal intubation, or painful distracting injuries. We performed a structured literature review related to cervical spine trauma, radiographic clearance techniques (plain radiography, flexion/extension, CT, and MRI), and complications associated with semirigid collar use. Meta-analytic techniques were used to pool data from multiple sources to calculate pooled mean estimates of sensitivities and specificities of imaging techniques for cervical spinal clearance, rates of complications from various clearance strategies and from empirical use of semirigid collars. A decision analysis model was used to compare outcomes and costs among these strategies. Slightly more than 7.5% of patients who are clinically unevaluable have cervical spine injuries, and 42% of these injuries are associated with spinal instability. Sensitivity of plain radiography or fluoroscopy for spinal clearance was 57% (95% CI: 57%-60%). Sensitivities for CT and MRI alone were 83% (82%-84%) and 87% (84%-89%), respectively. Complications associated with collar use ranged from 1.3% (2 days) to 7.1% (10 days) but were usually minor and short-lived. Quadriplegia resulting from spinal instability missed by a clearance test had enormous impacts on longevity, quality of life, and costs. These impacts overshadowed the effects of prolonged collar application, even when the incidence of quadriplegia was extremely low. As currently used, neuroimaging studies for cervical spinal clearance in clinically unevaluable patients are not cost-effective compared with empirical immobilization in a semirigid collar.

  18. 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

  19. Workspace Analysis for Parallel Robot

    Directory of Open Access Journals (Sweden)

    Ying Sun

    2013-05-01

    Full Text Available As a completely new-type of robot, the parallel robot possesses a lot of advantages that the serial robot does not, such as high rigidity, great load-carrying capacity, small error, high precision, small self-weight/load ratio, good dynamic behavior and easy control, hence its range is extended in using domain. In order to find workspace of parallel mechanism, the numerical boundary-searching algorithm based on the reverse solution of kinematics and limitation of link length has been introduced. This paper analyses position workspace, orientation workspace of parallel robot of the six degrees of freedom. The result shows: It is a main means to increase and decrease its workspace to change the length of branch of parallel mechanism; The radius of the movement platform has no effect on the size of workspace, but will change position of workspace.

  20. State Estimation for Tensegrity Robots

    Science.gov (United States)

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

    2016-01-01

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

  1. Robotic fabrication in architecture, art, and design

    CERN Document Server

    Braumann, Johannes

    2013-01-01

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

  2. Motion and operation planning of robotic systems background and practical approaches

    CERN Document Server

    Gomez-Barvo, Fernando

    2015-01-01

    This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researche...

  3. Young Children Treat Robots as Informants.

    Science.gov (United States)

    Breazeal, Cynthia; Harris, Paul L; DeSteno, David; Kory Westlund, Jacqueline M; Dickens, Leah; Jeong, Sooyeon

    2016-04-01

    Children ranging from 3 to 5 years were introduced to two anthropomorphic robots that provided them with information about unfamiliar animals. Children treated the robots as interlocutors. They supplied information to the robots and retained what the robots told them. Children also treated the robots as informants from whom they could seek information. Consistent with studies of children's early sensitivity to an interlocutor's non-verbal signals, children were especially attentive and receptive to whichever robot displayed the greater non-verbal contingency. Such selective information seeking is consistent with recent findings showing that although young children learn from others, they are selective with respect to the informants that they question or endorse. Copyright © 2016 Cognitive Science Society, Inc.

  4. Clearance measurements on activated parts of accelerators by combined methods; Verfahrenskombinierte Freigabemessung aktivierter Beschleunigerteile

    Energy Technology Data Exchange (ETDEWEB)

    Jansen, S.; Friedemann, S. [VKTA, Dresden (Germany); Enghardt, W. [Technische Univ. Dresden (Germany). OncoRay

    2016-07-01

    The process of clearance of radioactive materials according to paragraph 29 StrlSchV contents the comparison of activity to mass and surface of the material. To avoid a borderless assessment of activity of activation it is often necessary to use combined measurement methods: For clearance of collimators of a medical proton accelerator (energy range up to 200 MeV) it needs to know the nuclide composition. The energetical and geometrical calibration was fixed by experiments. The clearance based on measurements of activity distribution, gammaspectroscopy verification of nuclide composition and gamma-counting detectors. Parts of medical electron-accelerators achieved its clearance by combination of abovementioned methods and in-situ-gammaspectroscopy. Activated und contaminated lead stones achieved its clearance by measurements of fluence, laboratory evaluation of samples, in-situ-gammaspectroscopy and wipe tests.

  5. Numerical Analysis of the Influence of Clearance on Stress State and Contact Pressure in Plain Bearings

    Directory of Open Access Journals (Sweden)

    Vasile Cojocaru

    2017-12-01

    Full Text Available In the analysis of plain bearings by finite element method it is important to model as closely to real state the aspects that influence the stress and contact pressure: the loading mode, the properties of the materials, the lubrication system, the clearance between the shaft and the bearing body, the evolution in time of clearance correlated with the wear, etc. In order to study the effect of the clearance on the stress state, a plain bearing with nominal diameter d=40 mm was modeled. The contact pressure and the equivalent stress were computed for six discrete values of clearance, range from c=0 to c=0.3 mm. It has been shown that the increase of clearance generates an increase of the equivalent stress and contact pressure. The growth rate is higher for contact pressure, due to the decrease of the contact surface between the shaft and the bearing body

  6. 32 CFR 154.16 - Security clearance.

    Science.gov (United States)

    2010-07-01

    ... part. The Director, Washington Headquarters Services (WHS) will initiate the required investigation... clearance, as appropriate. The Assistant Secretary of Defense (Legislative Affairs) will be notified by WHS...

  7. 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...

  8. Robots of the Future

    Indian Academy of Sciences (India)

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

  9. 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

  10. 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...

  11. Building Teen Futures with Underwater Robotics

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

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

  12. Healthcare robots: ethics, design and implementation

    NARCIS (Netherlands)

    van Wynsberghe, Amy Louise

    2015-01-01

    This study deals with an underexplored area of the emerging technologies debate: robotics in the healthcare setting. The author explores the role of care and develops a value-sensitive ethical framework for the eventual employment of care robots. Highlighting the range of positive and negative

  13. Dynamic photogrammetric calibration of industrial robots

    Science.gov (United States)

    Maas, Hans-Gerd

    1997-07-01

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

  14. 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...

  15. Estimation of normal chromium-51 ethylene diamine tetra-acetic acid clearance in children

    International Nuclear Information System (INIS)

    Piepsz, A.; Pintelon, H.; Ham, H.R.

    1994-01-01

    In order to estimate the normal range of chromium-51 ethylene diamine tetra-acetic acid (EDTA) clearance in children, we selected a series of 256 patients with past or present urinary tract infection who showed, at the time of the clearance determination, normal technetium-99m dimercaptosuccinic acid (DMSA) scintigraphy and normal left to right DMSA relative uptake. The clearance was calculated by means of either the simplified second exponential method or the 120-min single blood sample; Chantler's correction was used in order to correct for having neglected the first exponential. There was a progressive increase in clearance from the first weeks of life (mean value around 1 month: 55 ml/min/1.73 m 2 ), with a plateau at around 18 months. Between 2 and 17 years of age, the clearance values remained constant, with a mean value of 114 ml/min/1.73 m 2 (SD: 24 ml/min); this is similar to the level described for inulin clearance. No significant differences were observed between boys and girls, or between clearance values calculated with one or with two blood samples. Taking into account the hour of intravenous injection of the tracer, we did not observe any influence of the lunchtime meal on the distribution of the 51 Cr-EDTA clearance values. (orig.)

  16. From killer machines to doctrines and swarms; or why ethics of military robotics is not (necessarily) about robots.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    Ethical reflections on military robotics can be enriched by a better understanding of the nature and role of these technologies and by putting robotics into context in various ways. Discussing a range of ethical questions, this paper challenges the prevalent assumptions that military robotics is

  17. Robotics to Enable Older Adults to Remain Living at Home

    OpenAIRE

    Pearce, Alan J.; Adair, Brooke; Miller, Kimberly; Ozanne, Elizabeth; Said, Catherine; Santamaria, Nick; Morris, Meg E.

    2012-01-01

    Given the rapidly ageing population, interest is growing in robots to enable older people to remain living at home. We conducted a systematic review and critical evaluation of the scientific literature, from 1990 to the present, on the use of robots in aged care. The key research questions were as follows: (1) what is the range of robotic devices available to enable older people to remain mobile, independent, and safe? and, (2) what is the evidence demonstrating that robotic devices are effec...

  18. Bone blood flow measured by 41Ar clearance formed by 44Ca(n,α)41Ar

    International Nuclear Information System (INIS)

    Rosenthal, M.S.; DeLuca, P.M. Jr.; Pearson, D.W.; Nickles, R.J.

    1983-01-01

    A technique to measure regional inert gas washout in bone, in vivo, by measuring 41 Ar clearance formed by fast-neutron activation of 44 Ca has been developed. Following fast-neutron irradiation of whole rats, the perfusion-limited clearance of 41 Ar was measured for both dead and living rats. The clearance rate for the live rats indicate that the bone perfusion is in the range of 3 to 20 ml/100 Argon distribution volume

  19. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  20. Latest Advances in Robot Kinematics

    CERN Document Server

    Husty, Manfred

    2012-01-01

    This book is  of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

  1. 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.

  2. 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...

  3. An overview of the 2009 Fort Hood Robotics Rodeo

    Science.gov (United States)

    Norberg, Seth

    2010-04-01

    The Robotics Rodeo held from 31 August to 3 September 2009 at Fort Hood, Texas, had three stated goals: educate key decision makers and align the robotics industry; educate Soldiers and developers; and perform a live market survey of the current state of technologies to encourage the development of robotic systems to support operational needs. Both events that comprised the Robotics Rodeo, the Extravaganza and the robotic technology observation, demonstration and discussion (RTOD2) addressed these stated goals. The Extravaganza was designed to foster interaction between the vendors and the visitors who included the media, Soldiers, others in the robotics industry and key decision makers. The RTOD2 allowed the vendors a more private and focused interaction with the subject matter experts teams, this was the forum for the vendors to demonstrate their robotic systems that supported the III Corps operational needs statements that are focused on route clearance, convoy operations, persistent stare, and robotic wingman. While the goals of the Rodeo were achieved, the underlying success from the event is the development of a new business model that is focused on collapsing the current model to get technologies into the hands of our warfighters quicker. This new model takes the real time data collection from the Rodeo, the Warfighter Needs from TRADOC, the emerging requirements from our current engagements, and assistance from industry partners to develop a future Army strategy for the rapid fielding of unmanned systems technologies.

  4. 2015 Annual Report on Security Clearance Determinations

    Science.gov (United States)

    2016-06-28

    only have delegated investigative authority over their civilian employee population and therefore, can only report the overall timeliness for that...completed or pending security clearance determinations for government employees and contractors during the preceding fiscal year that have taken longer...Clearance Determinations to Congress. The IAA directs this report to include the number of United States Government (USG) employees who held a

  5. Green technology; only Forest Clearance is needed

    Indian Academy of Sciences (India)

    First page Back Continue Last page Graphics. How was Forest Clearance granted before the procedures for constitution of ESZ was completed? How was Forest Clearance granted before the procedures for constitution of ESZ was completed? How was land in Murmurwadi still under litigation made available? How was ...

  6. Applicability of Clearance Automatic Laser Inspection System to Clearance Measurement of Concrete Segments

    International Nuclear Information System (INIS)

    Sasaki, M.; Ogino, H.; Hattori, T.

    2009-01-01

    activity evaluation flow of CLALIS was improved to allow for the BG count rate due to natural radionuclides. The accuracies of calibration and BG correction for concrete segments were estimated using a number of mock -concrete waste samples and varying their position, number and size. As a result, it was found that CLALIS can estimate the calibration factor and BG correction factor within good accuracies of ± 20% and ± 2%, respectively. The main components of concrete are cement, fine aggregate and coarse aggregate, and it is well known that the natural activity concentration of these components depends on where they are produced. In CLALIS, the BG count rate due to natural radionuclides is estimated using pre-analyzed data obtained from the representative sample, the mass of the measurement target and its efficiency calculated by the MCNP code. Here, the effect of an uneven distribution of natural radionuclides between the measurement targets should be considered because it may contribute to the uncertainty of the BG count rate. In this study, to discuss in detail the applicability of CLALIS to the clearance measurement of concrete segments, the standard equation for detection limit estimation was extended to separately treat the ambient BG count rate, the BG count rate due to natural radionuclides and their uncertainties. Consequently, the precise detection limit of CLALIS was evaluated and its range of application was clarified with respect to the natural activity concentration and its uncertainty. (authors)

  7. Robotic guarded motion system and method

    Science.gov (United States)

    Bruemmer, David J.

    2010-02-23

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

  8. Clearance of materials from accelerator facilities

    Directory of Open Access Journals (Sweden)

    Rokni Sayed H.

    2017-01-01

    Full Text Available A new Technical Standard that supports the clearance of materials and equipment (personal property from U.S. Department of Energy (DOE accelerator facilities has been developed. The Standard focuses on personal property that has the potential to be radiologically impacted by accelerator operations. It addresses material clearance programs and protocols for off-site releases without restriction on use. Common metals with potential volumetric activation are of main interest with technical bases provided in Appendices of the Standard. The clearance protocols in the Standard include three elements: 1 clearance criteria, 2 process knowledge, and 3 measurement methods. This paper presents the technical aspects of the new Standard, discusses operational experience gained in clearance of materials and equipment from several accelerator facilities at SLAC and examples as to how this Standard can be applied to benefit the entirety of the DOE Accelerator Complex.

  9. Turbulent Heat Transfer of a Finned Plate in a Duct as Tip Clearance Changes

    Energy Technology Data Exchange (ETDEWEB)

    Park, Hae-Kyun; Chung, Bum-Jin [Kyung Hee University, Yongin (Korea, Republic of)

    2015-05-15

    Fins are employed to enhance the cooling performance of a system. There are a number of studies relevant to geometry of fins. Meanwhile, the studies relevant to tip clearance, have not performed enough, which is the distance between the tips of the fins and the wall. We investigated the optimal tip clearance, which maximizes the heat transfers by experimental and numerical analyses with wider range of Re{sub Dh} than the previous studies. Turbulent heat transfers of a finned plate were measured. For an extended range of tip clearance and Re{sub Dh} than other studies. A joint experimental and numerical analyses was performed to measure heat transfers. Mass transfer experiments using electroplating system was used and FLUENT 6.3.26 was used for the calculation. For the narrow tip clearances below 5 mm, were investigated by numerical method only. The bypass flow to the tip clearance region contributes to heat transfer area at the tip clearance region and does not contributes that of the fin region. Thus, the optimal tip clearance was founded and it exists vicinity of 0.2 mm.

  10. 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...

  11. Human-Robot Interaction: Status and Challenges.

    Science.gov (United States)

    Sheridan, Thomas B

    2016-06-01

    The current status of human-robot interaction (HRI) is reviewed, and key current research challenges for the human factors community are described. Robots have evolved from continuous human-controlled master-slave servomechanisms for handling nuclear waste to a broad range of robots incorporating artificial intelligence for many applications and under human supervisory control. This mini-review describes HRI developments in four application areas and what are the challenges for human factors research. In addition to a plethora of research papers, evidence of success is manifest in live demonstrations of robot capability under various forms of human control. HRI is a rapidly evolving field. Specialized robots under human teleoperation have proven successful in hazardous environments and medical application, as have specialized telerobots under human supervisory control for space and repetitive industrial tasks. Research in areas of self-driving cars, intimate collaboration with humans in manipulation tasks, human control of humanoid robots for hazardous environments, and social interaction with robots is at initial stages. The efficacy of humanoid general-purpose robots has yet to be proven. HRI is now applied in almost all robot tasks, including manufacturing, space, aviation, undersea, surgery, rehabilitation, agriculture, education, package fetch and delivery, policing, and military operations. © 2016, Human Factors and Ergonomics Society.

  12. Influence of peak exercise heart rate on normal thallium-201 myocardial clearance

    International Nuclear Information System (INIS)

    Kaul, S.; Chesler, D.A.; Pohost, G.M.; Strauss, H.W.; Okada, R.D.; Boucher, C.A.

    1986-01-01

    Measurement of myocardial clearance rates between initial and delayed images is a major justification for adding computer quantification to the interpretation of exercise 201 TI images. To clarify the range of normal thallium clearance and its relationship to the level of exercise achieved, exercise thallium images in 89 normal subjects were analyzed: 45 asymptomatic subjects with less than 1% probability of coronary artery disease (CAD) (Group I), and 44 patients with chest pain found to have no significant CAD on angiography (Group II). Mean initial regional thallium uptake was similar in the two groups, but myocardial thallium clearance (mean +/- 1 s.d.) was slower in Group II, expressed as a longer half-life in the myocardium (8.2 +/- 7.6 hr compared with 3.4 +/- 0.7 hr p less than 0.001). Analysis of variance using ten clinical and exercise variables as covariates showed that the slower clearance in Group II was related to a lower peak exercise heart rate (HR) (154 +/- 27 compared with 183 +/- 11, respectively, p less than 0.001). By linear regression analysis, a decrease in peak HR of 1 beat/min was associated with a slower thallium clearance (longer half-life) of 0.05 hr. Using this formula, the clearance value in each patient was then corrected for peak exercise heart rate by decreasing measured clearance by 0.05 hr multiplied by the amount peak exercise heart rate which was below 183 (the mean value in Group I). There were no differences in the corrected clearance between the two groups. We conclude that thallium myocardial clearance after exercise is related in part to factors other than the presence of CAD, being slower when peak exercise HR is lower. Therefore, thallium clearance rates alone uncorrected for peak exercise heart rate should be used with caution when diagnosing CAD

  13. Comparison of German and international clearance regulations - chances and limits for harmonization

    International Nuclear Information System (INIS)

    Thierfeldt, S.; Schartmann, F.

    2005-01-01

    The regulations on clearance in the German nuclear regulatory framework (especially sect. 29 and Annexes III and IV of the Radiation Protection Ordinance) are comprehensive and well founded. Germany has developed some of its clearance levels in advance of recommendations issued by the EC. Therefore, there are differences between the German and international clearance regulations. That has been investigated by a working group on clearance of the German Commission on Radiological Protection (SSK) which has performed an analysis of differences and their reasons for clearance levels in Germany and other countries (UK, The Netherlands, Sweden, USA and others). Differences can mainly be explained by country specific approaches in scenarios. Differences especially for the most relevant nuclides are not significant from a radiological point of view. The level of radiological protection (trivial dose range, a few 10 μSv/a) is guaranteed in all countries. The international discussion on the international harmonisation of clearance levels (mainly within the scope of the OECD/NEA and IAEA) can be enlightened on the basis of these results. This discussion concentrates on the question how far a harmonisation of clearance level values is actually necessary and possible. The IAEA Safety Guide RS-G-1.7 'Application of the concepts of exclusion, exemption and clearance' is of particular importance, because it proposes a set of values which might in the long-term take the role of international unconditional clearance levels. International harmonisation is only relevant for unconditional clearance of those materials, which are traded in large quantities among countries, in particular metal scrap. Harmonisation of the values to the same order of magnitude is sufficient. (orig.)

  14. On sub-modularization and morphological heterogeneity in modular robotics

    DEFF Research Database (Denmark)

    Lyder, A. H.; Stoy, K.; Garciá, R. F. M.

    2012-01-01

    Modular robots are a kind of robots built from mechatronic modules, which can be assembled in many different ways allowing the modular robot to assume a wide range of morphologies and functions. An important question in modular robotics is to which degree modules should be heterogeneous....... In this paper we introduce two contributing factors to heterogeneity namely morphological heterogeneity and sub-functional modularization. Respectively, the ideas are to create modules with significantly different morphologies and to spread sub-functionality across modules. Based on these principles we design...... and implement the Thor robot and evaluate it by participating in the ICRA Planetary Robotic Contingency Challenge. The Thor robot demonstrates that sub-functional modularity and morphological heterogeneity may increase the versatility of modular robots while reducing the complexity of individual modules, which...

  15. 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…

  16. 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

  17. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  18. 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...

  19. 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....

  20. Effect of tip clearance on performance of small axial hydraulic turbine

    Science.gov (United States)

    Boynton, J. L.; Rohlik, H. E.

    1976-01-01

    The first two stages of a six stage liquid oxygen turbine were tested in water. One and two stage performance was determined for one shrouded and two unshrouded blade end configurations over ranges of clearance and blade-jet speed ratio. First stage, two stage, and second stage efficiencies are included as well as the effect of clearance on mass flow for two stage operation.

  1. Fable: A Modular Robot for Students, Makers and Researchers

    DEFF Research Database (Denmark)

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

    2014-01-01

    system consists of a range of modules equipped with sensors and actuators, which users can easily assemble into a wide range of robots within seconds. The robots are user- programmable on several levels of abstraction ranging from a simple visual programming language to powerful conventional ones...

  2. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  3. Contrast media and glomerular filtration: dose dependence of clearance for three agents

    International Nuclear Information System (INIS)

    Baeck, S.E.K.; Krutzen, E.; Nilsson-Ehle, P.

    1988-01-01

    Determination of plasma clearance of contrast agents has been advocated as a means to assess glomerular filtration rate. To evaluate the feasibility of different agents for this purpose, we have compared, in healthy volunteers, the dose dependence of plasma clearance for three contrast media (iohexol, a nonionic agent, and iothalamate and metrizoate, which are ionic substances), with special emphasis on the lower dose range (2-20 mL corresponding to 0.9-12.9 g, depending on dose and agent). Iohexol and iothalamate were cleared at constant rates, irrespective of given dose, whereas metrizoate clearance increased significantly at lower doses. In general, the clearances or iothalamate and metrizoate were, respectively, moderately and markedly higher than that of iohexol. The clearance of different doses of metrizoate (2 mL versus a radiographic dose of 40 mL or more) was also compared with the clearance of [ 51 Cr]EDTA in two groups of patients with reduced renal function. When compared with [ 51 Cr]EDTA in patients with renal dysfunction, metrizoate was cleared significantly faster after a 2-mL dose, whereas clearances were identical when the metrizoate dose was 40 mL or more. These findings indicate that tubular secretion plays an active role in the elimination of metrizoate. The pharmacokinetic properties of iohexol, in combination with its low toxicity, make it a suitable agent for determination of glomerular filtration rate in clinical practice

  4. Differential evolution to enhance localization of mobile robots

    DEFF Research Database (Denmark)

    Lisowski, Michal; Fan, Zhun; Ravn, Ole

    2011-01-01

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

  5. Fable: Design of a Modular Robotic Playware Platform

    DEFF Research Database (Denmark)

    Pacheco, Moises; Moghadam, Mikael; Magnússon, Arnþór

    2013-01-01

    -based system composed of reconfigurable heterogeneous modules with a reliable and scalable connector. Furthermore, this paper describes tests where the connector design is tested with children, and presents examples of a moving snake and a quadruped robot, as well as an interactive upper humanoid torso.......We are developing the Fable modular robotic system as a playware platform that will enable non-expert users to develop robots ranging from advanced robotic toys to robotic solutions to problems encountered in their daily lives. This paper presents the mechanical design of Fable: a chain...

  6. 7th International Robotic Sailing Conference

    CERN Document Server

    Tynan, Dermot

    2015-01-01

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

  7. Laser speckle velocimetry for robot manufacturing

    Science.gov (United States)

    Charrett, Thomas O. H.; Bandari, Yashwanth K.; Michel, Florent; Ding, Jialuo; Williams, Stewart W.; Tatam, Ralph P.

    2017-06-01

    A non-contact speckle correlation sensor for the measurement of robotic tool speed is presented for use in robotic manufacturing and is capable of measuring the in-plane relative velocities between a robot end-effector and the workpiece or other surface. The sensor performance was assessed in the laboratory with the sensor accuracies found to be better than 0:01 mm/s over a 70 mm/s velocity range. Finally an example of the sensors application to robotic manufacturing is presented where the sensor was applied to tool speed measurement for path planning in the wire and arc additive manufacturing process using a KUKA KR150 L110/2 industrial robot.

  8. New development in robot vision

    CERN Document Server

    Behal, Aman; Chung, Chi-Kit

    2015-01-01

    The field of robotic vision has advanced dramatically recently with the development of new range sensors.  Tremendous progress has been made resulting in significant impact on areas such as robotic navigation, scene/environment understanding, and visual learning. This edited book provides a solid and diversified reference source for some of the most recent important advancements in the field of robotic vision. The book starts with articles that describe new techniques to understand scenes from 2D/3D data such as estimation of planar structures, recognition of multiple objects in the scene using different kinds of features as well as their spatial and semantic relationships, generation of 3D object models, approach to recognize partially occluded objects, etc. Novel techniques are introduced to improve 3D perception accuracy with other sensors such as a gyroscope, positioning accuracy with a visual servoing based alignment strategy for microassembly, and increasing object recognition reliability using related...

  9. Controlling Tensegrity Robots Through Evolution

    Science.gov (United States)

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

    2013-01-01

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

  10. Plasma Creatinine Clearance in the Dog

    Science.gov (United States)

    Frazier, Loy W.

    1977-01-01

    Lists materials and methods for an experiment that demonstrates the concept of glomerular filtration rate (GFR) using anesthesized dogs. In the dog, GFR is equivalent to the renal plasma clearance of exogenous creatinine. (CS)

  11. Low ground clearance vehicle detection and warning.

    Science.gov (United States)

    2015-06-01

    A Low Ground Clearance Vehicle Detection : System (LGCVDS) determines if a commercial : motor vehicle can successfully clear a highwayrail : grade crossing and notifies the driver when : his or her vehicle cannot safely traverse the : crossing. That ...

  12. Exclusion, exemption, clearance European Union approach

    International Nuclear Information System (INIS)

    Janssens, A.

    1997-01-01

    The presentation overviews the following issues: Euratom Basic Safety Standards; administrative requirements; radiation protection of the population. Scope of the Standards: natural radiation sources; exclusion. Exemption; Clearance; Import of radioactive scrap metal

  13. Compressor airfoil tip clearance optimization system

    Science.gov (United States)

    Little, David A.; Pu, Zhengxiang

    2015-08-18

    A compressor airfoil tip clearance optimization system for reducing a gap between a tip of a compressor airfoil and a radially adjacent component of a turbine engine is disclosed. The turbine engine may include ID and OD flowpath boundaries configured to minimize compressor airfoil tip clearances during turbine engine operation in cooperation with one or more clearance reduction systems that are configured to move the rotor assembly axially to reduce tip clearance. The configurations of the ID and OD flowpath boundaries enhance the effectiveness of the axial movement of the rotor assembly, which includes movement of the ID flowpath boundary. During operation of the turbine engine, the rotor assembly may be moved axially to increase the efficiency of the turbine engine.

  14. 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)

  15. 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...

  16. 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...

  17. 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...

  18. 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.

  19. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  20. Effects of heart rate on myocardial thallium-201 uptake and clearance

    International Nuclear Information System (INIS)

    Nordrehaug, J.E.; Danielsen, R.; Vik-Mo, H.

    1989-01-01

    The effects of heart rate on the myocardial uptake and clearance of 201 Tl were studied prospectively in seven healthy men, mean age 43 +/- 7 (s.d.) yr. Initial and delayed (3 hr) thallium images were obtained in three views after three bicycle exercise tests: to maximal, 80% and 60% of predicted maximal heart rate. The mean of three views initial myocardial 201 Tl uptake was higher at maximal than at both 80% and 60% of predicted maximal heart rate, being 81% (p less than 0.01) and 60% (p less than 0.01) of maximal activity, respectively. The myocardial activity in the delayed images was identical. There was a linear relationship between heart rate and the initial myocardial activity, r = 0.86 (p less than 0.001). The mean (range) 201 Tl clearance was 58% (51-65), 47% (34-56), and 34% (22-49) (all differences p less than 0.01), respectively. Concordance among the three individual views in estimating clearance was best for the highest exercise level. There was a linear relationship between heart rate and clearance, r = 0.80 (p less than 0.001). Clearance was altered by only 1.67 x 10%/heart bpm (0.024 hr/heart beat). Clearance in the liver, spleen and lungs increased at submaximal exercise levels. Thus, a linear relationship between heart rate and clearance is the result of changes in the initial exercise myocardial 201 Tl activity. Submaximal exercise may reduce reproducibility of clearance estimation, and the change of myocardial clearance with heart rate seems less than previously suggested

  1. A mobile autonomous robot for radiological surveys

    International Nuclear Information System (INIS)

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

    1992-01-01

    The Robotics Development Group at the Savannah River Site is developing an autonomous robot (SIMON) to perform radiological surveys of potentially contaminated floors. The robot scans floors at a speed of one-inch/second and stops, sounds an alarm, and flashes lights when contamination in a certain area is detected. The contamination of interest here is primarily alpha and beta-gamma. The robot, a Cybermotion K2A base, is radio controlled, uses dead reckoning to determine vehicle position, and docks with a charging station to replenish its batteries and calibrate its position. It uses an ultrasonic ranging system for collision avoidance. In addition, two safety bumpers located in the front and the back of the robot will stop the robots motion when they are depressed. Paths for the robot are preprogrammed and the robots motion can be monitored on a remote screen which shows a graphical map of the environment. The radiation instrument being used is an Eberline RM22A monitor. This monitor is microcomputer based with a serial I/0 interface for remote operation. Up to 30 detectors may be configured with the RM22A

  2. Noninvasive determination of individual renal clearance

    International Nuclear Information System (INIS)

    Chanard, J.; Brunois, J.P.; Ruiz, J.C.; Assailly, J.

    1980-01-01

    A noninvasive method for measurement of individual renal clearance is presented, based on analysis of the early rise of the kidneys' time-activity curves after injection of an appropriate tracer ( 131 I-ortho-iodohippurate for tubular function or 111 In DTPA for glomerular clearance). The analysis is based on the assumption that an insignificant amount of tracer leaves the kidney during the first few moments following injection. Therefore, the kidney activity during this period is directly proportional to the integral of the blood (heart) activity. After blood background subtraction, the linear correlation between the early part of the renogram and the corresponding blood integral activity curve allows calculation of an angular coefficient. The ratio of these coefficients calculated for each kidney is proportional to the ratio of the individual clearances. The latter are calculated from the total clearance simultaneously measured using a simplified method without urine collection. In control subjects with normal renal function individual renal clearances were not significantly different. In uninephrectomized patients a precision of 5% in calculating individual clearance was estimated from data recorded at the level of the remaining kidney. In patients with functional asymmetry, results were compared with 197 HgCl 2 quantitative renal fixation. A linear correlation was found (r = 0.95). The method we propose seems valuable for clinical investigation and allows sequential measurements. (orig.)

  3. Turbine blade tip clearance measurement using a skewed dual-beam fiber optic sensor

    Science.gov (United States)

    Ye, De-chao; Duan, Fa-jie; Guo, Hao-tian; Li, Yangzong; Wang, Kai

    2012-08-01

    Optimization and active control of the tip clearance of turbine blades has been identified as a key to improve fuel efficiency, reduce emission, and increase service life of the engine. However, reliable and real-time tip clearance measurement is difficult due to the adverse environmental conditions that are typically found in a turbine. We describe a dual-beam fiber optic measurement system that can measure the tip timing and tip clearance simultaneously. Because the tip timing information is used to calculate the tip clearance, the method is insensitive to the signal intensity variation caused by fluctuations in environmental conditions such as light source instability, contamination, and blade tip imperfection. The system was calibrated and tested using experimental rotors. The test results indicated a high resolution of 4.5 μm and measurement accuracy of ±20 μm over the rotation speed range of 2000 to 10,000 rpm.

  4. Oral sugar clearance and root caries prevalence in rheumatic patients with dry mouth symptoms.

    Science.gov (United States)

    Risheim, H; Arneberg, P; Birkhed, D

    1992-01-01

    The relationship between root caries, oral sugar clearance, salivary flow rate, and salivary counts of mutans streptococci, lactobacilli and candida has been studied in a group of 22 rheumatic patients (age range 40-72 years). The study group comprised all subjects volunteering for a clinical trial on relief of dry mouth symptoms. The median salivary flow was 0.09 ml/min at rest and 0.9 ml/min during chewing stimulation. The median sugar clearance time was about 5 min in the sublingual area and 16 min in the lower buccal vestibule. For subjects with 0-2 root caries lesions the clearance time at both sites was shorter than for subjects with 3 or more lesions (p flow, and high salivary counts of mutans streptococci. It is concluded that root caries in rheumatic patients with low salivary flow is significantly related to oral sugar clearance time.

  5. 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.

  6. 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....

  7. 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

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

    International Nuclear Information System (INIS)

    1991-01-01

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

  9. Turbine Engine Clearance Control Systems: Current Practices and Future Directions

    Science.gov (United States)

    Lattime, Scott B.; Steinetz, Bruce M.

    2002-01-01

    Improved blade tip sealing in the high pressure compressor (HPC) and high pressure turbine (HPT) can provide dramatic reductions in specific fuel consumption (SFC), time-on-wing, compressor stall margin, and engine efficiency as well as increased payload and mission range capabilities. Maintenance costs to overhaul large commercial gas turbine engines can easily exceed $1M. Engine removal from service is primarily due to spent exhaust gas temperature (EGT) margin caused mainly by the deterioration of HPT components. Increased blade tip clearance is a major factor in hot section component degradation. As engine designs continue to push the performance envelope with fewer parts and the market drives manufacturers to increase service life, the need for advanced sealing continues to grow. A review of aero gas turbine engine HPT performance degradation and the mechanisms that promote these losses are discussed. Benefits to the HPT due to improved clearance management are identified. Past and present sealing technologies are presented along with specifications for next generation engine clearance control systems.

  10. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  11. 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.

  12. The New Robotics-towards human-centered machines.

    Science.gov (United States)

    Schaal, Stefan

    2007-07-01

    Research in robotics has moved away from its primary focus on industrial applications. The New Robotics is a vision that has been developed in past years by our own university and many other national and international research institutions and addresses how increasingly more human-like robots can live among us and take over tasks where our current society has shortcomings. Elder care, physical therapy, child education, search and rescue, and general assistance in daily life situations are some of the examples that will benefit from the New Robotics in the near future. With these goals in mind, research for the New Robotics has to embrace a broad interdisciplinary approach, ranging from traditional mathematical issues of robotics to novel issues in psychology, neuroscience, and ethics. This paper outlines some of the important research problems that will need to be resolved to make the New Robotics a reality.

  13. Kinematics analysis and simulation of a new underactuated parallel robot

    Directory of Open Access Journals (Sweden)

    Wenxu YAN

    2017-04-01

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

  14. Numerical investigation of tip clearance cavitation in Kaplan runners

    Science.gov (United States)

    Nikiforova, K.; Semenov, G.; Kuznetsov, I.; Spiridonov, E.

    2016-11-01

    There is a gap between the Kaplan runner blade and the shroud that makes for a special kind of cavitation: cavitation in the tip leakage flow. Two types of cavitation caused by the presence of clearance gap are known: tip vortex cavitation that appears at the core of the rolled up vortex on the blade suction side and tip clearance cavitation that appears precisely in the gap between the blade tip edge and the shroud. In the context of this work numerical investigation of the model Kaplan runner has been performed taking into account variable tip clearance for several cavitation regimes. The focus is put on investigation of structure and origination of mechanism of cavitation in the tip leakage flow. Calculations have been performed with the help of 3-D unsteady numerical model for two-phase medium. Modeling of turbulent flow in this work has been carried out using full equations of Navier-Stokes averaged by Reynolds with correction for streamline curvature and system rotation. For description of this medium (liquid-vapor) simplification of Euler approach is used; it is based on the model of interpenetrating continuums, within the bounds of this two- phase medium considered as a quasi-homogeneous mixture with the common velocity field and continuous distribution of density for both phases. As a result, engineering techniques for calculation of cavitation conditioned by existence of tip clearance in model turbine runner have been developed. The detailed visualization of the flow was carried out and vortex structure on the suction side of the blade was reproduced. The range of frequency with maximum value of pulsation was assigned and maximum energy frequency was defined; it is based on spectral analysis of the obtained data. Comparison between numerical computation results and experimental data has been also performed. The location of cavitation zone has a good agreement with experiment for all analyzed regimes.

  15. Sensor Fusion for Autonomous Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Plascencia, Alfredo

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

  16. Advantages of robotics in benign gynecologic surgery.

    Science.gov (United States)

    Truong, Mireille; Kim, Jin Hee; Scheib, Stacey; Patzkowsky, Kristin

    2016-08-01

    The purpose of this article is to review the literature and discuss the advantages of robotics in benign gynecologic surgery. Minimally invasive surgery has become the preferred route over abdominal surgery. The laparoscopic or robotic approach is recommended when vaginal surgery is not feasible. Thus far, robotic gynecologic surgery data have demonstrated feasibility, safety, and equivalent clinical outcomes in comparison with laparoscopy and better clinical outcomes compared with laparotomy. Robotics was developed to overcome challenges of laparoscopy and has led to technological advantages such as improved ergonomics, visualization with three-dimensional capabilities, dexterity and range of motion with instrument articulation, and tremor filtration. To date, applications of robotics in benign gynecology include hysterectomy, myomectomy, endometriosis surgery, sacrocolpopexy, adnexal surgery, tubal reanastomosis, and cerclage. Though further data are needed, robotics may provide additional benefits over other approaches in the obese patient population and in higher complexity cases. Challenges that arose in the earlier adoption stage such as the steep learning curve, costs, and operative times are becoming more optimized with greater experience, with implementation of robotics in high-volume centers and with improved training of surgeons and robotic teams. Robotic laparoendoscopic single-site surgery, albeit still in its infancy where technical advantages compared with laparoscopic single-site surgery are still unclear, may provide a cost-reducing option compared with multiport robotics. The cost may even approach that of laparoscopy while still conferring similar perioperative outcomes. Advances in robotic technology such as the single-site platform and telesurgery, have the potential to revolutionize the field of minimally invasive gynecologic surgery. Higher quality evidence is needed to determine the advantages and disadvantages of robotic surgery in benign

  17. 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...

  18. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  19. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  20. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  1. Experimental Determinations on Kinematics of a Translational Joint of an Industrial Robot

    Directory of Open Access Journals (Sweden)

    Calin-Octavian Miclosina

    2017-11-01

    Full Text Available The paper presents a 6-DOF industrial robot and the driving system of its base translational joint. By imposing certain positions of the translational joint and determining the durations in which these positions are reached, average speed is computed. The paper shows how the clearances influence the average speed, depending on the displacement value.

  2. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  3. 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.

  4. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  5. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  6. 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.

  7. 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...

  8. Robots in the Roses

    OpenAIRE

    2014-01-01

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

  9. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

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

  10. Robotics in general surgery: A systematic cost assessment.

    Science.gov (United States)

    Gkegkes, Ioannis D; Mamais, Ioannis A; Iavazzo, Christos

    2017-01-01

    The utilisation of robotic-assisted techniques is a novelty in the field of general surgery. Our intention was to examine the up to date available literature on the cost assessment of robotic surgery of diverse operations in general surgery. PubMed and Scopus databases were searched in a systematic way to retrieve the included studies in our review. Thirty-one studies were retrieved, referring on a vast range of surgical operations. The mean cost for robotic, open and laparoscopic ranged from 2539 to 57,002, 7888 to 16,851 and 1799 to 50,408 Euros, respectively. The mean operative charges ranged from 273.74 to 13,670 Euros. More specifically, for the robotic and laparoscopic gastric fundoplication, the cost ranged from 1534 to 2257 and 657 to 763 Euros, respectively. For the robotic and laparoscopic colectomy, it ranged from 3739 to 17,080 and 3109 to 33,865 Euros, respectively. For the robotic and laparoscopic cholecystectomy, ranged from 1163.75 to 1291 and from 273.74 to 1223 Euros, respectively. The mean non-operative costs ranged from 900 to 48,796 from 8347 to 8800 and from 870 to 42,055 Euros, for robotic, open and laparoscopic technique, respectively. Conversions to laparotomy were present in 34/18,620 (0.18%) cases of laparoscopic and in 22/1488 (1.5%) cases of robotic technique. Duration of surgery robotic, open and laparoscopic ranged from 54.6 to 328.7, 129 to 234, and from 50.2 to 260 min, respectively. The present evidence reveals that robotic surgery, under specific conditions, has the potential to become cost-effective. Large number of cases, presence of industry competition and multidisciplinary team utilisation are some of the factors that could make more reasonable and cost-effective the robotic-assisted technique.

  11. Recent activities on clearance in IAEA and clearance automatic laser inspection system (CLALIS)

    International Nuclear Information System (INIS)

    Hattori, Takatoshi; Sasaki, Michiya

    2005-01-01

    Exemption levels for bulk amounts of materials have been described in RS-G-1.7 published as a safety guide in IAEA on August 2004. In Japan, the Nuclear Safety Commission adopted the RS-G-1.7 values as Japanese clearance levels after the careful review of dose assessment results. After completing revises of regulatory laws in relation to clearance level, solid wastes from decommissioning and operating nuclear power plants will be targets of clearance inspection. In CRIEPI, Clearance Automatic Laser Inspection System (CLALIS) has been developed, which can give high reliability and objectivity to the measurement data. The CLALIS is a new monitoring system coupling with 3D laser shape measurement, Monte-Carlo calculation and gamma measurement techniques, which can keep a high accuracy in the measurement data using an automatic correction technique for self-shielding effects of metal waste itself and is expected to apply as a practical use in actual clearance inspections. (author)

  12. Centrifugal compressor tip clearance and impeller flow

    Energy Technology Data Exchange (ETDEWEB)

    Jaatinen-Varri, Ahti; Tiainen, Jonna; Turunen-Saaresti, Teemu; Gronman, Aki; Ameli, Alireza; Backman, Jari [Laboratory of Fluid Dynamics, LUT School of Energy Systems, Lappeenranta University of Technology, Lappeenranta (Finland); Engeda, Abraham [Turbomachinery Laboratory, Dept. of Mechanical Engineering, Michigan State University, East Lansing (United States)

    2016-11-15

    Compressors consume a considerable portion of the electricity used in the industrial sector. Hence, improvements in compressor efficiency lead to energy savings and reduce environmental impacts. The efficiency of an unshrouded centrifugal compressor suffers from leakage flow over the blade tips. The effect of tip leakage flow on the passage flow differs between the full and splitter blade passages. In this study, the differences in the flow fields between the full and splitter blade passages were studied numerically in detail. An industrial high-speed compressor with a design pressure ratio of 1.78 was modelled. Numerical studies were conducted with six different tip clearances and three different diffuser widths. The results show that increasing tip clearance considerably increases the reversed flow into the impeller with an unpinched diffuser. The reversed flow then partly mixes into the flow in the same blade passage it entered the impeller and the rest migrates over the blade, mixing with the tip clearance flow. Furthermore, as the reversed and clearance flow mix into the wake, the wake is weakened. As pinch reduces both the reversed flow and clearance flow, the passage wakes are stronger with pinches. However, the pinch is beneficial as the losses at the impeller outlet decrease.

  13. Centrifugal compressor tip clearance and impeller flow

    International Nuclear Information System (INIS)

    Jaatinen-Varri, Ahti; Tiainen, Jonna; Turunen-Saaresti, Teemu; Gronman, Aki; Ameli, Alireza; Backman, Jari; Engeda, Abraham

    2016-01-01

    Compressors consume a considerable portion of the electricity used in the industrial sector. Hence, improvements in compressor efficiency lead to energy savings and reduce environmental impacts. The efficiency of an unshrouded centrifugal compressor suffers from leakage flow over the blade tips. The effect of tip leakage flow on the passage flow differs between the full and splitter blade passages. In this study, the differences in the flow fields between the full and splitter blade passages were studied numerically in detail. An industrial high-speed compressor with a design pressure ratio of 1.78 was modelled. Numerical studies were conducted with six different tip clearances and three different diffuser widths. The results show that increasing tip clearance considerably increases the reversed flow into the impeller with an unpinched diffuser. The reversed flow then partly mixes into the flow in the same blade passage it entered the impeller and the rest migrates over the blade, mixing with the tip clearance flow. Furthermore, as the reversed and clearance flow mix into the wake, the wake is weakened. As pinch reduces both the reversed flow and clearance flow, the passage wakes are stronger with pinches. However, the pinch is beneficial as the losses at the impeller outlet decrease

  14. 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...

  15. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  16. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

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

  17. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  18. 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

  19. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  20. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  1. 133 xenon muscle clearance as a test parameter in the diagnosis of peripheral diabetic angiopathies

    International Nuclear Information System (INIS)

    Kuhlmann, J.E.

    1980-01-01

    In 100 patients with manifest diabetes mellitus the irrigation in both legs at rest and in radioactive hyperemia after ischemic muscle work was measured by means of the 133-xenon muscle clearance. The clearance values measured ranged between 0.8 and 3.5 ml/100 g/60 s at rest and between 3.3 and 40.0 ml/100 gl/60 s during radioactive hyperemia. In 96 pc of the probands the irrigation of the legs was impaired. For the relation between glucose level and irrigation at rest a significant negative correlation was found. The difference between the clearance values for the right and left lower extremity was significant. For the relation between glucose level and reactive hyperemia, too, a significant negative correlation was found. The difference between the clearance values for the right and left lower extremities was significant. The measurement of the irrigation at rest showed no significant correlation between the period of manifestation of the diabetes and the clearance values. By contrast, the irrigation values during reactive hyperemia were shown to be in significantly negative correlation to the duration of the diabetes. No connection was found between the frequency of diabetic gangrene and impaired irrigation at rest. By contrast, there was a relation between decreasing hyperemia values and increased frequency of gangrene. A collection of case histories shows how the measuring results of the xenon clearance fit into the overall clinical picture. A comparison of xenon clearance with other methods of irrigation measurement confirmed obvious advantages of xenon clearance for the detection of diabetic microangiopathies. (orig./MG) [de

  2. Fish robotics and hydrodynamics

    Science.gov (United States)

    Lauder, George

    2010-11-01

    Studying the fluid dynamics of locomotion in freely-swimming fishes is challenging due to difficulties in controlling fish behavior. To provide better control over fish-like propulsive systems we have constructed a variety of fish-like robotic test platforms that range from highly biomimetic models of fins, to simple physical models of body movements during aquatic locomotion. First, we have constructed a series of biorobotic models of fish pectoral fins with 5 fin rays that allow detailed study of fin motion, forces, and fluid dynamics associated with fin-based locomotion. We find that by tuning fin ray stiffness and the imposed motion program we can produce thrust both on the fin outstroke and instroke. Second, we are using a robotic flapping foil system to study the self-propulsion of flexible plastic foils of varying stiffness, length, and trailing edge shape as a means of investigating the fluid dynamic effect of simple changes in the properties of undulating bodies moving through water. We find unexpected non-linear stiffness-dependent effects of changing foil length on self-propelled speed, and as well as significant effects of trailing edge shape on foil swimming speed.

  3. Robotic surgery in gynecology

    Directory of Open Access Journals (Sweden)

    Jean eBouquet De Jolinière

    2016-05-01

    Full Text Available Abstract Minimally invasive surgery (MIS can be considered as the greatest surgical innovation over the past thirty years. It revolutionized surgical practice with well-proven advantages over traditional open surgery: reduced surgical trauma and incision-related complications, such as surgical-site infections, postoperative pain and hernia, reduced hospital stay, and improved cosmetic outcome. Nonetheless, proficiency in MIS can be technically challenging as conventional laparoscopy is associated with several limitations as the two-dimensional (2D monitor reduction in-depth perception, camera instability, limited range of motion and steep learning curves. The surgeon has a low force feedback which allows simple gestures, respect for tissues and more effective treatment of complications.Since 1980s several computer sciences and robotics projects have been set up to overcome the difficulties encountered with conventional laparoscopy, to augment the surgeon's skills, achieve accuracy and high precision during complex surgery and facilitate widespread of MIS. Surgical instruments are guided by haptic interfaces that replicate and filter hand movements. Robotically assisted technology offers advantages that include improved three- dimensional stereoscopic vision, wristed instruments that improve dexterity, and tremor canceling software that improves surgical precision.

  4. Challenges in adapting imitation and reinforcement learning to compliant robots

    Directory of Open Access Journals (Sweden)

    Calinon Sylvain

    2011-12-01

    Full Text Available There is an exponential increase of the range of tasks that robots are forecasted to accomplish. (Reprogramming these robots becomes a critical issue for their commercialization and for their applications to real-world scenarios in which users without expertise in robotics wish to adapt the robot to their needs. This paper addresses the problem of designing userfriendly human-robot interfaces to transfer skills in a fast and efficient manner. This paper presents recent work conducted at the Learning and Interaction group at ADVR-IIT, ranging from skill acquisition through kinesthetic teaching to self-refinement strategies initiated from demonstrations. Our group started to explore the use of imitation and exploration strategies that can take advantage of the compliant capabilities of recent robot hardware and control architectures.

  5. Mobile robot navigation in unknown static environments using ANFIS controller

    Directory of Open Access Journals (Sweden)

    Anish Pandey

    2016-09-01

    Full Text Available Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.

  6. Rancang Bangun Robot Penghindar Halangan Berbasis Kamera Menggunakan Deteksi Kontur

    Directory of Open Access Journals (Sweden)

    Koko Joni

    2017-08-01

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

  7. Research on the inspection robot for cable tunnel

    Science.gov (United States)

    Xin, Shihao

    2017-03-01

    Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

  8. Soliton microcomb range measurement

    Science.gov (United States)

    Suh, Myoung-Gyun; Vahala, Kerry J.

    2018-02-01

    Laser-based range measurement systems are important in many application areas, including autonomous vehicles, robotics, manufacturing, formation flying of satellites, and basic science. Coherent laser ranging systems using dual-frequency combs provide an unprecedented combination of long range, high precision, and fast update rate. We report dual-comb distance measurement using chip-based soliton microcombs. A single pump laser was used to generate dual-frequency combs within a single microresonator as counterpropagating solitons. We demonstrated time-of-flight measurement with 200-nanometer precision at an averaging time of 500 milliseconds within a range ambiguity of 16 millimeters. Measurements at distances up to 25 meters with much lower precision were also performed. Our chip-based source is an important step toward miniature dual-comb laser ranging systems that are suitable for photonic integration.

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

    Directory of Open Access Journals (Sweden)

    Eva Wiese

    2017-10-01

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

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

    Science.gov (United States)

    Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

    2017-01-01

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

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

    Science.gov (United States)

    Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

    2017-01-01

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

  12. Clearance Laboratory - Capability and measurement sensitivity

    International Nuclear Information System (INIS)

    Hedemann Jensen, P.; Lauridsen, B.; Silva, J.; Soegaard-Hansen, J.; Warming, L.

    2005-09-01

    A new low-level Clearance Laboratory has been built at the Risoe-site. Building materials with a low content of naturally occurring radionuclides have been used. To minimize transport of radon gas from soil into the laboratory the foundation has been supplied with a membrane. The laboratory has been equipped with two high-efficiency germanium detectors. These detectors will be used for clearance measurements on the predicted amount of 15,000 - 18,000 tonnes of non-active or nearly non-active materials, which will originate from the decommissioning of all the nuclear facilities at the Risoe-site. They will be used also for clearance measurements on buildings and land. Objects and materials to be measured for clearance are placed on a rotation table that can carry up to one tonne and can rotate once a minute to simulate some averaging of inhomogeneously distributed activity. Sensitivity and background measurements reveal that measuring times of 20 - 50 minutes would normally be sufficient to detect radionuclide concentrations of only a small fraction of the nuclide-specific clearance levels with a sufficiently low uncertainty. Probability calculations of the measurement capacity of the Clearance Laboratory indicate that the mean value of the total measuring time for all materials that potentially can be cleared would be 13 years with a 95% probability of being less than 25 years. The mean value of the annual amount of materials that can be measured in the laboratory is 600 tonnes with a 95% probability of being less than 1,200 tonnes. If needed, there is room for additional measuring systems to increase the capacity of the laboratory. (au)

  13. Clearance Laboratory - Capability and measurement sensitivity

    Energy Technology Data Exchange (ETDEWEB)

    Hedemann Jensen, P.; Lauridsen, B.; Silva, J.; Soegaard-Hansen, J.; Warming, L.

    2005-08-01

    A new low-level Clearance Laboratory has been built at the Risoe-site. Building materials with a low content of naturally occurring radionuclides have been used. To minimize transport of radon gas from soil into the laboratory the foundation has been supplied with a membrane. The laboratory has been equipped with two high-efficiency germanium detectors. These detectors will be used for clearance measurements on the predicted amount of 15,000 - 18,000 tonnes of non-active or nearly non-active materials, which will originate from the decommissioning of all the nuclear facilities at the Risoe-site. They will be used also for clearance measurements on buildings and land. Objects and materials to be measured for clearance are placed on a rotation table that can carry up to one tonne and can rotate once a minute to simulate some averaging of inhomogeneously distributed activity. Sensitivity and background measurements reveal that measuring times of 20 - 50 minutes would normally be sufficient to detect radionuclide concentrations of only a small fraction of the nuclide-specific clearance levels with a sufficiently low uncertainty. Probability calculations of the measurement capacity of the Clearance Laboratory indicate that the mean value of the total measuring time for all materials that potentially can be cleared would be 13 years with a 95% probability of being less than 25 years. The mean value of the annual amount of materials that can be measured in the laboratory is 600 tonnes with a 95% probability of being less than 1,200 tonnes. If needed, there is room for additional measuring systems to increase the capacity of the laboratory. (au)

  14. A Parametric Study of Actuator Requirements for Active Turbine Tip Clearance Control of a Modern High Bypass Turbofan Engine

    Science.gov (United States)

    Kratz, Jonathan L.; Chapman, Jeffryes W.; Guo, Ten-Huei

    2017-01-01

    The efficiency of aircraft gas turbine engines is sensitive to the distance between the tips of its turbine blades and its shroud, which serves as its containment structure. Maintaining tighter clearance between these components has been shown to increase turbine efficiency, increase fuel efficiency, and reduce the turbine inlet temperature, and this correlates to a longer time-on-wing for the engine. Therefore, there is a desire to maintain a tight clearance in the turbine, which requires fast response active clearance control. Fast response active tip clearance control will require an actuator to modify the physical or effective tip clearance in the turbine. This paper evaluates the requirements of a generic active turbine tip clearance actuator for a modern commercial aircraft engine using the Commercial Modular Aero-Propulsion System Simulation 40k (C-MAPSS40k) software that has previously been integrated with a dynamic tip clearance model. A parametric study was performed in an attempt to evaluate requirements for control actuators in terms of bandwidth, rate limits, saturation limits, and deadband. Constraints on the weight of the actuation system and some considerations as to the force which the actuator must be capable of exerting and maintaining are also investigated. From the results, the relevant range of the evaluated actuator parameters can be extracted. Some additional discussion is provided on the challenges posed by the tip clearance control problem and the implications for future small core aircraft engines.

  15. [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.

  16. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

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

  17. Tear clearance implications for ocular surface health.

    Science.gov (United States)

    de Paiva, Cintia Sade; Pflugfelder, Stephen C

    2004-03-01

    Tear clearance/turnover provides a global assessment of the function of the lacrimal functional unit and of tear exchange on the ocular surface. It is an indirect measure of dry eye induced inflammation on the ocular surface. It shows better correlation with the severity of ocular irritation symptoms and corneal epithelial disease in dry eye than the Schirmer 1 test. Delayed tear clearance may prove to be the best measure for identifying patients with tear film disorders who may respond to anti-inflammatory therapy.

  18. Developing concepts for improved efficiency of robot work preparation

    OpenAIRE

    Essers, M.S.; Vaneker, Thomas H.J.

    2013-01-01

    SInBot[1] is a large research project that focuses on maximizing the efficient use of mobile industrial robots during medium sized production runs. The system that will be described in this paper will focusses on the development and validation of concepts for efficient work preparation for cells of intelligent mobile robots that execute medium sized production runs. For a wide range of products, the machining tasks will be defined on an appropriate level, enabling control over the robots beha...

  19. 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...

  20. 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.      

  1. 99mTc-DTPA Pulmonary Clearance in Normals

    International Nuclear Information System (INIS)

    Chung, Soo Kyo; Yang, Woo Jin; Sohn, Hyung Sun; Shinn, Kyung Sub; Bahk, Yong Whee

    1994-01-01

    Pulmonary clearance of 99m Tc-DTPA(PCD) has been used for the measurement of pulmonary epithelial permeability. It has been reported to be increased not only in variety of pulmonary diseases including ARDS, interstitial fibrosis, and smokers, but also in normal subjects on positive end expiratory pressure respirator, or after exercise. It was also noted that decrease of pulmonary blood flow due to pulmonary arterial obstruction results in delayed PCD. Normal range of PCD varies with institutes. We prospectively measured PCD in 17 normals (5 males and 12 females) consisted of staffs and trainees in the department of radiology of Kangnam St, Marys hospital using original Bark Nebulizer (India). Age ranged from 32 to 43 years. 370 MBq of 99m Tc-DTPA was inhaled in supine position and supine posterior images were subsequently obtained with 1 min/frame, 64 X 64 matrix and word mode for 30 min. Regions of interest. Were set on each lung, whole lungs, and upper, middle and lower thirds of right lung, respectively. Best fit regression curve was obtained by least square method from initial 7 min after peak activity on each curve and time for half clearance of maximum activity (tl/2) was calculated. Mean tl/2 was 51 ± 11.2 min for whole lung. There was no significant difference between tl/ 2 of right and left lungs. Initial uptake was higher in the lower third and tl/2 was shorter in the lower third than in the upper third(P<0.05). We reviewed several reports on PCD and compared our data with the others. In this study, faster clearance in the lower third may be due to the position imaged with or the environment the subjects belong to, and further investigation is under way.

  2. Neural Networks in Mobile Robot Motion

    Directory of Open Access Journals (Sweden)

    Danica Janglová

    2004-03-01

    Full Text Available This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the “free” space using ultrasound range finder data. The second neural network “finds” a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.

  3. Economic Floating Waste Detectionfor Surface Cleaning Robots

    Directory of Open Access Journals (Sweden)

    Sumroengrit Jakkrit

    2017-01-01

    Full Text Available Removing waste out of water surface is a routine task and can be operated by using autonomous surface cleaning robots. This paper presents amethodoflaser-based floating waste detection for surface robot guidance when waste positions are unknown beforehand. Basing on concept of refraction and reflection of laser ray, the proposed laser-based technique is proven to be applicable on floating waste detection. The economic waste detector is constructed and mounted on the robot. Five DOF equations of motion are formulated for calculation of waste position incorporating distance measured by the laser and also the robot motion caused by external wind force as well as water surface tension. Experiments were conducted on a pond with calm water and results show that the presented economic waste detection successfully identify and locate position of plastic bottles floating on water surface within the range of 5 meters.

  4. Frequency of stone clearance after extracorporeal shockwave ...

    African Journals Online (AJOL)

    Objective: To determine the rate of stone clearance after extracorporeal shockwave lithotripsy (ESWL) for renal stones in adult patients with renal insufficiency. Subjects and methods: This is a cross-sectional descriptive study of 117 adult patients who underwent ESWL. The indications for ESWL were determined by the ...

  5. Bromsulphalein (BSP) clearance in ageing rats

    NARCIS (Netherlands)

    Hollander, C.F.; Leeuw-Israel, F.R. de; Arp-Neefjes, J.M.

    1968-01-01

    Liver function in ageing rats was studied, using the bromsulphalein (BSP) clearance test. The test was done on ultramicro scale. This made it possible to repeat the test several times in the same animal and to start a longitudinal study. In 3-month-old rats the BSP retentions, measured 15, 30 and 45

  6. Airway Clearance Devices for Cystic Fibrosis

    Science.gov (United States)

    2009-01-01

    , confidence interval; HFCC, high frequency chest compression; MP, mechanical percussion; N/A: not applicable; PEP, positive expiratory pressure Economic Analysis Devices ranged in cost from around $60 for PEP and handheld AODs to upwards of $18,000 for a HFCC vest device. Although the majority of device costs are paid out-of-pocket by the patients themselves, their parents, or covered by third-party medical insurance, Ontario did provide funding assistance through the Assistive Devices Program (ADP) for postural drainage boards and MP devices. These technologies, however, are either obsolete or their clinical efficacy is not supported by evidence. ADP provided roughly $16,000 in funding for the 2008/09 fiscal year. Using device costs and prevalent and incident cases of CF in Ontario, budget impact projections were generated for Ontario. Prevalence of CF in Ontario for patients from ages 6 to 71 was cited as 1,047 cases in 2002 while incidence was estimated at 46 new cases of CF diagnosed per year in 2002. Budget impact projections indicated that PEP and handheld AODs were highly economically feasible costing around $90,000 for the entire prevalent population and less than $3,000 per year to cover new incident cases. HFCC vest devices were by far the most expensive, costing in excess of $19 million to cover the prevalent population alone. Conclusions There is currently a lack of sufficiently powered, long-term, parallel randomized controlled trials investigating the use of ACDs in comparison to other airway clearance techniques. While much of the current evidence suggests no significant difference between various ACDs and alternative therapies/technologies, at least according to outcomes of pulmonary function, there is a strong possibility that past trials were not sufficiently powered to identify a difference. Unfortunately, it is unlikely that there will be any future trials comparing ACDs to CCPT as withholding therapy using an ACD may be seen as unethical at present

  7. Scan Manifestation and Trace-Dose Radiogold Clearance Rates in Obstructive Jaundice

    International Nuclear Information System (INIS)

    Kim, Dong Jip; Bahk, Yong Whee; Shinn, Kyung Sub

    1969-01-01

    The present study has been undertaken to analyze scan manifestation in obstructive jaundice. Scan changes were correlated with the duration of jaundice. In addition, clearance rates of trace dose of colloidal radiogold were assessed in each case. The materials were consisted of 19 cases with surgically and/or histopathologically verified obstructive jaundice from various causes including common duct stone, empyema of the gall bladder and carcinoma of the pancreas head etc. Blood clearance rates of colloidal 198 Au were determined after the injection of 8 uCi by simple geometrical drawing of recorded strip charts. Scan was performed following additional injection of the sam radiogold. In 16 out of 19 cases, the scan rather typical 'arborifrom' mottlings around the porta hepatis. The intensity and appearance of such mottlings on the scan was related with the duration of jaundice and level of serum bilirubin and alkaline phosphatase. The blood clearance rates remained to be within normal range in 74 percent of the patients. In the remaining 26 percent, clearance rate ranged between 4.1 and 6 minutes. It is concluded that the association of 'arboriform' mottlings and normal or mildly delayed clearance rates in the patients with jaundice is characteristic of obstructive change in the biliary system.

  8. Scan Manifestation and Trace-Dose Radiogold Clearance Rates in Obstructive Jaundice

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dong Jip; Bahk, Yong Whee; Shinn, Kyung Sub [Catholic University College of Medicine, Seoul (Korea, Republic of)

    1969-09-15

    The present study has been undertaken to analyze scan manifestation in obstructive jaundice. Scan changes were correlated with the duration of jaundice. In addition, clearance rates of trace dose of colloidal radiogold were assessed in each case. The materials were consisted of 19 cases with surgically and/or histopathologically verified obstructive jaundice from various causes including common duct stone, empyema of the gall bladder and carcinoma of the pancreas head etc. Blood clearance rates of colloidal {sup 198}Au were determined after the injection of 8 uCi by simple geometrical drawing of recorded strip charts. Scan was performed following additional injection of the sam radiogold. In 16 out of 19 cases, the scan rather typical 'arborifrom' mottlings around the porta hepatis. The intensity and appearance of such mottlings on the scan was related with the duration of jaundice and level of serum bilirubin and alkaline phosphatase. The blood clearance rates remained to be within normal range in 74 percent of the patients. In the remaining 26 percent, clearance rate ranged between 4.1 and 6 minutes. It is concluded that the association of 'arboriform' mottlings and normal or mildly delayed clearance rates in the patients with jaundice is characteristic of obstructive change in the biliary system.

  9. 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.)

  10. Hepatic drug clearance following traumatic injury.

    Science.gov (United States)

    Slaughter, R L; Hassett, J M

    1985-11-01

    Trauma is a complex disease state associated with physiologic changes that have the potential to alter hepatic drug clearance mechanisms. These responses include alterations in hepatic blood flow, reduction in hepatic microsomal activity, reduction in hepatic excretion processes, and changes in protein binding. Hepatic blood flow is influenced by sympathomimetic activity. Both animal and human studies demonstrate an initial reduction and subsequent increase in hepatic blood flow, which coincides with an observed increase and subsequent return to normal in serum catecholamine concentrations. Unfortunately, there are no human studies that address the importance these findings may have to the clearance processes of high intrinsic clearance compounds. Animal studies of trauma indicate that hepatic microsomal activity is depressed during the post-traumatic period. Reduction in the hepatic clearance of antipyrine, a model low intrinsic compound, has also been demonstrated in animal models of trauma. In addition to these effects, hepatic excretion of substances such as indocyanine green and bilirubin have been demonstrated to be impaired in both traumatized animals and humans. Finally, substantial increases in the serum concentration of the binding protein alpha 1-acid glycoprotein occur in trauma patients. This has been reported to be associated with subsequent decreases in the free fraction of lidocaine and quinidine. In addition to changing serum drug concentration/response relationships, the pharmacokinetic behavior of drugs bound to alpha 1-acid glycoprotein should also change. Preliminary observations in our laboratory in a dog model of surgically-induced trauma have shown a reduction in the total clearance of lidocaine and reduction in free lidocaine concentration.(ABSTRACT TRUNCATED AT 250 WORDS)

  11. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  12. DOD PERSONNEL CLEARANCES: Additional OMB Actions Are Needed to Improve the Security Clearance Process

    National Research Council Canada - National Science Library

    2006-01-01

    Our independent analysis of timeliness data showed that industry personnel contracted to work for the federal government waited more than one year on average to receive top secret clearances, longer...

  13. The tribological behaviour of different clearance MOM hip joints with lubricants of physiological viscosities.

    Science.gov (United States)

    Hu, X Q; Wood, R J K; Taylor, A; Tuke, M A

    2011-11-01

    Clearance is one of the most influential parameters on the tribological performance of metal-on-metal (MOM) hip joints and its selection is a subject of considerable debate. The objective of this paper is to study the lubrication behaviour of different clearances for MOM hip joints within the range of human physiological and pathological fluid viscosities. The frictional torques developed by MOM hip joints with a 50 mm diameter were measured for both virgin surfaces and during a wear simulator test. Joints were manufactured with three different diametral clearances: 20, 100, and 200 microm. The fluid used for the friction measurements which contained different ratios of 25 percent newborn calf serum and carboxymethyl cellulose (CMC) with the obtained viscosities values ranging from 0.001 to 0.71 Pa s. The obtained results indicate that the frictional torque for the 20 microm clearance joint remains high over the whole range of the viscosity values. The frictional torque of the 100 microm clearance joint was low for the very low viscosity (0.001 Pa s) lubricant, but increased with increasing viscosity value. The frictional torque of the 200 microm clearance joint was high at very low viscosity levels, however, it reduced with increasing viscosity. It is concluded that a smaller clearance level can enhance the formation of an elastohydrodynamic lubrication (EHL) film, but this is at the cost of preventing fluid recovery between the bearing surfaces during the unloaded phase of walking. Larger clearance bearings allow a better recovery of lubricant during the unloaded phase, which is necessary for higher viscosity lubricants. The selection of the clearance value should therefore consider both the formation of the EHL film and the fluid recovery as a function of the physiological viscosity in order to get an optimal tribological performance for MOM hip joints. The application of either 25 per cent bovine serum or water in existing in vitro tribological study should

  14. A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect

    KAUST Repository

    Shaqura, Mohammad

    2017-08-29

    A robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed to be rotational which requires a firm grip to account for external torque on the grasped tool. The setup is assumed to be a conventional workshop panel with hand tools being hanged close to each other, which constraints lateral clearance around the target, and near the wall of the panel, which constraints the depth clearance. Off the shelf grippers are mostly heavy and bulky which make them unsuitable for these requirements. Moreover, they are not optimized in terms of power consumption, simplicity and compactness. These generic grippers are mostly designed for pick and place tasks where no external torques other than those caused by the object weight affects the gripper. The design challenge involves building a gripper that is capable of operating in limited clearance space, firmly grip a variety of standard hand tools with different sizes and shapes. The proposed design is optimized for these objectives and offers a low cost and power consumption solution. The design has been validated in lab and outdoor experiments and has been deployed in real operating platform used in an international robotics competition.

  15. Reduction in slow intercompartmental clearance of urea during dialysis

    International Nuclear Information System (INIS)

    Bowsher, D.J.; Krejcie, T.C.; Avram, M.J.; Chow, M.J.; Del Greco, F.; Atkinson, A.J. Jr.

    1985-01-01

    The kinetics of urea and inulin were analyzed in five anesthetized dogs during sequential 2-hour periods before, during, and after hemodialysis. The distribution of both compounds after simultaneous intravenous injection was characterized by three-compartment models, and the total volumes of urea (0.66 +/- 0.05 L/kg) and inulin (0.19 +/- 0.01 L/kg) distribution were similar to expected values for total body water and extravascular space, respectively. Intercompartmental clearances calculated before dialysis were used to estimate blood flows to the fast and slow equilibrating compartments. In agreement with previous results, the sum of these flows was similar to cardiac output, averaging 101% of cardiac output measured before dialysis (range 72% to 135%). Dialysis was accompanied by reductions in the slow intercompartmental clearances of urea (81%) and inulin (47%), which reflected a 90% attenuation in blood flow supplying the slow equilibrating compartments. This was estimated to result in a 10% average reduction in the efficiency with which urea was removed by dialysis (range 2.0% to 16.4%). Mean arterial pressure fell by less than 5% during dialysis, but total peripheral resistance increased by 47% and cardiac output fell by 35%. In the postdialysis period, total peripheral resistance and cardiac output returned toward predialysis values, but blood flow to the slow equilibrating peripheral compartment was still reduced by 80%. These changes parallel activation of the renin-angiotensin system, but further studies are required to establish causality

  16. Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

    Science.gov (United States)

    Hongbo Wang; Kosuge, K

    2012-01-01

    Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

  17. 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

  18. 19 CFR 122.26 - Entry and clearance.

    Science.gov (United States)

    2010-04-01

    ... AIR COMMERCE REGULATIONS Private Aircraft § 122.26 Entry and clearance. Private aircraft, as defined... information as set forth in § 122.22(c), and grants electronic clearance via electronic mail or telephone...

  19. 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.

  20. 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.

  1. 1st Latin American Congress on Automation and Robotics

    CERN Document Server

    Baca, José; Moreno, Héctor; Carrera, Isela; Cardona, Manuel

    2017-01-01

    This book contains the proceedings of the 1st Latin American Congress on Automation and Robotics held at Panama City, Panama in February 2017. It gathers research work from researchers, scientists, and engineers from academia and private industry, and presents current and exciting research applications and future challenges in Latin American. The scope of this book covers a wide range of themes associated with advances in automation and robotics research encountered in engineering and scientific research and practice. These topics are related to control algorithms, systems automation, perception, mobile robotics, computer vision, educational robotics, robotics modeling and simulation, and robotics and mechanism design. LACAR 2017 has been sponsored by SENACYT (Secretaria Nacional de Ciencia, Tecnologia e Inovacion of Panama).

  2. Mechanical Design of Odin, an Extendable Heterogeneous Deformable Modular Robot

    DEFF Research Database (Denmark)

    Lyder, Andreas; Garcia, Ricardo Franco Mendoza; Støy, Kasper

    2008-01-01

    Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable se...... of heterogeneous modules. We present the design and implementation of a cubic closed-packed (CCP) joint module, a telescoping link, and a flexible connection mechanism. The developed robot is highly versatile and opens up for a wide range of new research in modular robotics.......Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable set...

  3. Monte Carlo Registration and Its Application with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Christian Rink

    2016-01-01

    Full Text Available This work focuses on Monte Carlo registration methods and their application with autonomous robots. A streaming and an offline variant are developed, both based on a particle filter. The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation. Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence. Curvature features are calculated online and the estimated poses are optimized in the particle weighting step. For sampling the pose particles, uniform, normal, and Bingham distributions are compared. The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots. The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.

  4. Intelligent Vision System for Door Sensing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2012-08-01

    Full Text Available Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors.  Field Programmable Gate Arrays (FPGA have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-11-01

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

  6. Industrial-Like Vehicle Platforms for Postgraduate Laboratory Courses on Robotics

    Science.gov (United States)

    Navarro, P. J.; Fernandez, C.; Sanchez, P.

    2013-01-01

    The interdisciplinary nature of robotics allows mobile robots to be used successfully in a broad range of courses at the postgraduate level and in Ph.D. research. Practical industrial-like mobile robotic demonstrations encourage students and increase their motivation by providing them with learning benefits not achieved with traditional…

  7. Diminished creatinine clearance in anorexia nervosa: reversal with weight gain.

    OpenAIRE

    Boag, F; Weerakoon, J; Ginsburg, J; Havard, C W; Dandona, P

    1985-01-01

    To assess whether patients with anorexia nervosa have abnormalities in creatinine clearance, we measured plasma creatinine concentration, urinary creatinine excretion, and creatinine clearance in 10 patients with anorexia nervosa before and during treatment. Urinary creatinine excretion and creatinine clearance were diminished in all patients. Nine patients had significant decreases in their plasma creatinine and creatinine clearance was increased even when corrected for body weight and body ...

  8. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

    R. Narasimhan (Krishtel eMaging) 1461 1996 Oct 15 13:05:22

    a need for a technique by which the robot is able to acquire new behaviours automatically .... Evolutionary robotics is a comparatively new field of robotics research, which seems to ..... Technical Report: PCIA-94-04, Institute of Psychology,.

  9. In good company? Perception of movement synchrony of a non-anthropomorphic robot.

    Science.gov (United States)

    Lehmann, Hagen; Saez-Pons, Joan; Syrdal, Dag Sverre; Dautenhahn, Kerstin

    2015-01-01

    Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot's likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a) the powerful role that robot movements in general can have on participants' perception of the robot, and b) that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.

  10. In good company? Perception of movement synchrony of a non-anthropomorphic robot.

    Directory of Open Access Journals (Sweden)

    Hagen Lehmann

    Full Text Available Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot's likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a the powerful role that robot movements in general can have on participants' perception of the robot, and b that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.

  11. Current use and possibilities of robots in care

    NARCIS (Netherlands)

    Bouwhuis, D. G.

    2016-01-01

    Background Robots are seen as one of the possibilities to provide care to older people, especially when care by humans becomes scarce and too expensive. In the past sixty years, however, robots have diversified into many different types with a very broad range of functionalities. Despite this large

  12. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

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

  13. 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

  14. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

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

  15. 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.

  16. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

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

  17. Forming Human-Robot Teams Across Time and Space

    Science.gov (United States)

    Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

    2012-01-01

    NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot

  18. 48 CFR 801.602-76 - Business clearance review.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Business clearance review... GENERAL DEPARTMENT OF VETERANS AFFAIRS ACQUISITION REGULATION SYSTEM Career Development, Contracting Authority, and Responsibilities 801.602-76 Business clearance review. (a) A business clearance review is a...

  19. 7 CFR 1927.55 - Title clearance services.

    Science.gov (United States)

    2010-01-01

    ... REGULATIONS TITLE CLEARANCE AND LOAN CLOSING Real Estate Title Clearance and Loan Closing § 1927.55 Title clearance services. (a) Responsibilities of closing agents. Services to be provided to the agency and the borrower by a closing agent in connection with the transaction vary depending on whether a title insurance...

  20. 48 CFR 2452.237-75 - Clearance of contractor personnel.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 6 2010-10-01 2010-10-01 true Clearance of contractor... Clauses 2452.237-75 Clearance of contractor personnel. As prescribed in 2437.110(e), insert the following clause in solicitations and contracts. Clearance of Contractor Personnel (OCT 1999) (a) General. This...

  1. 14 CFR 1260.63 - Customs clearance and visas.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 5 2010-01-01 2010-01-01 false Customs clearance and visas. 1260.63 Section 1260.63 Aeronautics and Space NATIONAL AERONAUTICS AND SPACE ADMINISTRATION GRANTS AND COOPERATIVE AGREEMENTS General Special Conditions § 1260.63 Customs clearance and visas. Customs Clearance and Visas (For...

  2. 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...

  3. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

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

  4. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

    Presents new, cutting-edge algorithms for robot/camera calibration, sensor fusion and sensor calibration Explores the main challenges for accurate coil positioning, such as head motion, and outlines how active robotic motion compensation can outperform hand-held solutions Analyzes how a robotized system in medicine can alleviate concerns with a patient's safety, and presents a novel fault-tolerant algorithm (FTA) sensor for system safety

  5. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

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

  6. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  7. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

    In summary, robotics has made a significant contribution to General Surgery in the past 20 years. In its infancy, surgical robotics has seen a shift from early systems that assisted the surgeon to current teleoperator systems that can enhance surgical skills. Telepresence and augmented reality surgery are being realized, while research and development into miniaturization and automation is rapidly moving forward. The future of surgical robotics is bright. Researchers are working to address th...

  8. Cost assessment of robotics in gynecologic surgery: a systematic review.

    Science.gov (United States)

    Iavazzo, Christos; Papadopoulou, Eleni K; Gkegkes, Ioannis D

    2014-11-01

    The application of robotics is an innovation in the field of gynecologic surgery. Our objective was to evaluate the currently available literature on the cost assessment of robotic surgery of various operations in the field of gynecologic surgery. PubMed and Scopus databases were systematically searched in order to retrieve the included studies in our review. We retrieved 23 studies on a variety of gynecologic operations. The mean cost for robotic, open and laparoscopic surgery ranged from 1731 to 48,769, 894 to 20,277 and 411 to 41,836 Euros, respectively. Operative charges, in hysterectomy, for robotic, open and laparoscopic technique ranged from 936 to 33,920, 684 to 25,616 and 858 to 25,578 Euros, respectively. In sacrocolpopexy, these costs ranged from 2067 to 7275, 2904 to 69,792 and 1482 to 2000 Euros, respectively. Non-operative charges ranged from 467 to 39,121 Euros. The mean total costs for myomectomy ranged from 27,342 to 42,497 and 13,709 to 20,277 Euros, respectively, for the robotic and open methods, while the mean total cost of the laparoscopic technique was 26,181 Euros. Conversions to laparotomy were present in 79/36,185 (0.2%) cases of laparoscopic surgery and in 21/3345 (0.62%) cases of robotic technique. Duration of robotic, open and laparoscopic surgery ranged from 50 to 445, 83.7 to 701 and 74 to 330 min, respectively. Robotic surgery has the potential to become cost-effective in centers with many patients while industry competition could reduce the cost of the robotic instrumentation, making robotic technology more affordable and cost-effective. © 2014 The Authors. Journal of Obstetrics and Gynaecology Research © 2014 Japan Society of Obstetrics and Gynecology.

  9. Research status of multi - robot systems task allocation and uncertainty treatment

    Science.gov (United States)

    Li, Dahui; Fan, Qi; Dai, Xuefeng

    2017-08-01

    The multi-robot coordination algorithm has become a hot research topic in the field of robotics in recent years. It has a wide range of applications and good application prospects. This paper analyzes and summarizes the current research status of multi-robot coordination algorithms at home and abroad. From task allocation and dealing with uncertainty, this paper discusses the multi-robot coordination algorithm and presents the advantages and disadvantages of each method commonly used.

  10. Rapid world modelling for robotics

    International Nuclear Information System (INIS)

    Littile, C.Q.; Wilson, C.W.

    1996-01-01

    The ability to use an interactive world model, whether it is for robotics simulation or most other virtual graphical environments, relies on the users ability to create an accurate world model. Typically this is a tedious process, requiring many hours to create 3-D CAD models of the surfaces within a workspace. The goal of this ongoing project is to develop usable methods to rapidly build world models of real world workspaces. This brings structure to an unstructured environment and allows graphical based robotics control to be accomplished in a reasonable time frame when traditional CAD modelling is not enough. To accomplish this, 3D range sensors are deployed to capture surface data within the workspace. This data is then transformed into surface maps, or models. A 3D world model of the workspace is built quickly and accurately, without ever having to put people in the environment

  11. 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...

  12. Perspectives of construction robots

    Science.gov (United States)

    Stepanov, M. A.; Gridchin, A. M.

    2018-03-01

    This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

  13. 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...

  14. 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

  15. 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.

  16. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

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

  17. 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

  18. 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...

  19. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  20. Increasing Robotic Science Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — The principal objectives are to demonstrate robotic-based scientific investigations and resource prospecting, and develop and demonstrate modular science instrument...

  1. 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....

  2. Robotics and artificial intelligence for hazardous environments

    International Nuclear Information System (INIS)

    Spelt, P.F.

    1993-01-01

    In our technological society, hazardous materials including toxic chemicals, flammable, explosive, and radioactive substances, and biological agents, are used and handled routinely. Each year, many workers who handle these substances are accidently contaminated, in some cases resulting in injury, death, or chronic disabilities. If these hazardous materials could be handled remotely, either with a teleoperated robot (operated by a worker in a safe location) or by an autonomous robot, then human suffering and economic costs of accidental exposures could be dramatically reduced. At present, it is still difficult for commercial robotic technology to completely replace humans involved in performing complex work tasks in hazardous environments. The robotics efforts at the Center for Engineering Systems Advanced Research represent a significant effort at contributing to the advancement of robotics for use in hazardous environments. While this effort is very broad-based, ranging from dextrous manipulation to mobility and integrated sensing, the technical portion of this paper will focus on machine learning and the high-level decision making needed for autonomous robotics

  3. Parallel Robot for Lower Limb Rehabilitation Exercises

    Directory of Open Access Journals (Sweden)

    Alireza Rastegarpanah

    2016-01-01

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

  4. Robotic assistants for universal access

    OpenAIRE

    Keates, Simeon; Kyberd, Peter J.

    2017-01-01

    Much research is now focusing on how technology is moving away from the traditional computer to a range of smart devices in smart environments, the so-called Internet of Things. With this increase in computing power and decrease in form factor, we are approaching the possibility of a new generation of robotic assistants able to perform a range of tasks and activities to support all kinds of users. However, history shows that unless care is taken early in the design process, the users who may ...

  5. Piezoresistive pressure sensor array for robotic skin

    Science.gov (United States)

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

    2016-05-01

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

  6. 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.

  7. A model of metabolism and clearance of organic compounds from the respiratory tract

    International Nuclear Information System (INIS)

    Gerde, P.; Dahl, A.R.

    1994-01-01

    In cases where inhalants induce toxicity in the airway epithelium, the mechanism of absorption is an important determinant of target dose. Absorption of organic solutes in the lungs occurs mainly by two consecutive mechanisms; molecular diffusion drives the chemicals into the tissues, and blood perfusion of the tissues removes the chemicals into the systemic circulation. Solutes having lipophilicities ranging from equally soluble in lipids and water to moderately more lipid-soluble are limited by the perfusion during clearance from the lungs. The perfusion-limited solute enters the blood circulation from all regions of the lungs within minutes and is distributed to other organs via the systemic circulation. In contrast, clearance of highly lipophilic toxicants, such as benzo(a)pyrene, from the lungs is diffusion-limited. The limiting process refers to the slowest transport mechanism of either perfusion or diffusion. Because of the short distance from the surface of the alveolar region to the capillary network, diffusion-limited clearance of highly lipophilic solutes occurs within minutes. In the thicker epithelium of the conducting airways, however, clearance may take hours. The purpose of the current modeling effort was to encompass both mechanisms of clearance in a single model in order to explore the influence of toxicant lipophilicity and local metabolism on the dosimetry at the airway portal-of-entry

  8. Pipeline dynamics subject to restraints with clearance

    International Nuclear Information System (INIS)

    Loula, A.F.D.; Guerreiro, J.N.C.

    1980-12-01

    The principle of virtual works at its incremental form, is utilized for the formulation of flat pipeline vibration problems, of elastic-plastic behavior, submitted to restraints with clearance (also with elastic-plastic behavior) and with viscous damping. The possibility of uniform movement of the support, that simulates the seismic action is also considered. The finite element method and an integration time algorithm, are utilized for the problem resolution. Some examples ilustrate the application of the development program. (Author) [pt

  9. Comparison between total and renal plasma clearance of [51Cr]EDTA

    International Nuclear Information System (INIS)

    Broechner-Mortensen, J.; Roedbro, P.

    1976-01-01

    The total plasma (E 1 ) and renal plasma (E 2 ) clearances of [ 51 Cr]EDTA were measured simultaneously in 40 patients with a wide range of renal function. The regression equation was E 1 = 0.997E 2 + 4.1; the slope of the regression line was not significantly different from 1.00, and the intercept differed significantly from zero. The results suggest that [ 51 Cr]EDTA has a significant extrarenal clearance of approximately 4 ml/min, independent of renal function. The data are used to correct the total [ 51 Cr]EDTA plasma clearance, measured by a simplified method, to yield a rapid, accurate and precise measurement of glomerular filtration rate for routine clinical use. (Auth.)

  10. Clearance level and industrial waste management

    International Nuclear Information System (INIS)

    Asano, Toichi

    1999-01-01

    Defining the clearance level enables the radioactive waste with lower radioactivity than a certain level to be the general industrial waste and therefore consideration for public acceptance is essential. For this, it is necessary to understand laws concerning not only atomic power and radioactivity but also disposal and cleaning of general waste. It is also necessary that the waste below the clearance level should be as much as possible handled in the modern common concept of recycling of resources. In 1996, the weight of industrial waste was about 400 million tons, of which 40% was disposed by burning and dehydration, 39% was re-used and 21% was subjected to the final disposal like reclamation. Reduction, re-use and recycling of the generated waste are required for making the society with recycling of resources. Scrap concrete materials below the clearance level of 0.6 million tons are estimated to be generated by dismantling the light water reactor of 1 million kW output and profitable technology for recycling the scrap is under investigation. (K.H.)

  11. Two-phase deep-lung clearance in man

    International Nuclear Information System (INIS)

    Bohning, D.E.; Cohn, S.H.; Lee, H.D.; Atkins, H.L.

    1980-01-01

    For toxicological as well as physiological considerations, it is important to determine whether the long-term clearance of particles from the lungs of man takes place in more than one temporal subphase. Although long-term retention can be characterized with a single exponential, the existence of two distinct components would significantly alter estimates of overall residence times and hence potential effects of inhaled particulates. Physiological interpretations of the mechanisms of long-term particle clearance depend on the identification and quantification of such temporal subphases. A highly sensitive whole-body counter was used to measure the long-term retention of inhaled particles in man. After inhalation of 85 Sr, lung retention was monitored in eight volunteers for periods ranging from 197 to 399 days. Their pulmonary-function values fell within normal limits, and they reported no symptoms of lung disease. Four of the individuals had never smoked, and four had not smoked for a minimum of 5 years. Single exponential representation half-times for the long-term retention were comparable between the two groups and were combined to give a mean half-time of 197 +- 32 days

  12. 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.

  13. Establishing exemption and clearance criteria by the regulatory authority

    International Nuclear Information System (INIS)

    Salih, A.E.A.

    2012-04-01

    This Project work discusses the relationship between the concepts of exemption and clearance, and their practical use in the overall scheme of regulatory control of practices. It also discusses how exemptions and clearance is established and the scope of its applications for regulatory control. The concept of general clearance levels for any type of material and any possible pathway of disposal is also introduced in this work. Guidance of the Group of Experts establishing scenarios for general clearance, parameter values, and a nuclide-specific list of calculated clearance levels is also presented. Regulatory authorities are required to develop guidance on exemption and clearance levels to assist licensees and registrants to know which practices and sources within practices are exempted from regulatory control and those to be cleared from further controls. Exemption and clearance levels are tools for assisting the Regulatory Authority to optimize the use of resources. (author)

  14. Mobile robot motion estimation using Hough transform

    Science.gov (United States)

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

    2018-05-01

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

  15. Mobile robot prototype detector of gamma radiation

    International Nuclear Information System (INIS)

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

    2014-10-01

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

  16. 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.)

  17. 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.

  18. Impacts of Fire Ecology Range Management (FERM) on the Fate and Transport of Energetic Materials on Testing and Training Ranges

    National Research Council Canada - National Science Library

    Foote, Eric

    2006-01-01

    .... One such practice may be prescribed or controlled burning, which is used on military training ranges for a variety of purposes including safety clearance prior to detection and demolition of unexploded ordnance (UXO...

  19. Longitudinal Associations among Renal Urea Clearance-Corrected Normalized Protein Catabolic Rate, Serum Albumin, and Mortality in Patients on Hemodialysis.

    Science.gov (United States)

    Eriguchi, Rieko; Obi, Yoshitsugu; Streja, Elani; Tortorici, Amanda R; Rhee, Connie M; Soohoo, Melissa; Kim, Taehee; Kovesdy, Csaba P; Kalantar-Zadeh, Kamyar

    2017-07-07

    There are inconsistent reports on the association of dietary protein intake with serum albumin and outcomes among patients on hemodialysis. Using a new normalized protein catabolic rate (nPCR) variable accounting for residual renal urea clearance, we hypothesized that higher baseline nPCR and rise in nPCR would be associated with higher serum albumin and better survival among incident hemodialysis patients. Among 36,757 incident hemodialysis patients in a large United States dialysis organization, we examined baseline and change in renal urea clearance-corrected nPCR as a protein intake surrogate and modeled their associations with serum albumin and mortality over 5 years (1/2007-12/2011). Median nPCRs with and without accounting for renal urea clearance at baseline were 0.94 and 0.78 g/kg per day, respectively (median within-patient difference, 0.14 [interquartile range, 0.07-0.23] g/kg per day). During a median follow-up period of 1.4 years, 8481 deaths were observed. Baseline renal urea clearance-corrected nPCR was associated with higher serum albumin and lower mortality in the fully adjusted model ( P trend urea clearance-corrected nPCR during the first 6 months was also associated with attaining high serum albumin (≥3.8 g/dl) and lower mortality ( P trend urea clearance, higher levels of renal urea clearance-corrected nPCR consistently showed lower mortality risk. Among incident hemodialysis patients, higher dietary protein intake represented by nPCR and its changes over time appear to be associated with increased serum albumin levels and greater survival. nPCR may be underestimated when not accounting for renal urea clearance. Compared with the conventional nPCR, renal urea clearance-corrected nPCR may be a better marker of mortality. Copyright © 2017 by the American Society of Nephrology.

  20. Calibration of robotic drilling systems with a moving rail

    Directory of Open Access Journals (Sweden)

    Tian Wei

    2014-12-01

    Full Text Available Industrial robots are widely used in aircraft assembly systems such as robotic drilling systems. It is necessary to expand a robot’s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a moving rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the stations. The calibration of the robot is based on error similarity and inverse distance weighted interpolation. The calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85% to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.

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

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing, activities in the Program for the next five years. These activities range from bench-scale R ampersand D to fullscale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and an initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. This 5-Year Program Plan discusses the overall approach to be adopted by the RTDP to aggressively develop robotics technology and contains discussions of the Program Management Plan, Site Visit and Needs Summary, Approach to Needs-Directed Technical Development, Application-Specific Technical Development, and Cross-Cutting and Advanced Technology. Integrating application-specific ER ampersand WM needs, the current state of robotics technology, and the potential benefits (in terms of faster, safer, and cheaper) of new technology, the Plan develops application-specific road maps for robotics RDDT ampersand E for the period FY 1991 through FY 1995. In addition, the Plan identifies areas where longer-term research in robotics will have a high payoff in the 5- to 20-year time frame. 12 figs

  2. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    Can we trust robots? Responding to the literature on trust and e-trust, this paper asks if the question of trust is applicable to robots, discusses different approaches to trust, and analyses some preconditions for trust. In the course of the paper a phenomenological-social approach to trust is

  3. 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.

  4. Neuronal nets in robotics

    International Nuclear Information System (INIS)

    Jimenez Sanchez, Raul

    1999-01-01

    The paper gives a generic idea of the solutions that the neuronal nets contribute to the robotics. The advantages and the inconveniences are exposed that have regarding the conventional techniques. It also describe the more excellent applications as the pursuit of trajectories, the positioning based on images, the force control or of the mobile robots management, among others

  5. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

    Madsen, Henrik; Zhou, Jianjun; Hansen, Lars Henrik

    1997-01-01

    This paper describes a case study of identifying the physical model (or the grey box model) of a hydraulic test robot. The obtained model is intended to provide a basis for model-based control of the robot. The physical model is formulated in continuous time and is derived by application...

  6. Robots that care

    NARCIS (Netherlands)

    Looije, R.; Arendsen, J.; Saldien, J.; Vanderborght, B.; Broekens, J.; Neerincx, M.

    2010-01-01

    Many countries face pressure on their health care systems. To alleviate this pressure, 'self care' and 'self monitoring' are often stimulated with the use of new assistive technologies. Social robotics is a research area where robotic technology is optimized for various social functions. One of

  7. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  8. 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.

  9. Multi-robot caravanning

    KAUST Repository

    Denny, Jory; Giese, Andrew; Mahadevan, Aditya; Marfaing, Arnaud; Glockenmeier, Rachel; Revia, Colton; Rodriguez, Samuel; Amato, Nancy M.

    2013-01-01

    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

  10. Going Green Robots

    Science.gov (United States)

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  11. Reflection on robotic intelligence

    NARCIS (Netherlands)

    Bartneck, C.

    2006-01-01

    This paper reflects on the development or robots, both their physical shape as well as their intelligence. The later strongly depends on the progress made in the artificial intelligence (AI) community which does not yet provide the models and tools necessary to create intelligent robots. It is time

  12. Robots Cannot Lie

    DEFF Research Database (Denmark)

    Borggreen, Gunhild

    2014-01-01

    En analyse af den japanske robot-menneske teaterstykke Hataraku Watashi med fokus på Austins og Butlers begreb om performativitet.......En analyse af den japanske robot-menneske teaterstykke Hataraku Watashi med fokus på Austins og Butlers begreb om performativitet....

  13. Intelligent robot action planning

    Energy Technology Data Exchange (ETDEWEB)

    Vamos, T; Siegler, A

    1982-01-01

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

  14. 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.

  15. ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT

    Directory of Open Access Journals (Sweden)

    Jakub Mrva

    2015-12-01

    Full Text Available Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms.

  16. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  17. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

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

  18. 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.

  19. Robotics: The next step?

    Science.gov (United States)

    Broeders, Ivo A M J

    2014-02-01

    Robotic systems were introduced 15 years ago to support complex endoscopic procedures. The technology is increasingly used in gastro-intestinal surgery. In this article, literature on experimental- and clinical research is reviewed and ergonomic issues are discussed. literature review was based on Medline search using a large variety of search terms, including e.g. robot(ic), randomized, rectal, oesophageal, ergonomics. Review articles on relevant topics are discussed with preference. There is abundant evidence of supremacy in performing complex endoscopic surgery tasks when using the robot in an experimental setting. There is little high-level evidence so far on translation of these merits to clinical practice. Robotic systems may appear helpful in complex gastro-intestinal surgery. Moreover, dedicated computer based technology integrated in telepresence systems opens the way to integration of planning, diagnostics and therapy. The first high tech add-ons such as near infrared technology are under clinical evaluation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  20. 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...

  1. The MVACS Robotic Arm Camera

    Science.gov (United States)

    Keller, H. U.; Hartwig, H.; Kramm, R.; Koschny, D.; Markiewicz, W. J.; Thomas, N.; Fernades, M.; Smith, P. H.; Reynolds, R.; Lemmon, M. T.; Weinberg, J.; Marcialis, R.; Tanner, R.; Boss, B. J.; Oquest, C.; Paige, D. A.

    2001-08-01

    The Robotic Arm Camera (RAC) is one of the key instruments newly developed for the Mars Volatiles and Climate Surveyor payload of the Mars Polar Lander. This lightweight instrument employs a front lens with variable focus range and takes images at distances from 11 mm (image scale 1:1) to infinity. Color images with a resolution of better than 50 μm can be obtained to characterize the Martian soil. Spectral information of nearby objects is retrieved through illumination with blue, green, and red lamp sets. The design and performance of the camera are described in relation to the science objectives and operation. The RAC uses the same CCD detector array as the Surface Stereo Imager and shares the readout electronics with this camera. The RAC is mounted at the wrist of the Robotic Arm and can characterize the contents of the scoop, the samples of soil fed to the Thermal Evolved Gas Analyzer, the Martian surface in the vicinity of the lander, and the interior of trenches dug out by the Robotic Arm. It can also be used to take panoramic images and to retrieve stereo information with an effective baseline surpassing that of the Surface Stereo Imager by about a factor of 3.

  2. Mobile Surveillance and Monitoring Robots

    International Nuclear Information System (INIS)

    Kimberly, Howard R.; Shipers, Larry R.

    1999-01-01

    Long-term nuclear material storage will require in-vault data verification, sensor testing, error and alarm response, inventory, and maintenance operations. System concept development efforts for a comprehensive nuclear material management system have identified the use of a small flexible mobile automation platform to perform these surveillance and maintenance operations. In order to have near-term wide-range application in the Complex, a mobile surveillance system must be small, flexible, and adaptable enough to allow retrofit into existing special nuclear material facilities. The objective of the Mobile Surveillance and Monitoring Robot project is to satisfy these needs by development of a human scale mobile robot to monitor the state of health, physical security and safety of items in storage and process; recognize and respond to alarms, threats, and off-normal operating conditions; and perform material handling and maintenance operations. The system will integrate a tool kit of onboard sensors and monitors, maintenance equipment and capability, and SNL developed non-lethal threat response technology with the intelligence to identify threats and develop and implement first response strategies for abnormal signals and alarm conditions. System versatility will be enhanced by incorporating a robot arm, vision and force sensing, robust obstacle avoidance, and appropriate monitoring and sensing equipment

  3. Recommendations for cask features for robotic handling from the Advanced Handling Technology Project

    International Nuclear Information System (INIS)

    Drotning, W.

    1991-02-01

    This report describes the current status and recent progress in the Advanced Handling Technology Project (AHTP) initiated to explore the use of advanced robotic systems and handling technologies to perform automated cask handling operations at radioactive waste handling facilities, and to provide guidance to cask designers on the impact of robotic handling on cask design. Current AHTP tasks have developed system mock-ups to investigate robotic manipulation of impact limiters and cask tiedowns. In addition, cask uprighting and transport, using computer control of a bridge crane and robot, were performed to demonstrate the high speed cask transport operation possible under computer control. All of the current AHTP tasks involving manipulation of impact limiters and tiedowns require robotic operations using a torque wrench. To perform these operations, a pneumatic torque wrench and control system were integrated into the tool suite and control architecture of the gantry robot. The use of captured fasteners is briefly discussed as an area where alternative cask design preferences have resulted from the influence of guidance for robotic handling vs traditional operations experience. Specific robotic handling experiences with these system mock-ups highlight a number of continually recurring design principles: (1) robotic handling feasibility is improved by mechanical designs which emphasize operation with limited dexterity in constrained workspaces; (2) clearances, tolerances, and chamfers must allow for operations under actual conditions with consideration for misalignment and imprecise fixturing; (3) successful robotic handling is enhanced by including design detail in representations for model-based control; (4) robotic handling and overall quality assurance are improved by designs which eliminate the use of loose, disassembled parts. 8 refs., 15 figs

  4. Comparison of Perioperative Outcomes of Total Laparoscopic and Robotically Assisted Hysterectomy for Benign Pathology during Introduction of a Robotic Program

    Directory of Open Access Journals (Sweden)

    Gokhan Sami Kilic

    2011-01-01

    Full Text Available Study Objective. Prospectively compare outcomes of robotically assisted and laparoscopic hysterectomy in the process of implementing a new robotic program. Design. Prospectively comparative observational nonrandomized study. Design Classification. II-1. Setting. Tertiary caregiver university hospital. Patients. Data collected consecutively 24 months, 34 patients underwent laparoscopic hysterectomy, 25 patients underwent robotic hysterectomy, and 11 patients underwent vaginal hysterectomy at our institution. Interventions. Outcomes of robotically assisted, laparoscopic, and vaginal complex hysterectomies performed by a single surgeon for noncancerous indications. Measurements and Main Results. Operative times were 208.3±59.01 minutes for laparoscopic, 286.2±82.87 minutes for robotic, and 163.5±61.89 minutes for vaginal (<.0001. Estimated blood loss for patients undergoing laparoscopic surgery was 242.7±211.37 cc, 137.4±107.50 cc for robotic surgery, and 243.2±127.52 cc for vaginal surgery (=0.05. The mean length of stay ranged from 1.8 to 2.3 days for the 3 methods. Association was significant for uterine weight (=0.0043 among surgery methods. Conclusion. Robotically assisted hysterectomy is feasible with low morbidity, a shorter hospital stay, and less blood loss. This suggests that robotic assistance facilitates a minimally invasive approach for patients with larger uterine size even during implementing a new robotic program.

  5. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  6. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    International Nuclear Information System (INIS)

    Geisinger, Joseph W. Ph.D.

    2001-01-01

    ARM Automation, Inc. is developing a FR-amework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator FR-om these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC(trademark)s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost

  7. 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 ...

  8. 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 ...

  9. Interaction with Soft Robotic Tentacles

    DEFF Research Database (Denmark)

    Jørgensen, Jonas

    2018-01-01

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

  10. Robots: An Impact on Education.

    Science.gov (United States)

    Blaesi, LaVon; Maness, Marion

    1984-01-01

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

  11. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

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

  12. Robotics in general surgery: A systematic cost assessment

    OpenAIRE

    Gkegkes, Ioannis D.; Mamais, Ioannis A.; Iavazzo, Christos

    2017-01-01

    The utilisation of robotic-assisted techniques is a novelty in the field of general surgery. Our intention was to examine the up to date available literature on the cost assessment of robotic surgery of diverse operations in general surgery. PubMed and Scopus databases were searched in a systematic way to retrieve the included studies in our review. Thirty-one studies were retrieved, referring on a vast range of surgical operations. The mean cost for robotic, open and laparoscopic ranged from...

  13. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-01-01

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

  14. Robotics for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-10-01

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

  15. Clearance and release from control - An international perspective

    International Nuclear Information System (INIS)

    Thierfeldt, S.

    2005-01-01

    This paper tries to give an overview of the clearance, or release from regulatory control, on an international scale, including some of those countries where clearance has become or is about to become vital for D and D. The emphasis lies on the impact of clearance, and in particular of differences between clearance levels of various countries, on D and D. Relevance of clearance for D and D of nuclear installations Clearance is an essential part of waste management (or more general, material management) in nuclear installations, and in particular during the decommissioning phase where waste streams continues to arise. Of course, the relevance of clearance in a particular country depends on a number of factors, like: availability of a final repository and its price; prevailing decommissioning strategy; number of nuclear installations reaching decommissioning phase. This small selection of reasons why clearance may be of varying importance for different countries may already suffice to illustrate why up to now clearance has been developed and implemented in quite different ways. If one thinks of additional reasons that may influence clearance, like politics, the public opinion, availability of funds etc., the situation becomes even more complex. It is, however safe to draw the conclusion that countries with a certain number of nuclear installations which have been or will soon be shut down or which are already in the decommissioning phase will need to implement provisions for clearance. This has indeed been the case with countries like the UK, Germany, the USA, Sweden, and a number of others. It is not essential for clearance levels to be exactly equal between various countries. They may differ as long as the difference is not too large, e.g. the values fall into the same order of magnitude. This is the reason why for example Germany has no problems with clearance levels which differ from the EU recommendation RP 122 partially adopted in a number of EU countries

  16. Estimation of technetium 99m mercaptoacetyltriglycine plasma clearance by use of one single plasma sample

    International Nuclear Information System (INIS)

    Mueller-Suur, R.; Magnusson, G.; Karolinska Inst., Stockholm; Bois-Svensson, I.; Jansson, B.

    1991-01-01

    Recent studies have shown that technetium 99m mercaptoacetyltriglycine (MAG-3) is a suitable replacement for iodine 131 or 123 hippurate in gamma-camera renography. Also, the determination of its clearance is of value, since it correlates well with that of hippurate and thus may be an indirect measure of renal plasma flow. In order to simplify the clearance method we developed formulas for the estimation of plasma clearance of MAG-3 based on a single plasma sample and compared them with the multiple sample method based on 7 plasma samples. The correlation to effective renal plasma flow (ERPF) (according to Tauxe's method, using iodine 123 hippurate), which ranged from 75 to 654 ml/min per 1.73 m 2 , was determined in these patients. Using the developed regression equations the error of estimate for the simplified clearance method was acceptably low (18-14 ml/min), when the single plasma sample was taken 44-64 min post-injection. Formulas for different sampling times at 44, 48, 52, 56, 60 and 64 min are given, and we recommend 60 min as optimal, with an error of estimate of 15.5 ml/min. The correlation between the MAG-3 clearances and ERPF was high (r=0.90). Since normal values for MAG-3 clearance are not yet available, transformation to estimated ERPF values by the regression equation (ERPF=1.86xC MAG-3 +4.6) could be of clinical value in order to compare it with the normal values for ERPF given in the literature. (orig.)

  17. Effects of Karenia brevis on clearance rates and bioaccumulation of brevetoxins in benthic suspension feeding invertebrates.

    Science.gov (United States)

    Echevarria, Michael; Naar, Jerome P; Tomas, Carmelo; Pawlik, Joseph R

    2012-01-15

    Blooms of the toxic alga Karenia brevis occur along coastlines where sessile suspension feeding invertebrates are common components of benthic communities. We studied the effects of K. brevis on four benthic suspension feeding invertebrates common to the coast of the SE United States: the sponge Haliclona tubifera, the bryozoan Bugula neritina, the bivalve Mercenaria mercenaria, and the tunicate Styela plicata. In controlled laboratory experiments, we determined the rate at which K. brevis was cleared from the seawater by these invertebrates, the effect of K. brevis on clearance rates of a non-toxic phytoplankton species, Rhodomonas sp., and the extent to which brevetoxins bioaccumulated in tissues of invertebrates using an enzyme-linked immunosorbent assay (ELISA). All four invertebrate species cleared significant quantities of K. brevis from seawater, with mean clearance rates ranging from 2.27 to 6.71 L g h⁻¹ for H. tubifera and S. plicata, respectively. In the presence of K. brevis, clearance rates of Rhodomonas sp. by B. neritina and S. plicata were depressed by 75% and 69%, respectively, while clearance rates by H. tubifera and M. mercenaria were unaffected. Negative effects of K. brevis were impermanent; after a recovery period of 13 h, B. neritina and S. plicata regained normal clearance rates. All four invertebrates accumulated high concentrations of brevetoxin after a 4h exposure to K. brevis, but when animals were transferred to filtered seawater for 15 h after exposure, brevetoxin concentrations in the tissues of H. tubifera and B. neritina decreased by ∼80%, while there was no change in toxin concentration in the tissues of S. plicata and M. mercenaria. High cell concentrations of K. brevis may cause a suppression of clearance rates in benthic suspension feeding invertebrates, resulting in a positive feedback for bloom formation. Also, high concentrations of toxin may accumulate in the tissues of benthic suspension feeding invertebrates that may

  18. 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.

  19. Investigations of renal clearance in nuclear medicine

    International Nuclear Information System (INIS)

    Oberhausen, E.

    1981-01-01

    Comparative investigations of PAH- and inulin-clearance and results of investigations with J-131-hippurate and Cr-51-EDTA, which were performed by a partly screened whole body counter including measurements of activity retention of blood samples, are showing good correlation. If the radio-isotope nephrography is worked out together with the decreased retention curve, separate results of the function of both kidneys can be given. Modifications which were tried to analyze a small part of the retention curve instead of the whole body are inaccurate, if they are below 300 ml/min. (orig.) [de

  20. Glial K(+) Clearance and Cell Swelling

    DEFF Research Database (Denmark)

    Macaulay, Nanna; Zeuthen, Thomas

    2012-01-01

    An important feature of neuronal signalling is the increased concentration of K(+) in the extracellular space. The K(+) concentration is restored to its original basal level primarily by uptake into nearby glial cells. The molecular mechanisms by which K(+) is transferred from the extracellular...... space into the glial cell are debated. Although spatial buffer currents may occur, their quantitative contribution to K(+) clearance is uncertain. The concept of spatial buffering of K(+) precludes intracellular K(+) accumulation and is therefore (i) difficult to reconcile with the K(+) accumulation...

  1. Robotics and remote systems for hazardous environments

    International Nuclear Information System (INIS)

    Jamshidi, M.; Eicker, P.

    1993-01-01

    This is the first volume in a series of books to be published by Prentice Hall on Environmental and Intelligent Manufacturing Systems. The editors have assembled an interdisciplinary collection of authors from industry, government, and academia, that provide a broad range of expertise on robotics and remote systems. Readily accessible to practicing engineers, the book provides case studies and introduces new technology applicable to remote operations in unstructured and/or hazardous environments. Chapter 1 gives an overview of the US Environmental Protection Agency's efforts to apply robotic technology to assist in the operations at hazardous waste sites. The next chapter focuses on the theory and implementation of robust impedance control for robotic manipulators. Chapter 3 presents a discussion on the integration of failure tolerance into robotic systems. The next two chapters address the issue of sensory feedback and its indispensable role in remote and/or hazardous environments. Chapter 6 presents numerous examples of robots and telemanipulators that have been applied for various tasks at the DOE's Savannah River Site. The following chapter picks up on this theme and discusses the fundamental paradigm shifts that are required in artificial intelligence for robots to deal with hazardous, unstructured, and dynamic environments. Chapter 8 returns to the issue of impedance control first raised in Chapter 2. While the majority of the applications discussed in this book are related to the nuclear industry, chapter 9 considers applying telerobotics for the control of traditional heavy machinery that is widely used in forestry, mining, and construction. The final chapter of the book returns to the topic of artificial intelligence's role in producing increased autonomy for robotic systems and provides an interesting counterpoint to the philosophy of reactive control discussed earlier

  2. Architecture for robot intelligence

    Science.gov (United States)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

    An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

  3. Robot NAO cantante

    OpenAIRE

    Caballero Pamos, Adrián

    2016-01-01

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

  4. Robots and plant safety

    International Nuclear Information System (INIS)

    Christensen, P.

    1996-02-01

    The application of robots in the harsh environments in which TELEMAN equipment will have to operate has large benefits, but also some drawbacks. The main benefit is the ability gained to perform tasks where people cannot go, while there is a possibility of inflicting damage to the equipment handled by the robot, and the plant when mobile robots are involved. The paper describes the types of possible damage and the precautions to be taken in order to reduce the frequency of the damaging events. A literature study for the topic only gave some insight into examples, but no means for a systematic treatment of the topic. (au) 16 refs

  5. Giochiamo con i robot

    Directory of Open Access Journals (Sweden)

    Andrea Bonarini

    2009-01-01

    Full Text Available "Giochiamo con i robot" e' un laboratorio interattivo per grandi e piccini realizzato per l'edizione 2007 del Festival della Scienza di Genova. Lungo un percorso che va dalla telerobotica alla robotica evolutiva, il laboratorio sviluppa il tema di dare intelligenza ai robot. Questo percorso, le cui tappe sono le varie installazioni, si conclude nella "bottega" dove e' possibile costruire e programmare i propri robot o smontare e modificare quelli esposti durante il percorso didattico. I visitatori sono coinvolti in attivita' ludiche grazie alle quali possonoentrare in contatto con alcune delle idee potenti della robotica,

  6. Robots in mining

    CSIR Research Space (South Africa)

    Green, J

    2010-09-01

    Full Text Available ? • FOG – Fall of ground • Who is at risk? • What is the cost of incident? • What can we do about it? The Robot Potential • Technology • Conclusion © CSIR 2010 Slide 3 Yes Robots can improve mine safety Robot patrols unoccupied areas Generates a... risk map Additional tool Inform miners in making safe © CSIR 2010 Slide 4 Miner Safety Statistics • from DME (2010/03) • March 2010 • 490 000 employed • 400 000 suppliers1 • 9 died, 7 in rockfall incidents 2 • Prior year- March 2010 • 152...

  7. Odico Formwork Robotics

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn

    2014-01-01

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

  8. Next Generation Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    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 nano-robotics 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...

  9. Optical Robotics in Mesoscopia

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    2012-01-01

    With light’s miniscule momentum, shrinking robotics down to the micro-scale regime creates opportunities for exploiting optical forces and torques in advanced actuation and control at the nano- and micro-scale dimensions. Advancing light-driven nano- or micro-robotics requires the optimization...... of optimized shapes in the micro-robotics structures [1]. We designed different three-dimensional microstructures and had them fabricated by two-photon polymerization at BRC Hungary. These microstructures were then handled by our proprietary BioPhotonics Workstation to show proof-of-principle 3 demonstrations...

  10. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  11. 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.

  12. Numerical investigation of hub clearance flow in a Kaplan turbine

    Science.gov (United States)

    Wu, H.; Feng, J. J.; Wu, G. K.; Luo, X. Q.

    2012-11-01

    In this paper, the flow field considering the hub clearance flow in a Kaplan turbine has been investigated through using the commercial CFD code ANSYS CFX based on high-quality structured grids generated by ANSYS ICEM CFD. The turbulence is simulated by k-ω based shear stress transport (SST) turbulence model together with automatic near wall treatments. Four kinds of simulations have been conducted for the runner geometry without hub clearance, with only the hub front clearance, with only the rear hub clearance, and with both front and rear clearance. The analysis of the obtained results is focused on the flow structure of the hub clearance flow, the effect on the turbine performance including hydraulic efficiency and cavitation performance, which can improve the understanding on the flow field in a Kaplan turbine.

  13. Numerical investigation of hub clearance flow in a Kaplan turbine

    International Nuclear Information System (INIS)

    Wu, H; Feng, J J; Wu, G K; Luo, X Q

    2012-01-01

    In this paper, the flow field considering the hub clearance flow in a Kaplan turbine has been investigated through using the commercial CFD code ANSYS CFX based on high-quality structured grids generated by ANSYS ICEM CFD. The turbulence is simulated by k-ω based shear stress transport (SST) turbulence model together with automatic near wall treatments. Four kinds of simulations have been conducted for the runner geometry without hub clearance, with only the hub front clearance, with only the rear hub clearance, and with both front and rear clearance. The analysis of the obtained results is focused on the flow structure of the hub clearance flow, the effect on the turbine performance including hydraulic efficiency and cavitation performance, which can improve the understanding on the flow field in a Kaplan turbine.

  14. Evaluation of serum iohexol clearance for use in predicting carboplatin clearance in cats.

    Science.gov (United States)

    Bailey, Dennis B; Rassnick, Kenneth M; Prey, Joshua D; Dykes, Nathan L

    2009-09-01

    To determine whether a glomerular filtration rate (GFR) assay based on serum iohexol clearance can be used to predict carboplatin clearance in cats. 10 cats with tumors. GFR was measured concurrently by use of plasma clearance of technetium Tc 99m-labeled diethylenetriaminepentaacetic acid ((99m)Tc-DTPA) to yield GFR(99mTc-DTPA) and serum clearance of iohexol to yield GFR(Iohexol). A single dose of carboplatin was administered IV as a bolus. Dose was calculated by use of a target value for the area under the plasma platinum concentration-versus-time curve (AUC(Target)) and estimation of platinum clearance (CL(PT)) derived from GFR(99mTc-DTPA) as follows: dose = AUC(Target) x 2.6 x GFR(99mTc-DTPA) x body weight, where AUC(Target) is 2.75 min.mg.mL(-1). Plasma platinum concentrations were measured via atomic absorption spectrophotometry. Values for GFR(99mTc-DTPA) and GFR(Iohexol) were compared by use of least-squares regression and Bland-Altman analysis. Least-squares regression was used to determine whether CL(PT) could be predicted from GFR(99mTc-DTPA) or GFR(Iohexol) (or both). GFR(99mTc-DTPA) and GFR(Iohexol) were strongly correlated (r = 0.90), but GFR(Iohexol) values were significantly larger by a factor of approximately 1.4. Platinum clearance had a significant linear relationship to GFR(99mTc-DTPA) (CL(PT) = 2.5 x GFR(99mTc-DTPA)) and to GFR(Iohexol) (CL(PT) = [1.3 x GFR(Iohexol)] + 1.4). In cats, serum iohexol clearance was an accurate predictor of CL(PT) and can be used to calculate the carboplatin dose as follows: dose = AUC(Target) x ([1.3 x GFR(Iohexol)] + 1.4) x body weight.

  15. Empathizing with Emotional Robot Based on Cognition Reappraisal

    Institute of Scientific and Technical Information of China (English)

    Xin Liu; Lun Xie; Zhiliang Wang

    2017-01-01

    This paper proposes a continuous cognitive emotional regulation model for robot in the case of external emotional stimulus from interactive person's expressions. It integrates a guiding cognitive reappraisal strategy into the HMM (Hidden Markov Model) emotional interactive model for empathizing between ro-bot and person. The emotion is considered as a source in the 3D space (Arousal, Valence, and Stance). State transition and emotion intensity can be quantitatively analyzed in the continu-ous space. This cognition-emotion interactive model have been verified by the expression and behavior robot. Empathizing is the main distinguishing feature of our work, and it is realized by the emotional regulation which operated in a continuous 3D emotional space enabling a wide range of intermediate emo-tions. The experiment results provide evidence with acceptability, accuracy, richness, fluency, interestingness, friendliness and exaggeration that the robot with cognition and emotional control ability could be better accepted in the human-robot interaction (HRI).

  16. Optimal Modality Selection for Cooperative Human-Robot Task Completion.

    Science.gov (United States)

    Jacob, Mithun George; Wachs, Juan P

    2016-12-01

    Human-robot cooperation in complex environments must be fast, accurate, and resilient. This requires efficient communication channels where robots need to assimilate information using a plethora of verbal and nonverbal modalities such as hand gestures, speech, and gaze. However, even though hybrid human-robot communication frameworks and multimodal communication have been studied, a systematic methodology for designing multimodal interfaces does not exist. This paper addresses the gap by proposing a novel methodology to generate multimodal lexicons which maximizes multiple performance metrics over a wide range of communication modalities (i.e., lexicons). The metrics are obtained through a mixture of simulation and real-world experiments. The methodology is tested in a surgical setting where a robot cooperates with a surgeon to complete a mock abdominal incision and closure task by delivering surgical instruments. Experimental results show that predicted optimal lexicons significantly outperform predicted suboptimal lexicons (p human-robot collision) and the differences in the lexicons are analyzed.

  17. Robotic-assisted laparoscopic surgery: recent advances in urology.

    Science.gov (United States)

    Autorino, Riccardo; Zargar, Homayoun; Kaouk, Jihad H

    2014-10-01

    The aim of the present review is to summarize recent developments in the field of urologic robotic surgery. A nonsystematic literature review was performed to retrieve publications related to robotic surgery in urology and evidence-based critical analysis was conducted by focusing on the literature of the past 5 years. The use of the da Vinci Surgical System, a robotic surgical system, has been implemented for the entire spectrum of extirpative and reconstructive laparoscopic kidney procedures. The robotic approach can be applied for a range of adrenal indications as well as for ureteral diseases, including benign and malignant conditions affecting the proximal, mid, and distal ureter. Current evidence suggests that robotic prostatectomy is associated with less blood loss compared with the open surgery. Besides prostate cancer, robotics has been used for simple prostatectomy in patients with symptomatic benign prostatic hyperplasia. Recent studies suggest that minimally invasive radical cystectomy provides encouraging oncologic outcomes mirroring those reported for open surgery. In recent years, the evolution of robotic surgery has enabled urologic surgeons to perform urinary diversions intracorporeally. Robotic vasectomy reversal and several other robotic andrological applications are being explored. In summary, robotic-assisted surgery is an emerging and safe technology for most urologic operations. The acceptance of robotic prostatectomy during the past decade has paved the way for urologists to explore the entire spectrum of extirpative and reconstructive urologic procedures. Cost remains a significant issue that could be solved by wider dissemination of the technology. Copyright © 2014 American Society for Reproductive Medicine. Published by Elsevier Inc. All rights reserved.

  18. International Conference on Computational Vision and Robotics

    CERN Document Server

    2015-01-01

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

  19. Robotic hip arthroscopy in human anatomy.

    Science.gov (United States)

    Kather, Jens; Hagen, Monika E; Morel, Philippe; Fasel, Jean; Markar, Sheraz; Schueler, Michael

    2010-09-01

    Robotic technology offers technical advantages that might offer new solutions for hip arthroscopy. Two hip arthroscopies were performed in human cadavers using the da Vinci surgical system. During both surgeries, a robotic camera and 5 or 8 mm da Vinci trocars with instruments were inserted into the hip joint for manipulation. Introduction of cameras and working instruments, docking of the robotic system and instrument manipulation was successful in both cases. The long articulating area of 5 mm instruments limited movements inside the joint; an 8 mm instrument with a shorter area of articulation offered an improved range of motion. Hip arthroscopy using the da Vinci standard system appears a feasible alternative to standard arthroscopy. Instruments and method of application must be modified and improved before routine clinical application but further research in this area seems justified, considering the clinical value of such an approach. Copyright 2010 John Wiley & Sons, Ltd.

  20. Surfactant secretion and clearance in the newborn

    International Nuclear Information System (INIS)

    Stevens, P.A.; Wright, J.R.; Clements, J.A.

    1989-01-01

    Pregnant rabbits (30 days) were injected intravenously with [3H]choline 8 h before delivery. The fetuses were delivered, and lung lavage and lamellar body phospholipids (PL) were analyzed. Some newborns also received radioactively labeled surfactant intratracheally on delivery and were permitted to breathe. With time, intratracheal label decreased in lavage and appeared in the lamellar body fraction, and intravenous label accumulated in both pools. Using a tracer analysis for non-steady state, we calculated surfactant secretion and clearance rates for the newborn period. Before birth, both rates rose slightly from 1.8 micrograms PL.g body wt-1.h-1 at 6 h before birth to 7.3 at birth. Immediately after birth, secretion rate rose to 37.7 micrograms PL.g body wt-1.h-1. Between 1.5 and 2 h after birth it fell to a minimum of 1.8 micrograms PL.g body wt-1.h-1 and then rose slowly to 6.0 at 12 h. After birth, clearance rate increased less than secretion rate (maximum 24.7 micrograms PL.g body wt-1.h-1 shortly after birth) then followed the same pattern but did not balance secretion rate in the 1st day

  1. Improved drainage with active chest tube clearance.

    Science.gov (United States)

    Shiose, Akira; Takaseya, Tohru; Fumoto, Hideyuki; Arakawa, Yoko; Horai, Tetsuya; Boyle, Edward M; Gillinov, A Marc; Fukamachi, Kiyotaka

    2010-05-01

    This study was performed to evaluate the efficacy of a novel chest drainage system. This system employs guide wire-based active chest tube clearance to improve drainage and maintain patency. A 32 Fr chest tube was inserted into pleural cavities of five pigs. On the left, a tube was connected to the chest canister, and on the right, the new system was inserted between the chest tube and chest canister. Acute bleeding was mimicked by periodic infusion of blood. The amount of blood drained from each chest cavity was recorded every 15 min for 2 h. After completion of the procedure, all residual blood and clots in each chest cavity were assessed. The new system remained widely patent, and the amount of drainage achieved with this system (670+/-105 ml) was significantly (P=0.01) higher than that with the standard tube (239+/-131 ml). The amount of retained pleural blood and clots with this system (150+/-107 ml) was significantly (P=0.04) lower than that with the standard tube (571+/-248 ml). In conclusion, a novel chest drainage system with active tube clearance significantly improved drainage without tube manipulations. 2010 Published by European Association for Cardio-Thoracic Surgery. All rights reserved.

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

    Science.gov (United States)

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

    2018-04-01

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

  3. Robotic liver surgery: results for 70 resections.

    Science.gov (United States)

    Giulianotti, Pier Cristoforo; Coratti, Andrea; Sbrana, Fabio; Addeo, Pietro; Bianco, Francesco Maria; Buchs, Nicolas Christian; Annechiarico, Mario; Benedetti, Enrico

    2011-01-01

    Robotic surgery is gaining popularity for digestive surgery; however, its use for liver surgery is reported scarcely. This article reviews a surgeon's experience with the use of robotic surgery for liver resections. From March 2002 to March 2009, 70 robotic liver resections were performed at 2 different centers by a single surgeon. The surgical procedure and postoperative outcome data were reviewed retrospectively. Malignant tumors were indications for resections in 42 (60%) patients, whereas benign tumors were indications in 28 (40%) patients. The median age was 60 years (range, 21-84) and 57% of patients were female. Major liver resections (≥ 3 liver segments) were performed in 27 (38.5%) patients. There were 4 conversions to open surgery (5.7%). The median operative time for a major resection was 313 min (range, 220-480) and 198 min (range, 90-459) for minor resection. The median blood loss was 150 mL (range, 20-1,800) for minor resection and 300 mL (range, 100-2,000) for major resection. The mortality rate was 0%, and the overall rate of complications was 21%. Major morbidity occurred in 4 patients in the major hepatectomies group (14.8%) and in 4 patients in the minor hepatectomies group (9.3%). All complications were managed conservatively and none required reoperation. This preliminary experience shows that robotic surgery can be used safely for liver resections with a limited conversion rate, blood loss, and postoperative morbidity. Robotics offers a new technical option for minimally invasive liver surgery. Copyright © 2011 Mosby, Inc. All rights reserved.

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

    Science.gov (United States)

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

    2014-09-01

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

  5. Robotized production systems observed in modern plants

    Science.gov (United States)

    Saverina, A. N.

    1985-09-01

    Robots, robotized lines and sectors are no longer innovations in shops at automotive plants. The widespread robotization of automobile assembly operations is described in general terms. Robot use for machining operation is also discussed.

  6. Application of robotics in nuclear facilities

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  7. Human-machine Interface for Presentation Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Ondroušek, V.

    2012-01-01

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

  8. 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.

  9. 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).

  10. 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...

  11. 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...

  12. 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

  13. Sample Return Robot

    Data.gov (United States)

    National Aeronautics and Space Administration — This Challenge requires demonstration of an autonomous robotic system to locate and collect a set of specific sample types from a large planetary analog area and...

  14. Biological Soft Robotics.

    Science.gov (United States)

    Feinberg, Adam W

    2015-01-01

    In nature, nanometer-scale molecular motors are used to generate force within cells for diverse processes from transcription and transport to muscle contraction. This adaptability and scalability across wide temporal, spatial, and force regimes have spurred the development of biological soft robotic systems that seek to mimic and extend these capabilities. This review describes how molecular motors are hierarchically organized into larger-scale structures in order to provide a basic understanding of how these systems work in nature and the complexity and functionality we hope to replicate in biological soft robotics. These span the subcellular scale to macroscale, and this article focuses on the integration of biological components with synthetic materials, coupled with bioinspired robotic design. Key examples include nanoscale molecular motor-powered actuators, microscale bacteria-controlled devices, and macroscale muscle-powered robots that grasp, walk, and swim. Finally, the current challenges and future opportunities in the field are addressed.

  15. Robotic Comfort Zones

    National Research Council Canada - National Science Library

    Likhachev, Maxim; Arkin, Ronald C

    2006-01-01

    .... A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain...

  16. Tank-automotive robotics

    Science.gov (United States)

    Lane, Gerald R.

    1999-07-01

    To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

  17. DOE Robotics Project

    Energy Technology Data Exchange (ETDEWEB)

    1991-01-01

    This document provide the bimonthly progress reports on the Department of Energy (DOE) Robotics Project by the University of Michigan. Reports are provided for the time periods of December 90/January 91 through June 91/July 91. (FI)

  18. MARYLAND ROBOTICS CENTER

    Data.gov (United States)

    Federal Laboratory Consortium — The Maryland Robotics Center is an interdisciplinary research center housed in the Institute for Systems Research (link is external)within the A. James Clark School...

  19. Introduction to humanoid robotics

    CERN Document Server

    Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

    2014-01-01

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

  20. Vascular Surgery and Robotics

    Directory of Open Access Journals (Sweden)

    Indrani Sen

    2016-01-01

    Full Text Available The application of robotics to Vascular surgery has not progressed as rapidly as of endovascular technology, but this is changing with the amalgamation of these two fields. The advent of Endovascular robotics is an exciting field which overcomes many of the limitations of endovascular therapy like vessel tortuosity and operator fatigue. This has much clinical appeal for the surgeon and hold significant promise of better patient outcomes. As with most newer technological advances, it is still limited by cost and availability. However, this field has seen some rapid progress in the last decade with the technology moving into the clinical realm. This review details the development of robotics, applications, outcomes, advantages, disadvantages and current advances focussing on Vascular and Endovascular robotics

  1. Robotic aortic surgery.

    Science.gov (United States)

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

    2011-01-01

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

  2. Robots in Elderly Care

    Directory of Open Access Journals (Sweden)

    Alessandro Vercelli

    2018-03-01

    Full Text Available Low birth rate and the long life expectancy represent an explosive mixture, resulting in the rapid aging of population. The costs of healthcare in the grey society are increasing dramatically, and soon there will be not enough resources and people for care. This context requires conceptually new elderly care solutions progressively reducing the percentages of the human-based care. Research on robot-based solutions for elderly care and active ageing aims to answer these needs. From a general perspective, robotics has the power to completely reshape the landscape of healthcare both in its structure and its operation. In fact, the long-term sustainability of healthcare systems could be addressed by automation powered by digital health technologies, such as artificial intelligence, 3D-printing or robotics. The latter could take over monotonous work from healthcare workers, which would allow them to focus more on patients and to have lesser workload. Robots might be used in elder care with several different aims. (i Robots may act as caregivers, i.e. assist the elderly, (ii they can provide remainders and instructions for activities of daily life and safety, and/or assist their carers in daily tasks; (iii they can help monitor their behaviour and health; and (iv provide companionship, including entertainment and hobbies, reminiscence and social contact. The use of Robots with human subjects/patients raise several sensitive questions. First of all, robots may represent information hubs, and can collect an incredible amount of data about the subjects and their environment. In fact, they record habits such as sleeping, exercising, third persons entering in the house, appointments. Communications may be continuously recorded. Moreover, by connecting with medical devices, they can store medical data. On one hand, this represents a very powerful tool to collect information about the single subject (precision medicine, about disease (thus eventually finding

  3. SPECIAL ROBOTS FOR ENERGETICS

    Directory of Open Access Journals (Sweden)

    Sit M.L.

    2014-04-01

    Full Text Available An overview of robots used in the power industry for diagnostics of power lines, cable lines, for the control, monitoring and maintenance of wind turbines, in nuclear energy, for optimum orientation of solar photovoltaic plants and solar panels for cleaning. Equations of statics and dynamics of robotic car which lifts along the vertical flexible rope are considered. It is presented the design which is made on the basis of "Lego Mindstorms" to solve the problem.

  4. 3D light robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

    As celebrated by the Nobel Prize 2014 in Chemistry light-based technologies can now overcome the diffraction barrier for imaging with nanoscopic resolution by so-called super-resolution microscopy1. However, interactive investigations coupled with advanced imaging modalities at these small scale ...... research discipline that could potentially be able to offer the full packet needed for true "active nanoscopy" by use of so-called light-driven micro-robotics or Light Robotics in short....

  5. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

    Robotics are now being used in all surgical fields, including general surgery. By increasing intra-abdominal articulations while operating through small incisions, robotics are increasingly being used for a large number of visceral and solid organ operations, including those for the gallbladder, esophagus, stomach, intestines, colon, and rectum, as well as for the endocrine organs. Robotics and general surgery are blending for the first time in history and as a specialty field should continue to grow for many years to come. We continuously demand solutions to questions and limitations that are experienced in our daily work. Laparoscopy is laden with limitations such as fixed axis points at the trocar insertion sites, two-dimensional video monitors, limited dexterity at the instrument tips, lack of haptic sensation, and in some cases poor ergonomics. The creation of a surgical robot system with 3D visual capacity seems to deal with most of these limitations. Although some in the surgical community continue to test the feasibility of these surgical robots and to question the necessity of such an expensive venture, others are already postulating how to improve the next generation of telemanipulators, and in so doing are looking beyond today's horizon to find simpler solutions. As the robotic era enters the world of the general surgeon, more and more complex procedures will be able to be approached through small incisions. As technology catches up with our imaginations, robotic instruments (as opposed to robots) and 3D monitoring will become routine and continue to improve patient care by providing surgeons with the most precise, least traumatic ways of treating surgical disease.

  6. Autogenic drainage for airway clearance in cystic fibrosis.

    Science.gov (United States)

    McCormack, Pamela; Burnham, Paul; Southern, Kevin W

    2017-10-06

    Autogenic drainage is an airway clearance technique that was developed by Jean Chevaillier in 1967. The technique is characterised by breathing control using expiratory airflow to mobilise secretions from smaller to larger airways. Secretions are cleared independently by adjusting the depth and speed of respiration in a sequence of controlled breathing techniques during exhalation. The technique requires training, concentration and effort from the individual. It is important to systematically review the evidence demonstrating that autogenic drainage is an effective intervention for people with cystic fibrosis. To compare the clinical effectiveness of autogenic drainage in people with cystic fibrosis with other physiotherapy airway clearance techniques. We searched the Cochrane Cystic Fibrosis Trials Register, compiled from electronic database searches and handsearching of journals and conference abstract books. We also searched the reference lists of relevant articles and reviews, as well as two trials registers (31 August 2017).Dtae of most recent search of the Cochrane Cystic Fibrosis Trials Register: 25 September 2017. We identified randomised and quasi-randomised controlled studies comparing autogenic drainage to another airway clearance technique or no therapy in people with cystic fibrosis for at least two treatment sessions. Data extraction and assessments of risk of bias were independently performed by two authors. The authors assessed the quality of the evidence using the GRADE system. The authors contacted two investigators for further information pertinent to their published studies. Searches retrieved 35 references to 21 individual studies, of which seven (n = 208) were eligible for inclusion. One study was of parallel design with the remaining six being cross-over in design; participant numbers ranged from 17 to 75. The total study duration varied between four days and two years. The age of participants ranged between seven and 63 years with a wide

  7. Vision servo of industrial robot: A review

    Science.gov (United States)

    Zhang, Yujin

    2018-04-01

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

  8. Mutual Visibility by Robots with Persistent Memory

    OpenAIRE

    Bhagat, Subhash; Mukhopadhyaya, Krishnendu

    2017-01-01

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

  9. Swarm robotics and minimalism

    Science.gov (United States)

    Sharkey, Amanda J. C.

    2007-09-01

    Swarm Robotics (SR) is closely related to Swarm Intelligence, and both were initially inspired by studies of social insects. Their guiding principles are based on their biological inspiration and take the form of an emphasis on decentralized local control and communication. Earlier studies went a step further in emphasizing the use of simple reactive robots that only communicate indirectly through the environment. More recently SR studies have moved beyond these constraints to explore the use of non-reactive robots that communicate directly, and that can learn and represent their environment. There is no clear agreement in the literature about how far such extensions of the original principles could go. Should there be any limitations on the individual abilities of the robots used in SR studies? Should knowledge of the capabilities of social insects lead to constraints on the capabilities of individual robots in SR studies? There is a lack of explicit discussion of such questions, and researchers have adopted a variety of constraints for a variety of reasons. A simple taxonomy of swarm robotics is presented here with the aim of addressing and clarifying these questions. The taxonomy distinguishes subareas of SR based on the emphases and justifications for minimalism and individual simplicity.

  10. 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.

  11. 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...

  12. Robotic assisted andrological surgery

    Science.gov (United States)

    Parekattil, Sijo J; Gudeloglu, Ahmet

    2013-01-01

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

  13. Measuring Attitudes Towards Telepresence Robots

    OpenAIRE

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

    2011-01-01

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

  14. Robot Tracer with Visual Camera

    Science.gov (United States)

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

    2017-12-01

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

  15. Robotic hand with modular extensions

    Science.gov (United States)

    Salisbury, Curt Michael; Quigley, Morgan

    2015-01-20

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-10-15

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

  17. Cerebrospinal Fluid Clearance in Alzheimer Disease Measured with Dynamic PET.

    Science.gov (United States)

    de Leon, Mony J; Li, Yi; Okamura, Nobuyuki; Tsui, Wai H; Saint-Louis, Les A; Glodzik, Lidia; Osorio, Ricardo S; Fortea, Juan; Butler, Tracy; Pirraglia, Elizabeth; Fossati, Silvia; Kim, Hee-Jin; Carare, Roxana O; Nedergaard, Maiken; Benveniste, Helene; Rusinek, Henry

    2017-09-01

    Evidence supporting the hypothesis that reduced cerebrospinal fluid (CSF) clearance is involved in the pathophysiology of Alzheimer disease (AD) comes primarily from rodent models. However, unlike rodents, in which predominant extracranial CSF egress is via olfactory nerves traversing the cribriform plate, human CSF clearance pathways are not well characterized. Dynamic PET with 18 F-THK5117, a tracer for tau pathology, was used to estimate the ventricular CSF time-activity as a biomarker for CSF clearance. We tested 3 hypotheses: extracranial CSF is detected at the superior turbinates; CSF clearance is reduced in AD; and CSF clearance is inversely associated with amyloid deposition. Methods: Fifteen subjects, 8 with AD and 7 normal control volunteers, were examined with 18 F-THK5117. Ten subjects additionally underwent 11 C-Pittsburgh compound B ( 11 C-PiB) PET scanning, and 8 were 11 C-PiB-positive. Ventricular time-activity curves of 18 F-THK5117 were used to identify highly correlated time-activity curves from extracranial voxels. Results: For all subjects, the greatest density of CSF-positive extracranial voxels was in the nasal turbinates. Tracer concentration analyses validated the superior nasal turbinate CSF signal intensity. AD patients showed ventricular tracer clearance reduced by 23% and 66% fewer superior turbinate CSF egress sites. Ventricular CSF clearance was inversely associated with amyloid deposition. Conclusion: The human nasal turbinate is part of the CSF clearance system. Lateral ventricle and superior nasal turbinate CSF clearance abnormalities are found in AD. Ventricular CSF clearance reductions are associated with increased brain amyloid depositions. These data suggest that PET-measured CSF clearance is a biomarker of potential interest in AD and other neurodegenerative diseases. © 2017 by the Society of Nuclear Medicine and Molecular Imaging.

  18. 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...

  19. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    A working group (WG) study was conducted aiming at realizing human type robots. The following six working groups in the basement field were organized to study in terms mostly of items of technical development and final technical targets: platform, and remote attendance control in the basement field, maintenance of plant, etc., home service, disaster/construction, and entertainment in the application field. In the platform WG, a robot of human like form is planning which walks with two legs and works with two arms, and the following were discussed: a length of 160cm, weight of 110kg, built-in LAN, actuator specifications, modulated structure, intelligent driver, etc. In the remote attendance control WG, remote control using working function, stabilized movement, stabilized control, and network is made possible. Studied were made on the decision on a remote control cockpit by open architecture added with function and reformable, problems on the development of the standard language, etc. 77 ref., 82 figs., 21 tabs.

  20. Validation of Dose Calculation Codes for Clearance

    International Nuclear Information System (INIS)

    Menon, S.; Wirendal, B.; Bjerler, J.; Studsvik; Teunckens, L.

    2003-01-01

    Various international and national bodies such as the International Atomic Energy Agency, the European Commission, the US Nuclear Regulatory Commission have put forward proposals or guidance documents to regulate the ''clearance'' from regulatory control of very low level radioactive material, in order to allow its recycling as a material management practice. All these proposals are based on predicted scenarios for subsequent utilization of the released materials. The calculation models used in these scenarios tend to utilize conservative data regarding exposure times and dose uptake as well as other assumptions as a safeguard against uncertainties. None of these models has ever been validated by comparison with the actual real life practice of recycling. An international project was organized in order to validate some of the assumptions made in these calculation models, and, thereby, better assess the radiological consequences of recycling on a practical large scale

  1. Classification of obstacle shape for generating walking path of humanoid robot

    International Nuclear Information System (INIS)

    Park, Chan Soo; Kim, Do Ik

    2013-01-01

    To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load

  2. Advanced robotics for medical rehabilitation current state of the art and recent advances

    CERN Document Server

    Xie, Shane

    2016-01-01

    Focussing on the key technologies in developing robots for a wide range of medical rehabilitation activities – which will include robotics basics, modelling and control, biomechanics modelling, rehabilitation strategies, robot assistance, clinical setup/implementation as well as neural and muscular interfaces for rehabilitation robot control – this book is split into two parts; a review of the current state of the art, and recent advances in robotics for medical rehabilitation. Both parts will include five sections for the five key areas in rehabilitation robotics: (i) the upper limb; (ii) lower limb for gait rehabilitation (iii) hand, finger and wrist; (iv) ankle for strains and sprains; and (v) the use of EEG and EMG to create interfaces between the neurological and muscular functions of the patients and the rehabilitation robots. Each chapter provides a description of the design of the device, the control system used, and the implementation and testing to show how it fulfils the needs of that specific ...

  3. Classification of obstacle shape for generating walking path of humanoid robot

    Energy Technology Data Exchange (ETDEWEB)

    Park, Chan Soo; Kim, Do Ik [Korea Institute of Science and Technology, Seoul (Korea, Republic of)

    2013-02-15

    To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cast. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load.

  4. 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....

  5. Clearance of building structures for conventional non-nuclear reuse

    International Nuclear Information System (INIS)

    Buss, K.; Boehringer, S.

    1998-01-01

    At the example of a fuel assembly plant the strategy of control measurements on building surfaces, which shall be conventionally reused after their clearance, is regarded. Based on the given clearance levels the used measuring methods, especially with regard of possibly covered or intruded uranium contamination, are shown. The possibility of using the in-situ-γ-spectroscopy is discussed. (orig.) [de

  6. Discrepancy between circadian rhythms of inulin and creatinine clearance

    NARCIS (Netherlands)

    van Acker, B. A.; Koomen, G. C.; Koopman, M. G.; Krediet, R. T.; Arisz, L.

    1992-01-01

    To elucidate the disparity between circadian rhythmicity of inulin and creatinine clearance, we simultaneously measured inulin and creatinine clearances every 3 hours during 1 day in 14 normal subjects and in 8 patients with nephrotic syndrome. All patients and normal subjects had a circadian rhythm

  7. 20 CFR 655.150 - Interstate clearance of job order.

    Science.gov (United States)

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Interstate clearance of job order. 655.150... job order. (a) SWA posts in interstate clearance system. The SWA must promptly place the job order in... transmit a copy of its active job order to all States listed in the job order as anticipated worksites...

  8. 78 FR 77027 - Overhead Clearance (Air-Draft) Accidents

    Science.gov (United States)

    2013-12-20

    ... No. USCG-2013-0466] Overhead Clearance (Air-Draft) Accidents AGENCY: Coast Guard, DHS. ACTION... clearance (air-draft) accidents. In its petition, which calls for vessel masters to be provided with... accidents that it says were avoidable and that resulted in damage to or destruction of waterway...

  9. 48 CFR 1432.502-2 - Contract finance office clearance.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Contract finance office clearance. 1432.502-2 Section 1432.502-2 Federal Acquisition Regulations System DEPARTMENT OF THE INTERIOR... finance office clearance. The CO shall obtain approval of the bureau finance office prior to taking...

  10. 48 CFR 32.502-2 - Contract finance office clearance.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 1 2010-10-01 2010-10-01 false Contract finance office clearance. 32.502-2 Section 32.502-2 Federal Acquisition Regulations System FEDERAL ACQUISITION REGULATION... finance office clearance. The contracting officer shall obtain the approval of the contract finance office...

  11. 48 CFR 832.502-2 - Contract finance office clearance.

    Science.gov (United States)

    2010-10-01

    ... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Contract finance office clearance. 832.502-2 Section 832.502-2 Federal Acquisition Regulations System DEPARTMENT OF VETERANS AFFAIRS... finance office clearance. Contracting officers must obtain approval from the DSPE before taking the...

  12. Clearance systems in the brain—implications for Alzheimer disease

    Science.gov (United States)

    Tarasoff-Conway, Jenna M.; Carare, Roxana O.; Osorio, Ricardo S.; Glodzik, Lidia; Butler, Tracy; Fieremans, Els; Axel, Leon; Rusinek, Henry; Nicholson, Charles; Zlokovic, Berislav V.; Frangione, Blas; Blennow, Kaj; Ménard, Joël; Zetterberg, Henrik; Wisniewski, Thomas; de Leon, Mony J.

    2015-01-01

    Accumulation of toxic protein aggregates—amyloid-β (Aβ) plaques and hyperphosphorylated tau tangles—is the pathological hallmark of Alzheimer disease (AD). Aβ accumulation has been hypothesized to result from an imbalance between Aβ production and clearance; indeed, Aβ clearance seems to be impaired in both early and late forms of AD. To develop efficient strategies to slow down or halt AD, it is critical to understand how Aβ is cleared from the brain. Extracellular Aβ deposits can be removed from the brain by various clearance systems, most importantly, transport across the blood–brain barrier. Findings from the past few years suggest that astroglial-mediated interstitial fluid (ISF) bulk flow, known as the glymphatic system, might contribute to a larger portion of extracellular Aβ (eAβ) clearance than previously thought. The meningeal lymphatic vessels, discovered in 2015, might provide another clearance route. Because these clearance systems act together to drive eAβ from the brain, any alteration to their function could contribute to AD. An understanding of Aβ clearance might provide strategies to reduce excess Aβ deposits and delay, or even prevent, disease onset. In this Review, we describe the clearance systems of the brain as they relate to proteins implicated in AD pathology, with the main focus on Aβ. PMID:26195256

  13. Clearance systems in the brain-implications for Alzheimer disease.

    Science.gov (United States)

    Tarasoff-Conway, Jenna M; Carare, Roxana O; Osorio, Ricardo S; Glodzik, Lidia; Butler, Tracy; Fieremans, Els; Axel, Leon; Rusinek, Henry; Nicholson, Charles; Zlokovic, Berislav V; Frangione, Blas; Blennow, Kaj; Ménard, Joël; Zetterberg, Henrik; Wisniewski, Thomas; de Leon, Mony J

    2015-08-01

    Accumulation of toxic protein aggregates-amyloid-β (Aβ) plaques and hyperphosphorylated tau tangles-is the pathological hallmark of Alzheimer disease (AD). Aβ accumulation has been hypothesized to result from an imbalance between Aβ production and clearance; indeed, Aβ clearance seems to be impaired in both early and late forms of AD. To develop efficient strategies to slow down or halt AD, it is critical to understand how Aβ is cleared from the brain. Extracellular Aβ deposits can be removed from the brain by various clearance systems, most importantly, transport across the blood-brain barrier. Findings from the past few years suggest that astroglial-mediated interstitial fluid (ISF) bulk flow, known as the glymphatic system, might contribute to a larger portion of extracellular Aβ (eAβ) clearance than previously thought. The meningeal lymphatic vessels, discovered in 2015, might provide another clearance route. Because these clearance systems act together to drive eAβ from the brain, any alteration to their function could contribute to AD. An understanding of Aβ clearance might provide strategies to reduce excess Aβ deposits and delay, or even prevent, disease onset. In this Review, we describe the clearance systems of the brain as they relate to proteins implicated in AD pathology, with the main focus on Aβ.

  14. Intercalibration of mussel Mytilus edulis clearance rate measurements

    NARCIS (Netherlands)

    Kjerulf Petersen, J.; Bougrier, S.; Smaal, A.C.; Garen, P.; Robert, S.; Larsen, J.E.N.; Brummelhuis, E.B.M.

    2004-01-01

    Clearance rate (CR) was measured in blue mussels Mytilus edulis L. from Aiguillon Bay and the Oosterschelde using 3 different methods: the flow-through method, the bio-deposition method and the indirect or clearance method. CR differed significantly as a function of the method used and of the origin

  15. 32 CFR 644.522 - Clearance of military scrap.

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 4 2010-07-01 2010-07-01 true Clearance of military scrap. 644.522 Section 644... Excess Land and Improvements § 644.522 Clearance of military scrap. Military scrap can contain or be... destruction, by using command, of all military scrap and scrap metal from lands suitable for cultivation or...

  16. Factors affecting lower calyceal stone clearance after Extracorporeal ...

    African Journals Online (AJOL)

    shanker

    have been identified [1,3]. These include stone characteristics, the type of lithotripter used, LPC anatomy and body habitus. For iso- lated LPC stones, the pelvicalyceal angle, infundibulum length and width are considered important determinants for stone clearance. The impact of body habitus on stone clearance has so far ...

  17. Robots for Astrobiology!

    Science.gov (United States)

    Boston, Penelope J.

    2016-01-01

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

  18. Practical indoor mobile robot navigation using hybrid maps

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Fan, Zhun; Xiao, Jizhong

    2011-01-01

    This paper presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as 2D occupancy grids by a range sensor to represent local information...... about partial areas. The global topological map is used to indicate the connectivity of the 'places-of-interests' in the environment and the interconnectivity of the local maps. Visual tags on the ceiling to be detected by the robot provide valuable information and contribute to reliable localization...... robot and evaluated in a hospital environment....

  19. Cyclone: A laser scanner for mobile robot navigation

    Science.gov (United States)

    Singh, Sanjiv; West, Jay

    1991-09-01

    Researchers at Carnegie Mellon's Field Robotics Center have designed and implemented a scanning laser rangefinder. The device uses a commercially available time-of-flight ranging instrument that is capable of making up to 7200 measurements per second. The laser beam is reflected by a rotating mirror, producing up to a 360 degree view. Mounted on a robot vehicle, the scanner can be used to detect obstacles in the vehicle's path or to locate the robot on a map. This report discusses the motivation, design, and some applications of the scanner.

  20. Automating the Incremental Evolution of Controllers for Physical Robots

    DEFF Research Database (Denmark)

    Faina, Andres; Jacobsen, Lars Toft; Risi, Sebastian

    2017-01-01

    the evolution of digital objects.…” The work presented here investigates how fully autonomous evolution of robot controllers can be realized in hardware, using an industrial robot and a marker-based computer vision system. In particular, this article presents an approach to automate the reconfiguration...... of the test environment and shows that it is possible, for the first time, to incrementally evolve a neural robot controller for different obstacle avoidance tasks with no human intervention. Importantly, the system offers a high level of robustness and precision that could potentially open up the range...