WorldWideScience

Sample records for robotic space systems

  1. Dynamic analysis of space robot remote control system

    Science.gov (United States)

    Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

    2018-05-01

    The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

  2. Automation and Robotics for Space-Based Systems, 1991

    Science.gov (United States)

    Williams, Robert L., II (Editor)

    1992-01-01

    The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

  3. Transformers: Shape-Changing Space Systems Built with Robotic Textiles

    Science.gov (United States)

    Stoica, Adrian

    2013-01-01

    Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

  4. Space station automation and robotics study. Operator-systems interface

    Science.gov (United States)

    1984-01-01

    This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.

  5. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  6. Development of Advanced Robotic Hand System for space application

    Science.gov (United States)

    Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru

    1994-01-01

    The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.

  7. 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...

  8. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1989-01-01

    Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

  9. SpRoUTS (Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length

    Science.gov (United States)

    Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

    2015-01-01

    Automatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems.

  10. Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 2: Space projects overview

    Science.gov (United States)

    Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

    1982-01-01

    Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities, and their related ground support functions are studied so that informed decisions can be made on which aspects of ARAMIS to develop. The space project breakdowns, which are used to identify tasks ('functional elements'), are described. The study method concentrates on the production of a matrix relating space project tasks to pieces of ARAMIS.

  11. Robotic influence in the conceptual design of mechanical systems in space and vice versa - A survey

    Science.gov (United States)

    Sanger, George F.

    1988-01-01

    A survey of methods using robotic devices to construct structural elements in space is presented. Two approaches to robotic construction are considered: one in which the structural elements are designed using conventional aerospace techniques which tend to constrain the function aspects of robotics and one in which the structural elements are designed from the conceptual stage with built-in robotic features. Examples are presented of structural building concepts using robotics, including the construction of the SP-100 nuclear reactor power system, a multimirror large aperture IR space telescope concept, retrieval and repair in space, and the Flight Telerobotic Servicer.

  12. Distributed Circumnavigation Control with Dynamic Spacings for a Heterogeneous Multi-robot System

    OpenAIRE

    Yao, Weijia; Luo, Sha; Lu, Huimin; Xiao, Junhao

    2018-01-01

    Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement speeds. Instead of equal-spacings, dynamic spacings according to robots' properties, which are termed utilities in this paper, will be more desirable in a scenario such as target entrapment. A distributed circumnavigation control algorithm based on utilities is ...

  13. Robotic Materials Handling in Space: Mechanical Design of the Robot Operated Materials Processing System HitchHiker Experiment

    Science.gov (United States)

    Voellmer, George

    1997-01-01

    The Goddard Space Flight Center has developed the Robot Operated Materials Processing System (ROMPS) that flew aboard STS-64 in September, 1994. The ROMPS robot transported pallets containing wafers of different materials from their storage racks to a furnace for thermal processing. A system of tapered guides and compliant springs was designed to deal with the potential misalignments. The robot and all the sample pallets were locked down for launch and landing. The design of the passive lockdown system, and the interplay between it and the alignment system are presented.

  14. Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

    Science.gov (United States)

    Zia, Omar

    1989-01-01

    The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

  15. Reaction Null Space of a multibody system with applications in robotics

    Directory of Open Access Journals (Sweden)

    D. N. Nenchev

    2013-02-01

    Full Text Available This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

  16. NASA Goddard Space Flight Center Robotic Processing System Program Automation Systems, volume 2

    Science.gov (United States)

    Dobbs, M. E.

    1991-01-01

    Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form. Some of the areas covered include: (1) mission requirements; (2) automation management system; (3) Space Transportation System (STS) Hitchhicker Payload; (4) Spacecraft Command Language (SCL) scripts; (5) SCL software components; (6) RoMPS EasyLab Command & Variable summary for rack stations and annealer module; (7) support electronics assembly; (8) SCL uplink packet definition; (9) SC-4 EasyLab System Memory Map; (10) Servo Axis Control Logic Suppliers; and (11) annealing oven control subsystem.

  17. An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System

    Directory of Open Access Journals (Sweden)

    Mariana Rampinelli

    2014-08-01

    Full Text Available This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

  18. An intelligent space for mobile robot localization using a multi-camera system.

    Science.gov (United States)

    Rampinelli, Mariana; Covre, Vitor Buback; de Queiroz, Felippe Mendonça; Vassallo, Raquel Frizera; Bastos-Filho, Teodiano Freire; Mazo, Manuel

    2014-08-15

    This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

  19. Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

    Directory of Open Access Journals (Sweden)

    Luis Pallarés Puerto

    2011-05-01

    Full Text Available The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems.

  20. Systems integration for the Kennedy Space Center (KSC) Robotics Applications Development Laboratory (RADL)

    Science.gov (United States)

    Davis, V. Leon; Nordeen, Ross

    1988-01-01

    A laboratory for developing robotics technology for hazardous and repetitive Shuttle and payload processing activities is discussed. An overview of the computer hardware and software responsible for integrating the laboratory systems is given. The center's anthropomorphic robot is placed on a track allowing it to be moved to different stations. Various aspects of the laboratory equipment are described, including industrial robot arm control, smart systems integration, the supervisory computer, programmable process controller, real-time tracking controller, image processing hardware, and control display graphics. Topics of research include: automated loading and unloading of hypergolics for space vehicles and payloads; the use of mobile robotics for security, fire fighting, and hazardous spill operations; nondestructive testing for SRB joint and seal verification; Shuttle Orbiter radiator damage inspection; and Orbiter contour measurements. The possibility of expanding the laboratory in the future is examined.

  1. A robotic system for automation of logistics functions on the Space Station

    Science.gov (United States)

    Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.

    1988-01-01

    Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

  2. Small Stirling dynamic isotope power system for robotic space missions

    International Nuclear Information System (INIS)

    Bents, D.J.

    1992-08-01

    The design of a multihundred-watt Dynamic Isotope Power System (DIPS), based on the US Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE), is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. The incentive for any dynamic system is that it can save fuel and reduce costs and radiological hazard. Unlike DIPS based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Stirling conversion extends the competitive range for dynamic systems down to a few hundred watts--a power level not previously considered for dynamic systems. The challenge for Stirling conversion will be to demonstrate reliability and life similar to RTG experience. Since the competitive potential of FPSE as an isotope converter was first identified, work has focused on feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within acceptable operating limits. Based on these results, preliminary characterizations of multihundred-watt units have been established

  3. SpaceWire- Based Control System Architecture for the Lightweight Advanced Robotic Arm Demonstrator [LARAD

    Science.gov (United States)

    Rucinski, Marek; Coates, Adam; Montano, Giuseppe; Allouis, Elie; Jameux, David

    2015-09-01

    The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Ltd under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. The control system architecture includes the on-board computer, control software and firmware, and the communication infrastructure (e.g. data links, switches) connecting on-board computer(s), sensors, actuators and the end-effector. The purpose of the control system is to operate the arm according to pre-defined performance requirements, monitoring its behaviour in real-time and performing safing/recovery actions in case of faults. This paper reports on the results of a recent study about the feasibility of the development and integration of a novel control system architecture for LARAD fully based on the SpaceWire protocol. The current control system architecture is based on the combination of two communication protocols, Ethernet and CAN. The new SpaceWire-based control system will allow for improved monitoring and telecommanding performance thanks to higher communication data rate, allowing for the adoption of advanced control schemes, potentially based on multiple vision sensors, and for the handling of sophisticated end-effectors that require fine control, such as science payloads or robotic hands.

  4. Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

    International Nuclear Information System (INIS)

    Mo, Se Hyun; Jeon, Young Pil; Park, Jong Ho; Chong, Kil To

    2017-01-01

    With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

  5. Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

    Energy Technology Data Exchange (ETDEWEB)

    Mo, Se Hyun [Amotech, Seoul (Korea, Republic of); Jeon, Young Pil [Samsung Electronics Co., Ltd. Suwon (Korea, Republic of); Park, Jong Ho [Seonam Univ., Namwon (Korea, Republic of); Chong, Kil To [Chon-buk Nat' 1 Univ., Junju (Korea, Republic of)

    2017-07-15

    With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

  6. Positional control of space robot manipulator

    Science.gov (United States)

    Kurochkin, Vladislav; Shymanchuk, Dzmitry

    2018-05-01

    In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

  7. Space robot simulator vehicle

    Science.gov (United States)

    Cannon, R. H., Jr.; Alexander, H.

    1985-01-01

    A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

  8. A Ground-Based Validation System of Teleoperation for a Space Robot

    Directory of Open Access Journals (Sweden)

    Xueqian Wang

    2012-10-01

    Full Text Available Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, global-vision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.

  9. An Effective Approach Control Scheme for the Tethered Space Robot System

    Directory of Open Access Journals (Sweden)

    Zhongjie Meng

    2014-09-01

    Full Text Available The tethered space robot system (TSR, which is composed of a platform, a gripper and a space tether, has great potential in future space missions. Given the relative motion among the platform, tether, gripper and the target, an integrated approach model is derived. Then, a novel coordinated approach control scheme is presented, in which the tether tension, thrusters and the reaction wheel are all utilized. It contains the open-loop trajectory optimization, the feedback trajectory control and attitude control. The numerical simulation results show that the rendezvous between TSR and the target can be realized by the proposed coordinated control scheme, and the propellant consumption is efficiently reduced. Moreover, the control scheme performs well in the presence of the initial state's perturbations, actuator characteristics and sensor errors.

  10. In-Space Propulsion Technologies for Robotic Exploration of the Solar System

    Science.gov (United States)

    Johnson, Les; Meyer, Rae Ann; Frame, Kyle

    2006-01-01

    Supporting NASA's Science Mission Directorate, the In-Space Propulsion Technology Program is developing the next generation of space propulsion technologies for robotic, deep-space exploration. Recent technological advancements and demonstrations of key, high-payoff propulsion technologies have been achieved and will be described. Technologies under development and test include aerocapture, solar electric propulsion, solar sail propulsion, and advanced chemical propulsion.

  11. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  12. A systematic approach to the application of Automation, Robotics, and Machine Intelligence Systems /ARAMIS/ to future space projects

    Science.gov (United States)

    Smith, D. B. S.

    1982-01-01

    The potential applications of Automation, Robotics, and Machine Intelligence Systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are

  13. Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

    Science.gov (United States)

    Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

    2000-01-01

    For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an

  14. Systematic approach to the application of automation, robotics, and machine intelligence systems (aramis) to future space projects

    Energy Technology Data Exchange (ETDEWEB)

    Smith, D B.S.

    1983-01-01

    The potential applications of automation, robotics and machine intelligence systems (ARAMIS) to space projects are investigated, through a systematic method. In this method selected space projects are broken down into space project tasks, and 69 of these tasks are selected for study. Candidate ARAMIS options are defined for each task. The relative merits of these options are evaluated according to seven indices of performance. Logical sequences of ARAMIS development are also defined. Based on this data, promising applications of ARAMIS are identified for space project tasks. General conclusions and recommendations for further study are also presented. 6 references.

  15. Space environments and their effects on space automation and robotics

    Science.gov (United States)

    Garrett, Henry B.

    1990-01-01

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

  16. A Novel Robot of Manufacturing Space Solar Cell Arrays

    Directory of Open Access Journals (Sweden)

    Wu Yuexin

    2008-11-01

    Full Text Available This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.

  17. A Novel Robot of Manufacturing Space Solar Cell Arrays

    Directory of Open Access Journals (Sweden)

    Wu Yuexin

    2007-03-01

    Full Text Available This paper presents a novel robot employed to manufacture space solar cell arrays. First of all including the mechanical configuration and control system, the architecture of the robot is described. Then the flow velocity field of adhesive in the dispensing needles is acquired based on hydrodynamics. The accurate section form model of adhesive dispensed on the solar cells is obtained, which is essential for the robot to control the uniformity of dispensing adhesive. Finally the experiment validates the feasibility and reliability of the robot system. The application of robots instead of manual work in manufacturing space solar cell arrays will enhance the development of space industry.

  18. Target berthing and base reorientation of free-floating space robotic system after capturing

    Science.gov (United States)

    Xu, Wenfu; Li, Cheng; Liang, Bin; Xu, Yangsheng; Liu, Yu; Qiang, Wenyi

    2009-01-01

    Space robots are playing an increasingly important role in on-orbital servicing, including repairing, refueling, or de-orbiting the satellite. The target must be captured and berthed before the servicing task starts. However, the attitude of the base may lean much and needs re-orientating after capturing. In this paper, a method is proposed to berth the target, and re-orientate the base at the same time, using manipulator motion only. Firstly, the system state is formed of the attitude quaternion and joint variables, and the joint paths are parameterized by sinusoidal functions. Then, the trajectory planning is transformed to an optimization problem. The cost function, defined according to the accuracy requirements of system variables, is the function of the parameters to be determined. Finally, we solve the parameters using the particle swarm optimization algorithm. Two typical cases of the spacecraft with a 6-DOF manipulator are dynamically simulated, one is that the variation of base attitude is limited; the other is that both the base attitude and the joint rates are constrained. The simulation results verify the presented method.

  19. Strut Attachment System for In-Space Robotic Assembly, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The size of space systems is currently limited to payload envelopes of existing launch vehicles. Due to this and the customized nature of satellites, existing space...

  20. Strut Attachment System for In-Space Robotic Assembly, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The size of space systems is currently limited to payload envelopes of existing launch vehicles. Due to this and the customized nature of satellites, existing space...

  1. Artificial intelligence - NASA. [robotics for Space Station

    Science.gov (United States)

    Erickson, J. D.

    1985-01-01

    Artificial Intelligence (AI) represents a vital common space support element needed to enable the civil space program and commercial space program to perform their missions successfully. It is pointed out that advances in AI stimulated by the Space Station Program could benefit the U.S. in many ways. A fundamental challenge for the civil space program is to meet the needs of the customers and users of space with facilities enabling maximum productivity and having low start-up costs, and low annual operating costs. An effective way to meet this challenge may involve a man-machine system in which artificial intelligence, robotics, and advanced automation are integrated into high reliability organizations. Attention is given to the benefits, NASA strategy for AI, candidate space station systems, the Space Station as a stepping stone, and the commercialization of space.

  2. Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Application of ARAMIS capabilities to space project functional elements

    Science.gov (United States)

    Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

    1982-01-01

    Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities and their related ground support functions are studied, so that informed decisions can be made on which aspects of ARAMIS to develop. The specific tasks which will be required by future space project tasks are identified and the relative merits of these options are evaluated. The ARAMIS options defined and researched span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

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

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

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

  4. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

    The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

  5. Task-space sensory feedback control of robot manipulators

    CERN Document Server

    Cheah, Chien Chern

    2015-01-01

    This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

  6. RoMPS concept review automatic control of space robot

    Science.gov (United States)

    1991-01-01

    The Robot operated Material Processing in Space (RoMPS) experiment is being performed to explore the marriage of two emerging space commercialization technologies: materials processing in microgravity and robotics. This concept review presents engineering drawings and limited technical descriptions of the RoMPS programs' electrical and software systems.

  7. Automation and robotics for the National Space Program

    Science.gov (United States)

    1985-01-01

    The emphasis on automation and robotics in the augmentation of the human centered systems as it concerns the space station is discussed. How automation and robotics can amplify the capabilities of humans is detailed. A detailed developmental program for the space station is outlined.

  8. Human Robotic Systems (HRS): Robotic ISRU Acquisition Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic ISRU Resource Acquisition project element will develop two technologies:Exploration Ground Data Systems (xGDS)Sample Acquisition on...

  9. System Dynamics and Feedforward Control for Tether-Net Space Robot System

    Directory of Open Access Journals (Sweden)

    Guang Zhai

    2009-06-01

    Full Text Available A new concept using flexible tether-net system to capture space debris is presented in this paper. With a mass point assumption the tether-net system dynamic model is established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories during after cast, the non-control R-bar and V-bar captures are simulated with ignoring the out-of-plane libration, the effect of in-plane libration on the trajectories of the capture net is demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension is investigated firstly, after that an integrated control scheme is proposed by introduced the thrusters into the system, the nonlinear close-loop dynamics is linearised by feedforward strategy, the simulation results show that feedforward controllor is effective for in-plane libration damping and enable the capture net to track an expected trajectory.

  10. Robotics development for the enhancement of space endeavors

    Science.gov (United States)

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

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

  11. 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

  12. Transoral robotic assisted resection of the parapharyngeal space.

    Science.gov (United States)

    Mendelsohn, Abie H

    2015-02-01

    Preliminary case series have reported clinical feasibility and safety of a transoral minimally invasive technique to approach parapharyngeal space masses. With the assistance of the surgical robotic system, tumors within the parapharyngeal space can now be excised safely without neck incisions. A detailed technical description is included. After developing compressive symptoms from a parapharyngeal space lipomatous tumor, the patient was referred by his primary otolaryngologist because of poor open surgical access to the nasopharyngeal component of the tumor. Transoral robotic assisted resection of a 54- × 46-mm parapharyngeal space mass was performed, utilizing 97 minutes of robotic surgical time. Pictorial demonstration of the robotic resection is provided. Parapharyngeal space tumors have traditionally been approached via transcervical skin incisions, typically including blunt dissection from tactile feedback. The transoral robotic approach offers magnified 3D visualization of the parapharyngeal space that allows for complete and safe resection. © 2014 Wiley Periodicals, Inc.

  13. Designing the robot inclusive space challenge

    Directory of Open Access Journals (Sweden)

    Rajesh Elara Mohan

    2015-11-01

    Full Text Available A novel robotic challenge, namely the robot inclusive spaces (RIS challenge, is proposed in this paper, which is a cross disciplinary and design focused initiative. It aims to foster the roboticists, architects, and designers towards realizing robot friendly social spaces. Contrary to conventional robotics competitions focusing on designing robots and its component technologies, robot inclusive spaces challenge adopts an interdisciplinary “design for robots” strategy to overcome the traditional research problem in real world deployments of social robots. In order to realize the RIS, various architectural elements must be adapted including: design principles for inclusive spaces, lighting schemes, furniture choices and arrangement, wall and floor surfaces, pathways among others. This paper introduces the format and design principles of RIS challenge, presents a first run of the challenge, and gives the corresponding analysis.

  14. Robot task space analyzer

    International Nuclear Information System (INIS)

    Hamel, W.R.; Osborn, J.

    1997-01-01

    Many nuclear projects such as environmental restoration and waste management challenges involve radiation or other hazards that will necessitate the use of remote operations that protect human workers from dangerous exposures. Remote work is far more costly to execute than what workers could accomplish directly with conventional tools and practices because task operations are slow and tedious due to difficulties of remote manipulation and viewing. Decades of experience within the nuclear remote operations community show that remote tasks may take hundreds of times longer than hands-on work; even with state-of-the-art force- reflecting manipulators and television viewing, remote task performance execution is five to ten times slower than equivalent direct contact work. Thus the requirement to work remotely is a major cost driver in many projects. Modest improvements in the work efficiency of remote systems can have high payoffs by reducing the completion time of projects. Additional benefits will accrue from improved work quality and enhanced safety

  15. High precision detector robot arm system

    Science.gov (United States)

    Shu, Deming; Chu, Yong

    2017-01-31

    A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

  16. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  17. Robotics in near-earth space

    Science.gov (United States)

    Card, Michael E.

    1991-01-01

    The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

  18. Practical homeostasis lighting control system using sensor agent robots for office space

    Science.gov (United States)

    Tokiwa, Momoko; Mita, Akira

    2014-03-01

    The comfortable space can be changed by season, age, physical condition and the like. However, the current systems are not able to resolve them absolutely. This research proposes the Homeostasis lighting control system based on the mechanism of biotic homeostasis for making the algorithms of apparatus control. Homeostasis are kept by the interaction of the three systems, endocrine system, immune system, and nervous system[1]. By the gradual reaction in the endocrine system, body's protective response in the immune system, and the electrical reaction in the nerve system, we can keep the environments against variable changes. The new lighting control system utilizes this mechanism. Firstly, we focused on legibility and comfort in the office space to construct the control model learning from the endocrine and immune systems. The mechanism of the endocrine system is used for ambient lights in the space is used considering circadian rhythm for comfort. For the legibility, the immune system is used to control considering devices near the human depending on the distance between the human. Simulations and the demonstration were conducted to show the feasibility. Finally, the nerve system was intruded to enhance the system.

  19. Knowledge based systems for intelligent robotics

    Science.gov (United States)

    Rajaram, N. S.

    1982-01-01

    It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

  20. 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

  1. Commanding and Planning for Robots in Space Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — Autonomous and semi-autonomous systems like unmanned spacecraft or robotic vehicles have filled critical roles in NASA's great successes, surviving the harsh...

  2. Dynamics and control of robot for capturing objects in space

    Science.gov (United States)

    Huang, Panfeng

    . After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

  3. Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics

    Science.gov (United States)

    Ezer, Neta; Zumbado, Jennifer Rochlis; Sandor, Aniko; Boyer, Jennifer

    2011-01-01

    Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator

  4. Novelty Search for Soft Robotic Space Exploration

    NARCIS (Netherlands)

    Methenitis, G.; Hennes, D.; Izzo, D.; Visser, A.

    2015-01-01

    The use of soft robots in future space exploration is still a far-fetched idea, but an attractive one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on rough terrain as often faced in extra-planetary environments. Depending on the particular application and

  5. Novelty search for soft robotic space exploration

    NARCIS (Netherlands)

    G. Methenitis (Georgios); D. Hennes; D. Izzo; A. Visser

    2015-01-01

    textabstractThe use of soft robots in future space exploration is still a far-fetched idea, but an attractive one. Soft robots are inherently compliant mechanisms that are well suited for locomotion on rough terrain as often faced in extra-planetary environments. Depending on the particular

  6. Integration of advanced teleoperation technologies for control of space robots

    Science.gov (United States)

    Stagnaro, Michael J.

    1993-01-01

    Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

  7. Space technology and robotics in school projects

    Science.gov (United States)

    Villias, Georgios

    2016-04-01

    Space-related educational activities is a very inspiring and attractive way to involve students into science courses, present them the variety of STEM careers that they can follow, while giving them at the same time the opportunity to develop various practical and communication skills necessary for their future professional development. As part of a large scale extracurricular course in Space Science, Space Technology and Robotics that has been introduced in our school, our students, divided in smaller groups of 3-4 students in each, try to understand the challenges that current and future space exploration is facing. Following a mixture of an inquiry-based learning methodology and hands-on practical activities related with constructions and experiments, students get a glimpse of the pre-mentioned fields. Our main goal is to gain practical knowledge and inspiration from the exciting field of Space, to attain an adequate level of team spirit and effective cooperation, while developing technical and research data-mining skills. We use the following two approaches: 1. Constructive (Technical) approach Designing and constructing various customized robotic machines, that will simulate the future space exploration vehicles and satellites needed to study the atmosphere, surface and subsurface of planets, moons or other planetary bodies of our solar system that have shown some promising indications for the existence of life, taking seriously into account their special characteristics and known existing conditions (like Mars, Titan, Europa & Enceladus). The STEM tools we use are the following: - LEGO Mindstorms: to construct rovers for surface exploration. - Hydrobots: an MIT's SeaPerch program for the construction of submarine semi-autonomous robots. - CanSats: Arduino-based microsatellites able to receive, record & transmit data. - Space balloons: appropriate for high altitude atmospheric measurements & photography. 2. Scientific approach Conducting interesting physics

  8. Human-Automation Allocations for Current Robotic Space Operations

    Science.gov (United States)

    Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

    2018-01-01

    Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To

  9. 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

  10. Robotic Fish Technology and Its Applications to Space Mechatronics

    OpenAIRE

    Yamamoto, Ikuo; Shin, Nobuhiro; Oka, Taishi; Matsui, Miki

    2014-01-01

    The authors have developed a shark ray robotic fish based on biomimetic approaches. The paper describes the newly developed robotic fish technology and its application to mechatronics in the space. It is found that robotic fish technology creates not only new underwater robotics, but also the next generation space mechatronics for geological survey of lunar/planets and dust cleaning in the space station.

  11. Space applications of Automation, Robotics And Machine Intelligence Systems (ARAMIS). Volume 3, phase 2: Executive summary

    Science.gov (United States)

    Akin, D. L.; Minsky, M. L.; Thiel, E. D.; Kurtzman, C. R.

    1983-01-01

    The field of telepresence is defined, and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA's plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies are included. Several space projects are examined in detail to determine what capabilities are required of a telepresence system in order to accomplish various tasks, such as servicing and assembly. The key operational and technological areas are identified, conclusions and recommendations are made for further research, and an example developmental program leading to an operational telepresence servicer is presented.

  12. Robot bicolor system

    Science.gov (United States)

    Yamaba, Kazuo

    1999-03-01

    In case of robot vision, most important problem is the processing speed of acquiring and analyzing images are less than the speed of execution of the robot. In an actual robot color vision system, it is considered that the system should be processed at real time. We guessed this problem might be solved using by the bicolor analysis technique. We have been testing a system which we hope will give us insight to the properties of bicolor vision. The experiment is used the red channel of a color CCD camera and an image from a monochromatic camera to duplicate McCann's theory. To mix the two signals together, the mono image is copied into each of the red, green and blue memory banks of the image processing board and then added the red image to the red bank. On the contrary, pure color images, red, green and blue components are obtained from the original bicolor images in the novel color system after the scaling factor is added to each RGB image. Our search for a bicolor robot vision system was entirely successful.

  13. Robonaut: a robot designed to work with humans in space

    Science.gov (United States)

    Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby

    2003-01-01

    The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

  14. Use of automation and robotics for the Space Station

    Science.gov (United States)

    Cohen, Aaron

    1987-01-01

    An overview is presented of the various possible applications of automation and robotics technology to the Space Station system. The benefits of such technology to the private sector and the national economy are addressed. NASA's overall approach to incorporating advanced technology into the Space Station is examined.

  15. Space Station automation and robotics

    Science.gov (United States)

    1987-01-01

    A group of fifteen students in the Electrical Engineering Department at the University of Maryland, College Park, has been involved in a design project under the sponsorship of NASA Headquarters, NASA Goddard Space Flight Center and the Systems Research Center (SRC) at UMCP. The goal of the NASA/USRA project was to first obtain a refinement of the design work done in Spring 1986 on the proposed Mobile Remote Manipulator System (MRMS) for the Space Station. This was followed by design exercises involving the OMV and two armed service vehicle. Three students worked on projects suggested by NASA Goddard scientists for ten weeks this past summer. The knowledge gained from the summer design exercise has been used to improve our current design of the MRMS. To this end, the following program was undertaken for the Fall semester 1986: (1) refinement of the MRMS design; and (2) addition of vision capability to our design.

  16. Conference on Space and Military Applications of Automation and Robotics

    Science.gov (United States)

    1988-01-01

    Topics addressed include: robotics; deployment strategies; artificial intelligence; expert systems; sensors and image processing; robotic systems; guidance, navigation, and control; aerospace and missile system manufacturing; and telerobotics.

  17. Interaction Challenges in Human-Robot Space Exploration

    Science.gov (United States)

    Fong, Terrence; Nourbakhsh, Illah

    2005-01-01

    In January 2004, NASA established a new, long-term exploration program to fulfill the President's Vision for U.S. Space Exploration. The primary goal of this program is to establish a sustained human presence in space, beginning with robotic missions to the Moon in 2008, followed by extended human expeditions to the Moon as early as 2015. In addition, the program places significant emphasis on the development of joint human-robot systems. A key difference from previous exploration efforts is that future space exploration activities must be sustainable over the long-term. Experience with the space station has shown that cost pressures will keep astronaut teams small. Consequently, care must be taken to extend the effectiveness of these astronauts well beyond their individual human capacity. Thus, in order to reduce human workload, costs, and fatigue-driven error and risk, intelligent robots will have to be an integral part of mission design.

  18. RoMPS concept review automatic control of space robot, volume 2

    Science.gov (United States)

    Dobbs, M. E.

    1991-01-01

    Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.

  19. 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...

  20. Proceedings of the Goddard Space Flight Center Workshop on Robotics for Commercial Microelectronic Processes in Space

    Science.gov (United States)

    1987-01-01

    Potential applications of robots for cost effective commercial microelectronic processes in space were studied and the associated robotic requirements were defined. Potential space application areas include advanced materials processing, bulk crystal growth, and epitaxial thin film growth and related processes. All possible automation of these processes was considered, along with energy and environmental requirements. Aspects of robot capabilities considered include system intelligence, ROM requirements, kinematic and dynamic specifications, sensor design and configuration, flexibility and maintainability. Support elements discussed included facilities, logistics, ground support, launch and recovery, and management systems.

  1. 3D printing of soft robotic systems

    Science.gov (United States)

    Wallin, T. J.; Pikul, J.; Shepherd, R. F.

    2018-06-01

    Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

  2. Robotic systems in spine surgery.

    Science.gov (United States)

    Onen, Mehmet Resid; Naderi, Sait

    2014-01-01

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

  3. Technology demonstration of space intravehicular automation and robotics

    Science.gov (United States)

    Morris, A. Terry; Barker, L. Keith

    1994-01-01

    Automation and robotic technologies are being developed and capabilities demonstrated which would increase the productivity of microgravity science and materials processing in the space station laboratory module, especially when the crew is not present. The Automation Technology Branch at NASA Langley has been working in the area of intravehicular automation and robotics (IVAR) to provide a user-friendly development facility, to determine customer requirements for automated laboratory systems, and to improve the quality and efficiency of commercial production and scientific experimentation in space. This paper will describe the IVAR facility and present the results of a demonstration using a simulated protein crystal growth experiment inside a full-scale mockup of the space station laboratory module using a unique seven-degree-of-freedom robot.

  4. Innovative Robot Archetypes for In-Space Construction and Maintenance

    Science.gov (United States)

    Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher

    2005-01-01

    The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

  5. The role of automation and robotics in space stations

    Science.gov (United States)

    Black, D. C.

    1985-01-01

    Automation and robotics have played important roles in space research, most notably in planetary exploration. While an increased need for automation and robotics in space research is anticipated, some of the major challenges and opportunities for automation and robotics will be provided by the Space Station. Examples of these challenges are briefly reviewed.

  6. 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.

  7. Automation and robotics for the Space Exploration Initiative: Results from Project Outreach

    Science.gov (United States)

    Gonzales, D.; Criswell, D.; Heer, E.

    1991-01-01

    A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested.

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

    Science.gov (United States)

    Fong, Terrence; Nourbakhsh, Illah

    2004-01-01

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

  9. Assistive and Rehabilitation Robotic System

    Directory of Open Access Journals (Sweden)

    Adrian Abrudean

    2015-06-01

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

  10. Robust coordinated control of a dual-arm space robot

    Science.gov (United States)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

    Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

  11. Overview of NASA's In Space Robotic Servicing

    Science.gov (United States)

    Reed, Benjamin B.

    2015-01-01

    The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.

  12. Standards for space automation and robotics

    Science.gov (United States)

    Kader, Jac B.; Loftin, R. B.

    1992-01-01

    The AIAA's Committee on Standards for Space Automation and Robotics (COS/SAR) is charged with the identification of key functions and critical technologies applicable to multiple missions that reflect fundamental consideration of environmental factors. COS/SAR's standards/practices/guidelines implementation methods will be based on reliability, performance, and operations, as well as economic viability and life-cycle costs, simplicity, and modularity.

  13. Automation and robotics - Key to productivity. [in industry and space

    Science.gov (United States)

    Cohen, A.

    1985-01-01

    The automated and robotic systems requirements of the NASA Space Station are prompted by maintenance, repair, servicing and assembly requirements. Trend analyses, fault diagnoses, and subsystem status assessments for the Station's electrical power, guidance, navigation, control, data management and environmental control subsystems will be undertaken by cybernetic expert systems; this will reduce or eliminate on-board or ground facility activities that would otherwise be essential, enhancing system productivity. Additional capabilities may also be obtained through the incorporation of even a limited amount of artificial intelligence in the controllers of the various Space Station systems.

  14. Development of automation and robotics for space via computer graphic simulation methods

    Science.gov (United States)

    Fernandez, Ken

    1988-01-01

    A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

  15. Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

    Science.gov (United States)

    Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

    Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

  16. 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

  17. Summary of astronaut inputs on automation and robotics for Space Station Freedom

    Science.gov (United States)

    Weeks, David J.

    1990-01-01

    Astronauts and payload specialists present specific recommendations in the form of an overview that relate to the use of automation and robotics on the Space Station Freedom. The inputs are based on on-orbit operations experience, time requirements for crews, and similar crew-specific knowledge that address the impacts of automation and robotics on productivity. Interview techniques and specific questionnaire results are listed, and the majority of the responses indicate that incorporating automation and robotics to some extent and with human backup can improve productivity. Specific support is found for the use of advanced automation and EVA robotics on the Space Station Freedom and for the use of advanced automation on ground-based stations. Ground-based control of in-flight robotics is required, and Space Station activities and crew tasks should be analyzed to assess the systems engineering approach for incorporating automation and robotics.

  18. Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

    Science.gov (United States)

    Erickson, Jon D. (Editor)

    1994-01-01

    The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

  19. Automation and robotics for the Space Station - An ATAC perspective

    Science.gov (United States)

    Nunamaker, Robert R.

    1989-01-01

    The study of automation and robotics for the Space Station by the Advanced Technology Advisory Committee is surveyed. The formation of the committee and the methodology for the Space Station automation study are discussed. The committee's recommendations for automation and robotics research and development are listed.

  20. A novel teaching system for industrial robots.

    Science.gov (United States)

    Lin, Hsien-I; Lin, Yu-Hsiang

    2014-03-27

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

  1. Novel robotic systems and future directions

    Directory of Open Access Journals (Sweden)

    Ki Don Chang

    2018-01-01

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

  2. Human Robotic Systems (HRS): Robonaut 2 Technologies Element

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of the Robonaut 2 (R2) Technology Project Element within Human Robotic Systems (HRS) is to developed advanced technologies for infusion into the Robonaut 2...

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

    National Research Council Canada - National Science Library

    Wilson, Edward

    1995-01-01

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

  4. Integrated multi-sensory control of space robot hand

    Science.gov (United States)

    Bejczy, A. K.; Kan, E. P.; Killion, R. R.

    1985-01-01

    Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

  5. The Human-Robot Interaction Operating System

    Science.gov (United States)

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

    2006-01-01

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

  6. Cognitive Tools for Humanoid Robots in Space

    National Research Council Canada - National Science Library

    Sofge, Donald; Perzanowski, Dennis; Skubic, Marjorie; Bugajska, Magdalena; Trafton, J. G; Cassimatis, Nicholas; Brock, Derek; Adams, William; Schultz, Alan

    2004-01-01

    .... The key to achieving this interaction is to provide the robot with sufficient skills for natural communication with humans so that humans can interact with the robot almost as though it were another human...

  7. Automation and robotics for the Space Station - The influence of the Advanced Technology Advisory Committee

    Science.gov (United States)

    Nunamaker, Robert R.; Willshire, Kelli F.

    1988-01-01

    The reports of a committee established by Congress to identify specific systems of the Space Station which would advance automation and robotics technologies are reviewed. The history of the committee, its relation to NASA, and the reports which it has released are discussed. The committee's reports recommend the widespread use of automation and robotics for the Space Station, a program for technology development and transfer between industries and research and development communities, and the planned use of robots to service and repair satellites and their payloads which are accessible from the Space Station.

  8. Multibody system dynamics, robotics and control

    CERN Document Server

    Gerstmayr, Johannes

    2013-01-01

    The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

  9. Medical Robots: Current Systems and Research Directions

    Directory of Open Access Journals (Sweden)

    Ryan A. Beasley

    2012-01-01

    Full Text Available First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.

  10. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

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

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

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

  12. 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

  13. Second Annual Workshop on Space Operations Automation and Robotics (SOAR 1988)

    Science.gov (United States)

    Griffin, Sandy (Editor)

    1988-01-01

    Papers presented at the Second Annual Workshop on Space Operation Automation and Robotics (SOAR '88), hosted by Wright State University at Dayton, Ohio, on July 20, 21, 22, and 23, 1988, are documented herein. During the 4 days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Panel discussions on Human Factors, Artificial Intelligence, Robotics, and Space Systems were held but are not documented herein. Technical topics addressed included knowledge-based systems, human factors, and robotics.

  14. Integrating ISHM with Flight Avionics Architectures for Cyber-Physical Space Systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Autonomous, avionic and robotic systems are used in a variety of applications including launch vehicles, robotic precursor platforms, etc. Most avionic innovations...

  15. Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Doty, Charles R.

    Major resources exist that can be used to develop or upgrade programs in community colleges and technical institutes that educate robotics/automated systems technicians. The first category of resources is Economic, Social, and Education Issues. The Office of Technology Assessment (OTA) report, "Automation and the Workplace," presents analyses of…

  16. An overview of the program to place advanced automation and robotics on the Space Station

    Science.gov (United States)

    Heydorn, Richard P.

    1987-01-01

    The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

  17. A volumetric data system for environmental robotics

    International Nuclear Information System (INIS)

    Tourtellott, J.

    1994-01-01

    A three-dimensional, spatially organized or volumetric data system provides an effective means for integrating and presenting environmental sensor data to robotic systems and operators. Because of the unstructed nature of environmental restoration applications, new robotic control strategies are being developed that include environmental sensors and interactive data interpretation. The volumetric data system provides key features to facilitate these new control strategies including: integrated representation of surface, subsurface and above-surface data; differentiation of mapped and unmapped regions in space; sculpting of regions in space to best exploit data from line-of-sight sensors; integration of diverse sensor data (for example, dimensional, physical/geophysical, chemical, and radiological); incorporation of data provided at different spatial resolutions; efficient access for high-speed visualization and analysis; and geometric modeling tools to update a open-quotes world modelclose quotes of an environment. The applicability to underground storage tank remediation and buried waste site remediation are demonstrated in several examples. By integrating environmental sensor data into robotic control, the volumetric data system will lead to safer, faster, and more cost-effective environmental cleanup

  18. Automatic control system generation for robot design validation

    Science.gov (United States)

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

    2012-01-01

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

  19. Human-Robot Teaming: From Space Robotics to Self-Driving Cars

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    In this talk, I describe how NASA Ames has been developing and testing robots for space exploration. In our research, we have focused on studying how human-robot teams can increase the performance, reduce the cost, and increase the success of space missions. A key tenet of our work is that humans and robots should support one another in order to compensate for limitations of manual control and autonomy. This principle has broad applicability beyond space exploration. Thus, I will conclude by discussing how we have worked with Nissan to apply our methods to self-driving cars, enabling humans to support autonomous vehicles operating in unpredictable and difficult situations.

  20. Teleoperated robotic sorting system

    Science.gov (United States)

    Roos, Charles E.; Sommer, Edward J.; Parrish, Robert H.; Russell, James R.

    2000-01-01

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  1. Cognitive Tools for Humanoid Robots in Space

    National Research Council Canada - National Science Library

    Sofge, Donald; Perzanowski, Dennis; Skubic, Marjorie; Bugajska, Magdalena; Trafton, J. G; Cassimatis, Nicholas; Brock, Derek; Adams, William; Schultz, Alan

    2004-01-01

    ...) to collaborate with a human. The capabilities required of the robot include voice recognition, natural language understanding, gesture recognition, spatial reasoning, and cognitive modeling with perspective-taking...

  2. Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS), phase 2. Volume 1: Telepresence technology base development

    Science.gov (United States)

    Akin, D. L.; Minsky, M. L.; Thiel, E. D.; Kurtzman, C. R.

    1983-01-01

    The field of telepresence is defined, and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA's plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included. Several space projects are examined in detail to determine what capabilities are required of a telepresence system in order to accomplish various tasks, such as servicing and assembly. The key operational and technological areas are identified, conclusions and recommendations are made for further research, and an example developmental program is presented, leading to an operational telepresence servicer.

  3. Planning the Motion of a Robotic Assistant for Space Applications

    Data.gov (United States)

    National Aeronautics and Space Administration — Revolutions in computing hardware and software have brought about an age where robots and people will be able to peacefully and safely co-exist in the same...

  4. Using conceptual spaces to fuse knowledge from heterogeneous robot platforms

    Science.gov (United States)

    Kira, Zsolt

    2010-04-01

    As robots become more common, it becomes increasingly useful for many applications to use them in teams that sense the world in a distributed manner. In such situations, the robots or a central control center must communicate and fuse information received from multiple sources. A key challenge for this problem is perceptual heterogeneity, where the sensors, perceptual representations, and training instances used by the robots differ dramatically. In this paper, we use Gärdenfors' conceptual spaces, a geometric representation with strong roots in cognitive science and psychology, in order to represent the appearance of objects and show how the problem of heterogeneity can be intuitively explored by looking at the situation where multiple robots differ in their conceptual spaces at different levels. To bridge low-level sensory differences, we abstract raw sensory data into properties (such as color or texture categories), represented as Gaussian Mixture Models, and demonstrate that this facilitates both individual learning and the fusion of concepts between robots. Concepts (e.g. objects) are represented as a fuzzy mixture of these properties. We then treat the problem where the conceptual spaces of two robots differ and they only share a subset of these properties. In this case, we use joint interaction and statistical metrics to determine which properties are shared. Finally, we show how conceptual spaces can handle the combination of such missing properties when fusing concepts received from different robots. We demonstrate the fusion of information in real-robot experiments with a Mobile Robots Amigobot and Pioneer 2DX with significantly different cameras and (on one robot) a SICK lidar.ÿÿÿÿ

  5. Functional Modeling for Monitoring of Robotic System

    DEFF Research Database (Denmark)

    Wu, Haiyan; Bateman, Rikke R.; Zhang, Xinxin

    2018-01-01

    With the expansion of robotic applications in the industrial domain, it is important that the robots can execute their tasks in a safe and reliable way. A monitoring system can be implemented to ensure the detection of abnormal situations of the robots and report the abnormality to their human su...

  6. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  7. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  8. Robotic Design Choice Overview using Co-simulation and Design Space Exploration

    DEFF Research Database (Denmark)

    Christiansen, Martin Peter; Larsen, Peter Gorm; Nyholm Jørgensen, Rasmus

    2015-01-01

    . Simulations are used to evaluate the robot model output response in relation to operational demands. An example of a load carrying challenge in relation to the feeding robot is presented and a design space is defined with candidate solutions in both the mechanical and software domains. Simulation results......Rapid robotic system development has created a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present a collaborative modelling technique that combines discrete-event models of controller software with continuous-time models of physical...... robot components. The proposed co-modelling method utilises Vienna Development Method (VDM) and Matlab for discrete-event modelling and 20-sim for continuous-time modelling. The model-based development of a mobile robot mink feeding system is used to illustrate the collaborative modelling method...

  9. Ground Robotic Hand Applications for the Space Program study (GRASP)

    Science.gov (United States)

    Grissom, William A.; Rafla, Nader I. (Editor)

    1992-01-01

    This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

  10. Supervisory control for a complex robotic system

    International Nuclear Information System (INIS)

    Miller, D.J.

    1988-01-01

    The Robotic Radiation Survey and Analysis System investigates the use of advanced robotic technology for performing remote radiation surveys on nuclear waste shipping casks. Robotic systems have the potential for reducing personnel exposure to radiation and providing fast reliable throughput at future repository sites. A primary technology issue is the integrated control of distributed specialized hardware through a modular supervisory software system. Automated programming of robot trajectories based upon mathematical models of the cask and robot coupled with sensory feedback enables flexible operation of a commercial gantry robot with the reliability needed to perform autonomous operations in a hazardous environment. Complexity is managed using structured software engineering techniques resulting in the generation of reusable command primitives which contribute to a software parts catalog for a generalized robot programming language

  11. 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.

  12. Soviet Robots in the Solar System Mission Technologies and Discoveries

    CERN Document Server

    Huntress, JR , Wesley T

    2011-01-01

    The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes

  13. An Interactive Astronaut-Robot System with Gesture Control

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-01-01

    Full Text Available Human-robot interaction (HRI plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM is employed to recognize hand gestures and particle swarm optimization (PSO algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL have been selected and used to test and validate the performance of the proposed system.

  14. Robonaut 2 - The First Humanoid Robot in Space

    Science.gov (United States)

    Diftler, M. A.; Radford, N. A.; Mehling, J. S.; Abdallah, M. E.; Bridgwater, L. B.; Sanders, A. M.; Askew, R. S.; Linn, D. M.; Yamokoski, J. D.; Permenter, F. A.; hide

    2010-01-01

    NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.

  15. Mini AERCam Inspection Robot for Human Space Missions

    Science.gov (United States)

    Fredrickson, Steven E.; Duran, Steve; Mitchell, Jennifer D.

    2004-01-01

    The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.

  16. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

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

    2015-01-01

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

  17. Robotic Services at Home: An Initialization System Based on Robots' Information and User Preferences in Unknown Environments

    Directory of Open Access Journals (Sweden)

    Nor Nur Safwati Mohd

    2014-07-01

    Full Text Available One important issue in robotic services is the construction of the robotic system in the actual environment. In other words, robots must perform environment sensing or have information on real objects, such as location and 3D dimensions, in order to live together with humans. It is crucial to have a mechanism to create an actual robotic system (intelligent space such that there is no initialization framework for the objects in the environment, or we have to perform SLAM and object recognition as well as mapping to generate a useful environmental database. In intelligent space research, normally the objects are attached to various sensors in order to extract the necessary information. However, that approach will highly depend on sensor accuracy and the robotic system will be burdened if there are too many sensors in an environment. Therefore, in this paper we present a system in which a robot can obtain information about an object and even create the furniture layout map for an unknown environment. Our approach is intended to improve home-based robotic services by taking into account the user or individual preferences for the Intelligent Space (IS. With this information, we can create an informational map of the home-based environment for the realization of robot assistance of humans in their daily activities at home, especially for disabled people. The result shows the system design and development in our approach by using model-based system engineering.

  18. An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

    Directory of Open Access Journals (Sweden)

    Cabbar Veysel Baysal

    2010-11-01

    Full Text Available This paper presents a novel Intelligent Inference System (IIS for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.

  19. Human-like robots for space and hazardous environments

    Science.gov (United States)

    1994-01-01

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

  20. Robust online belief space planning in changing environments: Application to physical mobile robots

    KAUST Repository

    Agha-mohammadi, Ali-akbar

    2014-05-01

    © 2014 IEEE. Motion planning in belief space (under motion and sensing uncertainty) is a challenging problem due to the computational intractability of its exact solution. The Feedback-based Information RoadMap (FIRM) framework made an important theoretical step toward enabling roadmap-based planning in belief space and provided a computationally tractable version of belief space planning. However, there are still challenges in applying belief space planners to physical systems, such as the discrepancy between computational models and real physical models. In this paper, we propose a dynamic replanning scheme in belief space to address such challenges. Moreover, we present techniques to cope with changes in the environment (e.g., changes in the obstacle map), as well as unforeseen large deviations in the robot\\'s location (e.g., the kidnapped robot problem). We then utilize these techniques to implement the first online replanning scheme in belief space on a physical mobile robot that is robust to changes in the environment and large disturbances. This method demonstrates that belief space planning is a practical tool for robot motion planning.

  1. Physics Based Vision Systems for Robotic Manipulation

    Data.gov (United States)

    National Aeronautics and Space Administration — With the increase of robotic manipulation tasks (TA4.3), specifically dexterous manipulation tasks (TA4.3.2), more advanced computer vision algorithms will be...

  2. Space station automation: the role of robotics and artificial intelligence (Invited Paper)

    Science.gov (United States)

    Park, W. T.; Firschein, O.

    1985-12-01

    Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

  3. Applications of artificial intelligence to space station and automated software techniques: High level robot command language

    Science.gov (United States)

    Mckee, James W.

    1989-01-01

    The objective is to develop a system that will allow a person not necessarily skilled in the art of programming robots to quickly and naturally create the necessary data and commands to enable a robot to perform a desired task. The system will use a menu driven graphical user interface. This interface will allow the user to input data to select objects to be moved. There will be an imbedded expert system to process the knowledge about objects and the robot to determine how they are to be moved. There will be automatic path planning to avoid obstacles in the work space and to create a near optimum path. The system will contain the software to generate the required robot instructions.

  4. "I would like to get close to you": Making robot personal space invasion less intrusive with a social gaze cue

    DEFF Research Database (Denmark)

    Suvei, Stefan-Daniel; Vroon, Jered; Somoza Sanchez, Vella Veronica

    2018-01-01

    participants (n=83), with/without personal space invasion, and with/without a social gaze cue. With a questionnaire, we measured subjective perception of warmth, competence, and comfort after such an interaction. In addition, we used on-board sensors and a tracking system to measure the dynamics of social......How can a social robot get physically close to the people it needs to interact with? We investigated the effect of a social gaze cue by a human-sized mobile robot on the effects of personal space invasion by that robot. In our 2x2 between-subject experiment, our robot would approach our...

  5. Human-Robot Site Survey and Sampling for Space Exploration

    Science.gov (United States)

    Fong, Terrence; Bualat, Maria; Edwards, Laurence; Flueckiger, Lorenzo; Kunz, Clayton; Lee, Susan Y.; Park, Eric; To, Vinh; Utz, Hans; Ackner, Nir

    2006-01-01

    NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.

  6. 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

  7. Passive Control of Attachment in Legged Space Robots

    Directory of Open Access Journals (Sweden)

    Alessandro Gasparetto

    2010-01-01

    Full Text Available In the space environment the absence of gravity calls for constant safe attachment of any loose object, but the low-pressure conditions prohibit the use of glue-type adhesives. The attachment system of freely hunting spiders, e.g. Evarcha arcuata, employs van der Waals forces and mechanical interlocking. Furthermore, detachment is achieved passively and requires little force. Hence, the spider serves as a model for a versatile legged robot for space applications, e.g. on the outer surface of a space station. In this paper, we analyse the dry attachment systems of E. arcuata and geckos as well as the kinematics of freely hunting spiders. We generalise the results of biological studies on spider locomotion and mobility, including the major movement and the position constraints set by the dry adhesion system. From these results, we define a simplified spider model and study the overall kinematics of the legs both in flight and in contact with the surface. The kinematic model, the data on spider gait characteristics and the adhesion constraints are implemented in a kinematic simulator. The simulator results confirm the principal functionality of our concept.

  8. Space station as a vital focus for advancing the technologies of automation and robotics

    Science.gov (United States)

    Varsi, Giulio; Herman, Daniel H.

    1988-01-01

    A major guideline for the design of the U.S. Space Station is that the Space Station address a wide variety of functions. These functions include the servicing of unmanned assets in space, the support of commercial labs in space and the efficient management of the Space Station itself; the largest space asset. The technologies of Automation and Robotics have the promise to help in reducing Space Station operating costs and to achieve a highly efficient use of the human in space. The use of advanced automation and artificial intelligence techniques, such as expert systems, in Space Station subsystems for activity planning and failure mode management will enable us to reduce dependency on a mission control center and could ultimately result in breaking the umbilical link from Earth to the Space Station. The application of robotic technologies with advanced perception capability and hierarchical intelligent control to servicing system will enable the servicing of assets either in space or in situ with a high degree of human efficiency. The results of studies leading toward the formulation of an automation and robotics plan for Space Station development are presented.

  9. Task oriented evaluation system for maintenance robots

    International Nuclear Information System (INIS)

    Asame, Hajime; Endo, Isao; Kotosaka, Shin-ya; Takata, Shozo; Hiraoka, Hiroyuki; Kohda, Takehisa; Matsumoto, Akihiro; Yamagishi, Kiichiro.

    1994-01-01

    The adaptability evaluation of maintenance robots to autonomous plants has been discussed. In this paper, a new concept of autonomous plant with maintenance robots are introduced, and a framework of autonomous maintenance system is proposed. Then, task-oriented evaluation of robot arms is discussed for evaluating their adaptability to maintenance tasks, and a new criterion called operability is proposed for adaptability evaluation. The task-oriented evaluation system is implemented and applied to structural design of robot arms. Using genetic algorithm, an optimal structure adaptable to a pump disassembly task is obtained. (author)

  10. i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

    Science.gov (United States)

    1990-01-01

    The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

  11. A&R challenges for in-space operations. [Automation and Robotic technologies

    Science.gov (United States)

    Underwood, James

    1990-01-01

    Automation and robotics (A&R) challenges for in-space operations are examined, with emphasis on the interaction between developing requirements, developing solutions, design concepts, and the nature of the applicability of automation in robotic technologies. Attention is first given to the use of A&R in establishing outposts on the moon and Mars. Then emphasis is placed on the requirements for the assembly of transportation systems in low earth orbit. Concepts of the Space Station which show how the assembly, processing, and checkout of systems in LEO might be accommodated are examined.

  12. Robotic system for process sampling

    International Nuclear Information System (INIS)

    Dyches, G.M.

    1985-01-01

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

  13. A new method to evaluate human-robot system performance

    Science.gov (United States)

    Rodriguez, G.; Weisbin, C. R.

    2003-01-01

    One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

  14. Sensor-guided parking system for a carlike robot

    Science.gov (United States)

    Jiang, Kaichum; Seneviratne, L. D.

    1998-07-01

    This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.

  15. Robotic system for glovebox size reduction

    International Nuclear Information System (INIS)

    KWOK, KWAN S.; MCDONALD, MICHAEL J.

    2000-01-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction

  16. Robotic exploration of the solar system

    CERN Document Server

    Ulivi, Paolo

    In Robotic Exploration of the Solar System, Paolo Ulivi and David Harland provide a comprehensive account of the design and managment of deep-space missions, the spacecraft involved - some flown, others not - their instruments, and their scientific results. This third volume in the series covers launches in the period 1997 to 2003 and features: - a chapter entirely devoted to the Cassini-Huygens mission to Saturn; - coverage of planetary missions of the period, including the Deep Space 1 mission and the Stardust and Hayabusa sample returns from comets and asteroids; - extensive coverage of Mars exploration, the failed 1999 missions, Mars Odyssey, Mars Express, and the twin rovers Spirit and Opportunity. The story will continue in Part 4.

  17. Robot Skills for Transformable Manufacturing Systems

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath

    Efficient, transformable production systems need robots that are flexible and effortlessly repurposed or reconfigured. The present dissertation argues that this can be achieved through the implementation and use of general, object-centered robot skills. In this dissertation, we focus on the design...... autonomously, exactly when it is needed. It is the firm belief of this researcher that industrial robotics need to go in a direction towards what is outlined in this dissertation, both in academia and in the industry. In order for manufacturing companies to remain competitive, robotics is the definite way...

  18. Advanced Space Surface Systems Operations

    Science.gov (United States)

    Huffaker, Zachary Lynn; Mueller, Robert P.

    2014-01-01

    The importance of advanced surface systems is becoming increasingly relevant in the modern age of space technology. Specifically, projects pursued by the Granular Mechanics and Regolith Operations (GMRO) Lab are unparalleled in the field of planetary resourcefulness. This internship opportunity involved projects that support properly utilizing natural resources from other celestial bodies. Beginning with the tele-robotic workstation, mechanical upgrades were necessary to consider for specific portions of the workstation consoles and successfully designed in concept. This would provide more means for innovation and creativity concerning advanced robotic operations. Project RASSOR is a regolith excavator robot whose primary objective is to mine, store, and dump regolith efficiently on other planetary surfaces. Mechanical adjustments were made to improve this robot's functionality, although there were some minor system changes left to perform before the opportunity ended. On the topic of excavator robots, the notes taken by the GMRO staff during the 2013 and 2014 Robotic Mining Competitions were effectively organized and analyzed for logistical purposes. Lessons learned from these annual competitions at Kennedy Space Center are greatly influential to the GMRO engineers and roboticists. Another project that GMRO staff support is Project Morpheus. Support for this project included successfully producing mathematical models of the eroded landing pad surface for the vertical testbed vehicle to predict a timeline for pad reparation. And finally, the last project this opportunity made contribution to was Project Neo, a project exterior to GMRO Lab projects, which focuses on rocket propulsion systems. Additions were successfully installed to the support structure of an original vertical testbed rocket engine, thus making progress towards futuristic test firings in which data will be analyzed by students affiliated with Rocket University. Each project will be explained in

  19. Visual Detection and Tracking System for a Spherical Amphibious Robot.

    Science.gov (United States)

    Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

    2017-04-15

    With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

  20. Visual Detection and Tracking System for a Spherical Amphibious Robot

    Science.gov (United States)

    Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

    2017-01-01

    With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134

  1. Robonaut 2 - Building a Robot on the International Space Station

    Science.gov (United States)

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

    2015-01-01

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

  2. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    Science.gov (United States)

    2015-09-01

    Palmer, “Development of a navigation system for semi-autonomous operation of wheelchairs,” in Proc. of the 8th IEEE/ASME Int. Conf. on Mechatronic ...and Embedded Systems and Applications, Suzhou, China, 2012, pp. 257-262. [30] G. Grisetti, C. Stachniss, and W. Burgard, “Improving grid-based SLAM...OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples

  3. Provoking Performing Objects: Expanding the Design Space for Soft Robotics

    DEFF Research Database (Denmark)

    Bewley, Harvey; Vallgårda, Anna

    2017-01-01

    Soft robots are typically developed with specific functions in mind. What we propose here is to shift focus to their aesthetic and performative qualities as means to open up a larger space of potential expressions and tacit abilities of these animated artefacts. Basically, to focus on the aesthetic...

  4. Artificial intelligence planning applications for space exploration and space robotics

    Science.gov (United States)

    Rokey, Mark; Grenander, Sven

    1986-01-01

    Mission sequencing involves the plan for actuation of the experiments to be conducted aboard a spacecraft; automation is under study by NASA as a means to reduce time and manpower costs in mission planning and in robotic implementation. The development of a mission sequence is conditioned by the limited duration of advantageous spacecraft encounters with objects of study, more research requests than can be satisfied, and requested changes in objectives. Autonomous robot development is hampered by the absence of task-level programming languages, the existence of anomalies in real-world interactions, and a lack of required capabilities in current sensor technology.

  5. Obstacle avoidance handling and mixed integer predictive control for space robots

    Science.gov (United States)

    Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping

    2018-04-01

    This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance

  6. The Oak Ridge National Laboratory's Robotics and Intelligent Systems Program

    International Nuclear Information System (INIS)

    Meacham, S.A.

    1987-01-01

    The goals of the newly formed Robotics and Intelligent Systems Program are discussed. The application of the remote systems technology developed by the Consolidated Fuel Reprocessing Program for the Department of Energy is presented. The activities (satellite refueling and space station truss assembly) with the National Aeronautics and Space Administration are presented in a videotape format with narration by the presenter. The goals of technology transfer to the private sector and the potential positive impact on the community conclude the oral presentation

  7. Integrated Robotic systems for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    E. Colon

    2007-06-01

    Full Text Available This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typical data acquisition results obtained during trial campaigns with robots and data acquisition systems are reported. Lessons learned during the project and future work conclude this paper.

  8. Sprint: The first flight demonstration of the external work system robots

    Science.gov (United States)

    Price, Charles R.; Grimm, Keith

    1995-01-01

    The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

  9. 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.

  10. Mobile Mixed-Reality Interfaces That Enhance Human–Robot Interaction in Shared Spaces

    Directory of Open Access Journals (Sweden)

    Jared A. Frank

    2017-06-01

    Full Text Available Although user interfaces with gesture-based input and augmented graphics have promoted intuitive human–robot interactions (HRI, they are often implemented in remote applications on research-grade platforms requiring significant training and limiting operator mobility. This paper proposes a mobile mixed-reality interface approach to enhance HRI in shared spaces. As a user points a mobile device at the robot’s workspace, a mixed-reality environment is rendered providing a common frame of reference for the user and robot to effectively communicate spatial information for performing object manipulation tasks, improving the user’s situational awareness while interacting with augmented graphics to intuitively command the robot. An evaluation with participants is conducted to examine task performance and user experience associated with the proposed interface strategy in comparison to conventional approaches that utilize egocentric or exocentric views from cameras mounted on the robot or in the environment, respectively. Results indicate that, despite the suitability of the conventional approaches in remote applications, the proposed interface approach provides comparable task performance and user experiences in shared spaces without the need to install operator stations or vision systems on or around the robot. Moreover, the proposed interface approach provides users the flexibility to direct robots from their own visual perspective (at the expense of some physical workload and leverages the sensing capabilities of the tablet to expand the robot’s perceptual range.

  11. Augmented Robotics Dialog System for Enhancing Human–Robot Interaction

    Science.gov (United States)

    Alonso-Martín, Fernando; Castro-González, Aívaro; de Gorostiza Luengo, Francisco Javier Fernandez; Salichs, Miguel Ángel

    2015-01-01

    Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human–robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human–robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications. PMID:26151202

  12. Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

    Science.gov (United States)

    Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

    2003-01-01

    The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

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

    Directory of Open Access Journals (Sweden)

    Addythia Saphala

    2015-10-01

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

  14. Robot calibration with a photogrammetric on-line system using reseau scanning cameras

    Science.gov (United States)

    Diewald, Bernd; Godding, Robert; Henrich, Andreas

    1994-03-01

    The possibility for testing and calibration of industrial robots becomes more and more important for manufacturers and users of such systems. Exacting applications in connection with the off-line programming techniques or the use of robots as measuring machines are impossible without a preceding robot calibration. At the LPA an efficient calibration technique has been developed. Instead of modeling the kinematic behavior of a robot, the new method describes the pose deviations within a user-defined section of the robot's working space. High- precision determination of 3D coordinates of defined path positions is necessary for calibration and can be done by digital photogrammetric systems. For the calibration of a robot at the LPA a digital photogrammetric system with three Rollei Reseau Scanning Cameras was used. This system allows an automatic measurement of a large number of robot poses with high accuracy.

  15. A System for Complex Robotic Welding

    DEFF Research Database (Denmark)

    Madsen, Ole; Sørensen, Carsten Bro; Olsen, Birger

    2002-01-01

    This paper presents the architecture of a system for robotic welding of complex tasks. The system integrates off-line programming, control of redundant robots, collision-free motion planning and sensor-based control. An implementation for pipe structure welding made at Odense Steel Shipyard Ltd......., Denmark, demonstrates the system can be used for automatic welding of complex products in one-of-a-kind production....

  16. Integrated Robotic Systems for Humanitarian Demining

    OpenAIRE

    Colon, E.; Cubber, G. De; Ping, H.; Habumuremyi, J-C; Sahli, H.; Baudoin, Y.

    2007-01-01

    This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typica...

  17. RASSOR - Regolith Advanced Surface Systems Operations Robot

    Science.gov (United States)

    Gill, Tracy R.; Mueller, Rob

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) is a lightweight excavator for mining in reduced gravity. RASSOR addresses the need for a lightweight (robot that is able to overcome excavation reaction forces while operating in reduced gravity environments such as the moon or Mars. A nominal mission would send RASSOR to the moon to operate for five years delivering regolith feedstock to a separate chemical plant, which extracts oxygen from the regolith using H2 reduction methods. RASSOR would make 35 trips of 20 kg loads every 24 hours. With four RASSORs operating at one time, the mission would achieve 10 tonnes of oxygen per year (8 t for rocket propellant and 2 t for life support). Accessing craters in space environments may be extremely hard and harsh due to volatile resources - survival is challenging. New technologies and methods are required. RASSOR is a product of KSC Swamp Works which establishes rapid, innovative and cost effective exploration mission solutions by leveraging partnerships across NASA, industry and academia.

  18. ROBOSIM, a simulator for robotic systems

    Science.gov (United States)

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

    1991-01-01

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

  19. Development of haptic system for surgical robot

    Science.gov (United States)

    Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

    2017-04-01

    In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

  20. Advancing automation and robotics technology for the space station and the US economy

    Science.gov (United States)

    Cohen, A.

    1985-01-01

    In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and rebotics for use in the space station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the space station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the space station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

  1. Robotic system construction with mechatronic components inverted pendulum: humanoid robot

    Science.gov (United States)

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

    2017-03-01

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

  2. Modelling cooperation of industrial robots as multi-agent systems

    Science.gov (United States)

    Hryniewicz, P.; Banas, W.; Foit, K.; Gwiazda, A.; Sekala, A.

    2017-08-01

    Nowadays, more and more often in a cell is more than one robot, there is also a dual arm robots, because of this cooperation of two robots in the same space becomes more and more important. Programming robotic cell consisting of two or more robots are currently performed separately for each element of the robot and the cell. It is performed only synchronization programs, but no robot movements. In such situations often placed industrial robots so they do not have common space so the robots are operated separately. When industrial robots are a common space this space can occupy only one robot the other one must be outside the common space. It is very difficult to find applications where two robots are in the same workspace. It was tested but one robot did not do of movement when moving the second and waited for permission to move from the second when it sent a permit - stop the move. Such programs are very difficult and require a lot of experience from the programmer and must be tested separately at the beginning and then very slowly under control. Ideally, the operator takes care of exactly one robot during the test and it is very important to take special care.

  3. Towards an Explanation Generation System for Robots: Analysis and Recommendations

    Directory of Open Access Journals (Sweden)

    Ben Meadows

    2016-10-01

    Full Text Available A fundamental challenge in robotics is to reason with incomplete domain knowledge to explain unexpected observations and partial descriptions extracted from sensor observations. Existing explanation generation systems draw on ideas that can be mapped to a multidimensional space of system characteristics, defined by distinctions, such as how they represent knowledge and if and how they reason with heuristic guidance. Instances in this multidimensional space corresponding to existing systems do not support all of the desired explanation generation capabilities for robots. We seek to address this limitation by thoroughly understanding the range of explanation generation capabilities and the interplay between the distinctions that characterize them. Towards this objective, this paper first specifies three fundamental distinctions that can be used to characterize many existing explanation generation systems. We explore and understand the effects of these distinctions by comparing the capabilities of two systems that differ substantially along these axes, using execution scenarios involving a robot waiter assisting in seating people and delivering orders in a restaurant. The second part of the paper uses this study to argue that the desired explanation generation capabilities corresponding to these three distinctions can mostly be achieved by exploiting the complementary strengths of the two systems that were explored. This is followed by a discussion of the capabilities related to other major distinctions to provide detailed recommendations for developing an explanation generation system for robots.

  4. Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)

    Science.gov (United States)

    Griffin, Sandy (Editor)

    1990-01-01

    Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon B. Johnson Space Center at Houston, Texas, on July 25 to 27, 1989, are given. Approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA Artificial Intelligence Overview and Expert System Verification and Validation.

  5. Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

    Science.gov (United States)

    Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

    2000-01-01

    There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

  6. Automation and robotics technology for intelligent mining systems

    Science.gov (United States)

    Welsh, Jeffrey H.

    1989-01-01

    The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

  7. Automatic Battery Swap System for Home Robots

    Directory of Open Access Journals (Sweden)

    Juan Wu

    2012-12-01

    Full Text Available This paper presents the design and implementation of an automatic battery swap system for the prolonged activities of home robots. A battery swap station is proposed to implement battery off-line recharging and on-line exchanging functions. It consists of a loading and unloading mechanism, a shifting mechanism, a locking device and a shell. The home robot is a palm-sized wheeled robot with an onboard camera and a removable battery case in the front. It communicates with the battery swap station wirelessly through ZigBee. The influences of battery case deflection and robot docking deflection on the battery swap operations have been investigated. The experimental results show that it takes an average time of 84.2s to complete the battery swap operations. The home robot does not have to wait several hours for the batteries to be fully charged. The proposed battery swap system is proved to be efficient in home robot applications that need the robots to work continuously over a long period.

  8. Safety assessment of high consequence robotics system

    International Nuclear Information System (INIS)

    Robinson, D.G.; Atcitty, C.B.

    1996-01-01

    This paper outlines the use of a failure modes and effects analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, the weigh and leak check system, is to replace a manual process for weight and leakage of nuclear materials at the DOE Pantex facility. Failure modes and effects analyses were completed for the robotics process to ensure that safety goals for the systems have been met. Due to the flexible nature of the robot configuration, traditional failure modes and effects analysis (FMEA) were not applicable. In addition, the primary focus of safety assessments of robotics systems has been the protection of personnel in the immediate area. In this application, the safety analysis must account for the sensitivities of the payload as well as traditional issues. A unique variation on the classical FMEA was developed that permits an organized and quite effective tool to be used to assure that safety was adequately considered during the development of the robotic system. The fundamental aspects of the approach are outlined in the paper

  9. Cask system design guidance for robotic handling

    International Nuclear Information System (INIS)

    Griesmeyer, J.M.; Drotning, W.D.; Morimoto, A.K.; Bennett, P.C.

    1990-10-01

    Remote automated cask handling has the potential to reduce both the occupational exposure and the time required to process a nuclear waste transport cask at a handling facility. The ongoing Advanced Handling Technologies Project (AHTP) at Sandia National Laboratories is described. AHTP was initiated to explore the use of advanced robotic systems to perform cask handling operations at handling facilities for radioactive waste, and to provide guidance to cask designers regarding the impact of robotic handling on cask design. The proof-of-concept robotic systems developed in AHTP are intended to extrapolate from currently available commercial systems to the systems that will be available by the time that a repository would be open for operation. The project investigates those cask handling operations that would be performed at a nuclear waste repository facility during cask receiving and handling. The ongoing AHTP indicates that design guidance, rather than design specification, is appropriate, since the requirements for robotic handling do not place severe restrictions on cask design but rather focus on attention to detail and design for limited dexterity. The cask system design features that facilitate robotic handling operations are discussed, and results obtained from AHTP design and operation experience are summarized. The application of these design considerations is illustrated by discussion of the robot systems and their operation on cask feature mock-ups used in the AHTP project. 11 refs., 11 figs

  10. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

    Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  11. An automated miniature robotic vehicle inspection system

    Energy Technology Data Exchange (ETDEWEB)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  12. An automated miniature robotic vehicle inspection system

    International Nuclear Information System (INIS)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-01-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software

  13. A Fast Vision System for Soccer Robot

    Directory of Open Access Journals (Sweden)

    Tianwu Yang

    2012-01-01

    Full Text Available This paper proposes a fast colour-based object recognition and localization for soccer robots. The traditional HSL colour model is modified for better colour segmentation and edge detection in a colour coded environment. The object recognition is based on only the edge pixels to speed up the computation. The edge pixels are detected by intelligently scanning a small part of whole image pixels which is distributed over the image. A fast method for line and circle centre detection is also discussed. For object localization, 26 key points are defined on the soccer field. While two or more key points can be seen from the robot camera view, the three rotation angles are adjusted to achieve a precise localization of robots and other objects. If no key point is detected, the robot position is estimated according to the history of robot movement and the feedback from the motors and sensors. The experiments on NAO and RoboErectus teen-size humanoid robots show that the proposed vision system is robust and accurate under different lighting conditions and can effectively and precisely locate robots and other objects.

  14. An integrated control scheme for space robot after capturing non-cooperative target

    Science.gov (United States)

    Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

    2018-06-01

    How to identify the mass properties and eliminate the unknown angular momentum of space robotic system after capturing a non-cooperative target is of great challenge. This paper focuses on designing an integrated control framework which includes detumbling strategy, coordination control and parameter identification. Firstly, inverted and forward chain approaches are synthesized for space robot to obtain dynamic equation in operational space. Secondly, a detumbling strategy is introduced using elementary functions with normalized time, while the imposed end-effector constraints are considered. Next, a coordination control scheme for stabilizing both base and end-effector based on impedance control is implemented with the target's parameter uncertainty. With the measurements of the forces and torques exerted on the target, its mass properties are estimated during the detumbling process accordingly. Simulation results are presented using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.

  15. Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

    Science.gov (United States)

    Klein, C. A.; Patterson, M. R.

    1982-01-01

    Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

  16. Astrobee: A New Platform for Free-Flying Robotics on the International Space Station

    Science.gov (United States)

    Smith, Trey; Barlow, Jonathan; Bualat, Maria; Fong, Terrence; Provencher, Christopher; Sanchez, Hugo; Smith, Ernest

    2016-01-01

    The Astrobees are next-generation free-flying robots that will operate in the interior of the International Space Station (ISS). Their primary purpose is to provide a flexible platform for research on zero-g freeflying robotics, with the ability to carry a wide variety of future research payloads and guest science software. They will also serve utility functions: as free-flying cameras to record video of astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. The Astrobee system includes two robots, a docking station, and a ground data system (GDS). It is developed by the Human Exploration Telerobotics 2 (HET-2) Project, which began in Oct. 2014, and will deliver the Astrobees for launch to ISS in 2017. This paper covers selected aspects of the Astrobee design, focusing on capabilities relevant to potential users of the platform.

  17. Robots testing robots: ALAN-Arm, a humanoid arm for the testing of robotic rehabilitation systems.

    Science.gov (United States)

    Brookes, Jack; Kuznecovs, Maksims; Kanakis, Menelaos; Grigals, Arturs; Narvidas, Mazvydas; Gallagher, Justin; Levesley, Martin

    2017-07-01

    Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems are often high powered, and exoskeletal systems can attach to the person in a restrictive manner. Therefore, ensuring the mechanical safety of these devices before they come in contact with individuals is a priority. Additionally, rehabilitation systems may use novel sensor systems to measure current arm position. Used to capture and assess patient movements, these first need to be verified for accuracy by an external system. We present the ALAN-Arm, a humanoid robotic arm designed to be used for both accuracy benchmarking and safety testing of robotic rehabilitation systems. The system can be attached to a rehabilitation device and then replay generated or human movement trajectories, as well as autonomously play rehabilitation games or activities. Tests of the ALAN-Arm indicated it could recreate the path of a generated slow movement path with a maximum error of 14.2mm (mean = 5.8mm) and perform cyclic movements up to 0.6Hz with low gain (<1.5dB). Replaying human data trajectories showed the ability to largely preserve human movement characteristics with slightly higher path length and lower normalised jerk.

  18. ASI's space automation and robotics programs: The second step

    Science.gov (United States)

    Dipippo, Simonetta

    1994-01-01

    The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.

  19. Siroco, a configurable robot control system

    International Nuclear Information System (INIS)

    Tejedor, B.G.; Maraggi, G.J.B.

    1988-01-01

    The SIROCO (Configurable Robot Control System) is an electronic system designed to work in applications where mechanized remote control equipment and robots are necessary especially in Nuclear Power Plants. The structure of the system (hardware and software) determines the following user characteristics: a) Reduction in the time spent in NDT and in radiation doses absorbed, due to remote control operation; b) possibility for full automation in NDT, c) the system can simultaneously control up to six axes and can generate movements in remote areas; and d) possibility for equipment unification, due to SIROCO being a configurable system. (author)

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

    Science.gov (United States)

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

    2018-05-01

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

  1. Study on system integration of robots operated in nuclear fusion facility and nuclear power plant facilities

    International Nuclear Information System (INIS)

    Oka, Kiyoshi

    2004-07-01

    A present robot is required to apply to many fields such as amusement, welfare and protection against disasters. The are however only limited numbers of the robots, which can work under the actual conditions as a robot system. It is caused by the following reasons: (1) the robot system cannot be realized by the only collection of the elemental technologies, (2) the performance of the robot is determined by that of the integrated system composed of the complicated elements with many functions, and (3) the respective elements have to be optimized in the integrated robot system with a well balance among them, through their examination, adjustment and improvement. Therefore, the system integration of the robot composed of a large number of elements is the most critical issue to realize the robot system for actual use. In the present paper, I describe the necessary approaches and elemental technologies to solve the issues on the system integration of the typical robot systems for maintenance in the nuclear fusion facility and rescue in the accident of the nuclear power plant facilities. These robots work under the intense radiation condition and restricted space in place of human. In particular, I propose a new approach to realize the system integration of the robot for actual use from the viewpoints of not only the environment and working conditions but also the restructure and optimization of the required elemental technologies with a well balance in the robot system. Based on the above approach, I have a contribution to realize the robot systems working under the actual conditions for maintenance in the nuclear fusion facility and rescue in the accident of the nuclear power plant facilities. (author)

  2. Smart mobile robot system for rubbish collection

    Science.gov (United States)

    Ali, Mohammed A. H.; Sien Siang, Tan

    2018-03-01

    This paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. The objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. This paper explained about the types of image processing, detection and recognition methods and image filters. This project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. This project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

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

    Directory of Open Access Journals (Sweden)

    Mazen Ghandour

    2017-06-01

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

  4. System for exchanging tools and end effectors on a robot

    International Nuclear Information System (INIS)

    Burry, D.B.; Williams, P.M.

    1991-01-01

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot. 12 figures

  5. A Method for Estimating Costs and Benefits of Space Assembly and Servicing By Astronauts and Robots

    Science.gov (United States)

    Purves, Lloyd R.; Benfield, Mark (Technical Monitor)

    2002-01-01

    One aspect of designing future space missions is to determine whether Space Assembly and Servicing (SAS) is useful and, if so, what combination of robots and astronauts provides the most effective means of accomplishing it. Certain aspects of these choices, such as the societal value of developing the means for humans to live in space, do not lend themselves to quantification. However, other SAS costs and benefits can be quantified in a manner that can help select the most cost-effective SAS approach. Any space facility, whether it is assembled and serviced or not, entails an eventual replacement cost due to wear and obsolescence. Servicing can reduce this cost by limiting replacement to only failed or obsolete components. However, servicing systems, such as space robots, have their own logistics cost, and astronauts can have even greater logistics requirements. On the other hand, humans can be more capable than robots at performing dexterous and unstructured tasks, which can reduce logistics costs by allowing a reduction in mass of replacement components. Overall, the cost-effectiveness of astronaut SAS depends on its efficiency; and, if astronauts have to be wholly justified by their servicing usefulness, then the serviced space facility has to be large enough to fully occupy them.

  6. Space Station Freedom automation and robotics: An assessment of the potential for increased productivity

    Science.gov (United States)

    Weeks, David J.; Zimmerman, Wayne F.; Swietek, Gregory E.; Reid, David H.; Hoffman, Ronald B.; Stammerjohn, Lambert W., Jr.; Stoney, William; Ghovanlou, Ali H.

    1990-01-01

    This report presents the results of a study performed in support of the Space Station Freedom Advanced Development Program, under the sponsorship of the Space Station Engineering (Code MT), Office of Space Flight. The study consisted of the collection, compilation, and analysis of lessons learned, crew time requirements, and other factors influencing the application of advanced automation and robotics, with emphasis on potential improvements in productivity. The lessons learned data collected were based primarily on Skylab, Spacelab, and other Space Shuttle experiences, consisting principally of interviews with current and former crew members and other NASA personnel with relevant experience. The objectives of this report are to present a summary of this data and its analysis, and to present conclusions regarding promising areas for the application of advanced automation and robotics technology to the Space Station Freedom and the potential benefits in terms of increased productivity. In this study, primary emphasis was placed on advanced automation technology because of its fairly extensive utilization within private industry including the aerospace sector. In contrast, other than the Remote Manipulator System (RMS), there has been relatively limited experience with advanced robotics technology applicable to the Space Station. This report should be used as a guide and is not intended to be used as a substitute for official Astronaut Office crew positions on specific issues.

  7. Remote-controlled vision-guided mobile robot system

    Science.gov (United States)

    Ande, Raymond; Samu, Tayib; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

  8. 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

  9. Artificial intelligence in robot control systems

    Science.gov (United States)

    Korikov, A.

    2018-05-01

    This paper analyzes modern concepts of artificial intelligence and known definitions of the term "level of intelligence". In robotics artificial intelligence system is defined as a system that works intelligently and optimally. The author proposes to use optimization methods for the design of intelligent robot control systems. The article provides the formalization of problems of robotic control system design, as a class of extremum problems with constraints. Solving these problems is rather complicated due to the high dimensionality, polymodality and a priori uncertainty. Decomposition of the extremum problems according to the method, suggested by the author, allows reducing them into a sequence of simpler problems, that can be successfully solved by modern computing technology. Several possible approaches to solving such problems are considered in the article.

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

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

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

  11. Informed Design to Robotic Production Systems; Developing Robotic 3D Printing System for Informed Material Deposition

    NARCIS (Netherlands)

    Mostafavi, S.; Bier, H.; Bodea, S.; Anton, A.M.

    2015-01-01

    This paper discusses the development of an informed Design-to-Robotic-Production (D2RP) system for additive manufacturing to achieve performative porosity in architecture at various scales. An extended series of experiments on materiality, fabrication and robotics were designed and carried out

  12. Development of a robot system for converter relining; Tenro chikuro robot system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Ito, Y; Kurahashi, M [Nissan Motor Co. Ltd., Tokyo (Japan)

    1995-09-12

    In steelmaking plants, the relining work of converters requires plenty of manpower and time. Recently, the number of expert brick workers has decreased, and it has been difficult to get together the necessary number of workers for the converter relining. To solve these problems, a robot system has been developed and realized for the converter relining. The system consists of two intelligent robots and an automatic brick conveying machine. With visual function and flexibly controlled hands, the robot enables to heap up bricks in the same manner as expert workers do. The automatic brick conveying machine consists of roller conveyers and a cage lifter that convey bricks on palettes to the suitable position for the robot to easily handle. This robot system has enabled to save much labor for the converter relining. 8 figs.

  13. Developing stereo image based robot control system

    Energy Technology Data Exchange (ETDEWEB)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  14. Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

    Science.gov (United States)

    Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

    1990-01-01

    Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

  15. Advancing automation and robotics technology for the Space Station and for the US economy, volume 2

    Science.gov (United States)

    1985-01-01

    In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization.

  16. Robot operating system (ROS) the complete reference

    CERN Document Server

    The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.   ...

  17. Advancing automation and robotics technology for the Space Station and for the US economy. Volume 1: Executive overview

    Science.gov (United States)

    1985-01-01

    In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the Space Station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the Space Station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

  18. Neurosurgical robotic arm drilling navigation system.

    Science.gov (United States)

    Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

    2017-09-01

    The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

  19. Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

    Science.gov (United States)

    Meintel, A. J., Jr.; Will, R. W.

    1985-01-01

    This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

  20. Robots for hazardous duties: Military, space, and nuclear facility applications. (Latest citations from the NTIS bibliographic database). Published Search

    International Nuclear Information System (INIS)

    1993-09-01

    The bibliography contains citations concerning the design and application of robots used in place of humans where the environment could be hazardous. Military applications include autonomous land vehicles, robotic howitzers, and battlefield support operations. Space operations include docking, maintenance, mission support, and intra-vehicular and extra-vehicular activities. Nuclear applications include operations within the containment vessel, radioactive waste operations, fueling operations, and plant security. Many of the articles reference control techniques and the use of expert systems in robotic operations. Applications involving industrial manufacturing, walking robots, and robot welding are cited in other published searches in this series. (Contains a minimum of 183 citations and includes a subject term index and title list.)

  1. Master-slave robotic system for needle indentation and insertion.

    Science.gov (United States)

    Shin, Jaehyun; Zhong, Yongmin; Gu, Chengfan

    2017-12-01

    Bilateral control of a master-slave robotic system is a challenging issue in robotic-assisted minimally invasive surgery. It requires the knowledge on contact interaction between a surgical (slave) robot and soft tissues. This paper presents a master-slave robotic system for needle indentation and insertion. This master-slave robotic system is able to characterize the contact interaction between the robotic needle and soft tissues. A bilateral controller is implemented using a linear motor for robotic needle indentation and insertion. A new nonlinear state observer is developed to online monitor the contact interaction with soft tissues. Experimental results demonstrate the efficacy of the proposed master-slave robotic system for robotic needle indentation and needle insertion.

  2. Compliant behaviour of redundant robot arm - experiments with null-space

    Directory of Open Access Journals (Sweden)

    Petrović Petar B.

    2015-01-01

    Full Text Available This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators, but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d.o.f. Yaskawa SIA 10F robot arm. [Projekat Ministarstva nauke Republike Srbije, br. TR35007

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

    Science.gov (United States)

    Erikson, Jon D.

    1994-01-01

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

  4. Stability control of a flexible maneuverable tethered space net robot

    Science.gov (United States)

    Zhang, Fan; Huang, Panfeng

    2018-04-01

    As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.

  5. Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

    Science.gov (United States)

    Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin

    2017-05-01

    For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.

  6. Space Station Initial Operational Concept (IOC) operations and safety view - Automation and robotics for Space Station

    Science.gov (United States)

    Bates, William V., Jr.

    1989-01-01

    The automation and robotics requirements for the Space Station Initial Operational Concept (IOC) are discussed. The amount of tasks to be performed by an eight-person crew, the need for an automated or directed fault analysis capability, and ground support requirements are considered. Issues important in determining the role of automation for the IOC are listed.

  7. 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.

  8. Application of robotics to distribution systems

    Energy Technology Data Exchange (ETDEWEB)

    Ramsbottom, W

    1986-06-01

    Robotic technology has been recognized as having potential application in lifeline maintenance and repair. A study was conducted to investigate the feasibility of utilizing robotics for this purpose, and to prepare a general design of appropriate equipment. Four lifeline tasks were selected as representative of the majority of work. Based on a detailed task decomposition, subtasks were rated on amenability to robot completion. All tasks are feasible, but in some cases special tooling is required. Based on today's robotics, it is concluded that a force reflecting master/slave telemanipulator, augmented by automatic robot tasks under a supervisory control system, provides the optimal approach. No commercially available products are currently adequate for lifeline work. A general design of the telemanipulator, which has been named the SKYARM has been developed, addressing all subsystems such as the manipulator, video, control power and insulation. The baseline system is attainable using today's technology. Improved performance and lower cost will be achieved through developments in artificial intelligence, machine vision, supervisory control and dielectrics. Immediate benefits to utilities include increased safety, better service and savings on a subset of maintenance tasks. In 3-5 years, the SKYARM will prove cost effective as a general purpose lifeline tool. 7 refs., 26 figs., 3 tabs.

  9. Biological Immune System Applications on Mobile Robot for Disabled People

    Directory of Open Access Journals (Sweden)

    Songmin Jia

    2014-01-01

    Full Text Available To improve the service quality of service robots for the disabled, immune system is applied on robot for its advantages such as diversity, dynamic, parallel management, self-organization, and self-adaptation. According to the immune system theory, local environment condition sensed by robot is considered an antigen while robot is regarded as B-cell and possible node as antibody, respectively. Antibody-antigen affinity is employed to choose the optimal possible node to ensure the service robot can pass through the optimal path. The paper details the immune system applications on service robot and gives experimental results.

  10. Multi-sensor measurement system for robotic drilling

    OpenAIRE

    Frommknecht, Andreas; Kühnle, Jens; Pidan, Sergej; Effenberger, Ira

    2015-01-01

    A multi-sensor measurement system for robotic drilling is presented. The system enables a robot to measure its 6D pose with respect to the work piece and to establish a reference coordinate system for drilling. The robot approaches the drill point and performs an orthogonal alignment with the work piece. Although the measurement systems are readily capable of achieving high position accuracy and low deviation to perpendicularity, experiments show that inaccuracies in the robot's 6D-pose and e...

  11. Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

    Science.gov (United States)

    Phillips, Warren F.

    1989-01-01

    The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

  12. State-space Generalized Predicitve Control for redundant parallel robots

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Böhm, Josef; Valášek, M.

    2003-01-01

    Roč. 31, č. 3 (2003), s. 413-432 ISSN 1539-7734 R&D Projects: GA ČR GA101/03/0620 Grant - others:CTU(CZ) 0204512 Institutional research plan: CEZ:AV0Z1075907 Keywords : parallel robot construction * generalized predictive control * drive redundancy Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/historie/belda-0411126.pdf

  13. Foraging behavior analysis of swarm robotics system

    Directory of Open Access Journals (Sweden)

    Sakthivelmurugan E.

    2018-01-01

    Full Text Available Swarm robotics is a number of small robots that are synchronically works together to accomplish a given task. Swarm robotics faces many problems in performing a given task. The problems are pattern formation, aggregation, Chain formation, self-assembly, coordinated movement, hole avoidance, foraging and self-deployment. Foraging is most essential part in swarm robotics. Foraging is the task to discover the item and get back into the shell. The researchers conducted foraging experiments with random-movement of robots and they have end up with unique solutions. Most of the researchers have conducted experiments using the circular arena. The shell is placed at the centre of the arena and environment boundary is well known. In this study, an attempt is made to different strategic movements like straight line approach, parallel line approach, divider approach, expanding square approach, and parallel sweep approach. All these approaches are to be simulated by using player/stage open-source simulation software based on C and C++ programming language in Linux operating system. Finally statistical comparison will be done with task completion time of all these strategies using ANOVA to identify the significant searching strategy.

  14. A concept of distributed architecture for maintenance robot systems

    International Nuclear Information System (INIS)

    Asama, Hajime

    1990-01-01

    Aiming at development of a robot system for maintenance tasks in nuclear power plants, a concept of distributed architecture for autonomous robot systems is discussed. At first, based on investigation of maintenance tasks, requirements for maintenance robots are introduced, and structures to realize multi-functions are discussed. Then, as a new design strategy of maintenance robot system, an autonomous and decentralized robot systems is proposed, which is composed of multiple robots, computers, and equipments, and concept of ACTRESS (ACTor-based Robots and Equipments Synthetic System) including communication framework between robotic components is designed. Finally, as a model of ACTRESS, a experimental system is developed, which deals with object-pushing tasks by two micromice and an environment modeler with communicating with each other. Both of parallel independent motion and cooperative motion based on communication is reconciled, and the efficiency of the distributed architecture is verified. (author)

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

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

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

  16. Development of an advanced robot manipulator system

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  17. Robotics virtual rail system and method

    Science.gov (United States)

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

    2011-07-05

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  18. Next Generation Simulation Framework for Robotic and Human Space Missions

    Science.gov (United States)

    Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven

    2012-01-01

    The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.

  19. Space Missions for Automation and Robotics Technologies (SMART) Program

    Science.gov (United States)

    Cliffone, D. L.; Lum, H., Jr.

    1985-01-01

    NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.

  20. Intelligent monitoring-based safety system of massage robot

    Institute of Scientific and Technical Information of China (English)

    胡宁; 李长胜; 王利峰; 胡磊; 徐晓军; 邹雲鹏; 胡玥; 沈晨

    2016-01-01

    As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows: robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.

  1. Modeling and Control of Collaborative Robot System using Haptic Feedback

    Directory of Open Access Journals (Sweden)

    Vivekananda Shanmuganatha

    2017-08-01

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

  2. A robotic vision system to measure tree traits

    Science.gov (United States)

    The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic vision system called the Robotic System for Tree Shape Estimati...

  3. Robots, systems, and methods for hazard evaluation and visualization

    Science.gov (United States)

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15

    A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

  4. Development of sensor augmented robotic weld systems for aerospace propulsion system fabrication

    Science.gov (United States)

    Jones, C. S.; Gangl, K. J.

    1986-01-01

    In order to meet stringent performance goals for power and reuseability, the Space Shuttle Main Engine was designed with many complex, difficult welded joints that provide maximum strength and minimum weight. To this end, the SSME requires 370 meters of welded joints. Automation of some welds has improved welding productivity significantly over manual welding. Application has previously been limited by accessibility constraints, requirements for complex process control, low production volumes, high part variability, and stringent quality requirements. Development of robots for welding in this application requires that a unique set of constraints be addressed. This paper shows how robotic welding can enhance production of aerospace components by addressing their specific requirements. A development program at the Marshall Space Flight Center combining industrial robots with state-of-the-art sensor systems and computer simulation is providing technology for the automation of welds in Space Shuttle Main Engine production.

  5. An expert system for automated robotic grasping

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1990-01-01

    Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

  6. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  7. Second AIAA/NASA USAF Symposium on Automation, Robotics and Advanced Computing for the National Space Program

    Science.gov (United States)

    Myers, Dale

    1987-01-01

    An introduction is given to NASA goals in the development of automation (expert systems) and robotics technologies in the Space Station program. Artificial intelligence (AI) has been identified as a means to lowering ground support costs. Telerobotics will enhance space assembly, servicing and repair capabilities, and will be used for an estimated half of the necessary EVA tasks. The general principles guiding NASA in the design, development, ground-testing, interactions with industry and construction of the Space Station component systems are summarized. The telerobotics program has progressed to a point where a telerobot servicer is a firm component of the first Space Station element launch, to support assembly, maintenance and servicing of the Station. The University of Wisconsin has been selected for the establishment of a Center for the Commercial Development of Space, specializing in space automation and robotics.

  8. SRAO: the first southern robotic AO system

    Science.gov (United States)

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

    2016-08-01

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

  9. Robotically assisted MRgFUS system

    Science.gov (United States)

    Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

    2010-03-01

    Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access

  10. Navigation of robotic system using cricket motes

    Science.gov (United States)

    Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

    2011-06-01

    This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

  11. 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.

  12. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    Energy Technology Data Exchange (ETDEWEB)

    Chen, H J [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Gao, B T [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Zhang, X H [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Deng, Z Q [School of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China)

    2006-10-15

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

  13. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    International Nuclear Information System (INIS)

    Chen, H J; Gao, B T; Zhang, X H; Deng, Z Q

    2006-01-01

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot

  14. A three-finger multisensory hand for dexterous space robotic tasks

    Science.gov (United States)

    Murase, Yuichi; Komada, Satoru; Uchiyama, Takashi; Machida, Kazuo; Akita, Kenzo

    1994-01-01

    The National Space Development Agency of Japan will launch ETS-7 in 1997, as a test bed for next generation space technology of RV&D and space robot. MITI has been developing a three-finger multisensory hand for complex space robotic tasks. The hand can be operated under remote control or autonomously. This paper describes the design and development of the hand and the performance of a breadboard model.

  15. Transoral Robotic Surgery in Retrostyloid Parapharyngeal Space Schwannomas

    Science.gov (United States)

    Ansarin, Mohssen; Tagliabue, Marta; Chu, Francesco; Zorzi, Stefano; Proh, Michele; Preda, Lorenzo

    2014-01-01

    Parapharyngeal space (PPS) tumors are very rare, representing about 0.5% of head and neck neoplasms. An external surgical approach is mainly used. Several recent papers show how transoral robotic surgery (TORS) excision could be a prospective tool to remove mainly benign lesions in PPS; no cases of neurogenic tumors from the retrostyloid space treated with TORS have been reported. We present two cases which underwent TORS for schwannomas from the retrostyloid compartment of the parapharyngeal space. Clinical diagnosis of schwannoma was performed by magnetic resonance imaging (MRI). In the first case a 6 cm neurogenic tumor arose from the vagus nerve and in the second case a 5 cm mass from the sympathetic chain was observed. Both cases were treated successfully by the TORS approach using a new “J”-shaped incision through the mucosa and superior pharyngeal constrictor muscle. Left vocal cord palsy and the Claude Bernard Horner syndrome, respectively, were observed as expected postsurgical sequelae. In case 1 the first bite syndrome developed after three months, while no complications were observed in case 2. Both patients regained a normal swallowing function. TORS seems to be a feasible mini-invasive procedure for benign PPS masses including masses in the poststyloid space. PMID:25202464

  16. Transoral Robotic Surgery in Retrostyloid Parapharyngeal Space Schwannomas

    Directory of Open Access Journals (Sweden)

    Mohssen Ansarin

    2014-01-01

    Full Text Available Parapharyngeal space (PPS tumors are very rare, representing about 0.5% of head and neck neoplasms. An external surgical approach is mainly used. Several recent papers show how transoral robotic surgery (TORS excision could be a prospective tool to remove mainly benign lesions in PPS; no cases of neurogenic tumors from the retrostyloid space treated with TORS have been reported. We present two cases which underwent TORS for schwannomas from the retrostyloid compartment of the parapharyngeal space. Clinical diagnosis of schwannoma was performed by magnetic resonance imaging (MRI. In the first case a 6 cm neurogenic tumor arose from the vagus nerve and in the second case a 5 cm mass from the sympathetic chain was observed. Both cases were treated successfully by the TORS approach using a new “J”-shaped incision through the mucosa and superior pharyngeal constrictor muscle. Left vocal cord palsy and the Claude Bernard Horner syndrome, respectively, were observed as expected postsurgical sequelae. In case 1 the first bite syndrome developed after three months, while no complications were observed in case 2. Both patients regained a normal swallowing function. TORS seems to be a feasible mini-invasive procedure for benign PPS masses including masses in the poststyloid space.

  17. Space Station tethered elevator system

    Science.gov (United States)

    Haddock, Michael H.; Anderson, Loren A.; Hosterman, K.; Decresie, E.; Miranda, P.; Hamilton, R.

    1989-01-01

    The optimized conceptual engineering design of a space station tethered elevator is presented. The tethered elevator is an unmanned, mobile structure which operates on a ten-kilometer tether spanning the distance between Space Station Freedom and a platform. Its capabilities include providing access to residual gravity levels, remote servicing, and transportation to any point along a tether. The report discusses the potential uses, parameters, and evolution of the spacecraft design. Emphasis is placed on the elevator's structural configuration and three major subsystem designs. First, the design of elevator robotics used to aid in elevator operations and tethered experimentation is presented. Second, the design of drive mechanisms used to propel the vehicle is discussed. Third, the design of an onboard self-sufficient power generation and transmission system is addressed.

  18. Multi-agent robotic systems and applications for satellite missions

    Science.gov (United States)

    Nunes, Miguel A.

    A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi

  19. Virtual tutor systems for robot-assisted instruction

    Science.gov (United States)

    Zhao, Zhijing; Zhao, Deyu; Zhang, Zizhen; Wei, Yongji; Qi, Bingchen; Okawa, Yoshikuni

    2004-03-01

    Virtual Reality technology belongs to advanced computer technology, it has been applied in instruction field and gains obvious effect. At the same time, robot assisted instruction comes true with the continuous development of Robot technology and artificial intelligence technology. This paper introduces a virtual tutor system for robot assisted instruction.

  20. Model-based systems engineering to design collaborative robotics applications

    NARCIS (Netherlands)

    Hernandez Corbato, Carlos; Fernandez-Sanchez, Jose Luis; Rassa, Bob; Carbone, Paolo

    2017-01-01

    Novel robot technologies are becoming available to automate more complex tasks, more flexibly, and collaborating with humans. Methods and tools are needed in the automation and robotics industry to develop and integrate this new breed of robotic systems. In this paper, the ISE&PPOOA

  1. Laboratory robotics systems at the Savannah River Laboratory

    International Nuclear Information System (INIS)

    Dyches, G.M.; Burkett, S.D.

    1983-01-01

    Many analytical chemistry methods normally used at the Savannah River site require repetitive procedures and handling of radioactive and other hazardous solutions. Robotics is being investigated as a method of reducing personnel fatigue and radiation exposure and also increasing product quality. Several applications of various commercially available robot systems are discussed involving cold (nonradioactive) and hot (radioactive) sample preparations and glovebox waste removal. Problems encountered in robot programming, parts fixturing, design of special robot hands and other support equipment, glovebox operation, and operator-system interaction are discussed. A typical robot system cost analysis for one application is given

  2. A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar initiatives will demand sophisticated operation of mobile robotics platforms. In particular, lunar site operations will benefit from robots, both...

  3. Robotic neurorehabilitation system design for stroke patients

    Directory of Open Access Journals (Sweden)

    Baoguo Xu

    2015-03-01

    Full Text Available In this article, a neurorehabilitation system combining robot-aided rehabilitation with motor imagery–based brain–computer interface is presented. Feature extraction and classification algorithm for the motor imagery electroencephalography is implemented under our brain–computer interface research platform. The main hardware platform for functional recovery therapy is the Barrett Whole-Arm Manipulator. The mental imagination of upper limb movements is translated to trigger the Barrett Whole-Arm Manipulator Arm to stretch the affected upper limb to move along the predefined trajectory. A fuzzy proportional–derivative position controller is proposed to control the Whole-Arm Manipulator Arm to perform passive rehabilitation training effectively. A preliminary experiment aimed at testing the proposed system and gaining insight into the potential of motor imagery electroencephalography-triggered robotic therapy is reported.

  4. Planetary rovers robotic exploration of the solar system

    CERN Document Server

    Ellery, Alex

    2016-01-01

    The increasing adoption of terrain mobility – planetary rovers – for the investigation of planetary surfaces emphasises their central importance in space exploration. This imposes a completely new set of technologies and methodologies to the design of such spacecraft – and planetary rovers are indeed, first and foremost, spacecraft. This introduces vehicle engineering, mechatronics, robotics, artificial intelligence and associated technologies to the spacecraft engineer’s repertoire of skills. Planetary Rovers is the only book that comprehensively covers these aspects of planetary rover engineering and more. The book: • discusses relevant planetary environments to rover missions, stressing the Moon and Mars; • includes a brief survey of previous rover missions; • covers rover mobility, traction and control systems; • stresses the importance of robotic vision in rovers for both navigation and science; • comprehensively covers autonomous navigation, path planning and multi-rover formations on ...

  5. Hybrid task priority-based motion control of a redundant free-floating space robot

    Directory of Open Access Journals (Sweden)

    Cheng ZHOU

    2017-12-01

    Full Text Available This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the least-squares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning, and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task’s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology. Keywords: Base attitude control, Hybrid task-priority, Motion planning, Multiple constraints, Redundant space robot

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

    Directory of Open Access Journals (Sweden)

    Francisco J. Rodríguez-Lera

    2018-03-01

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

  7. Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

    Directory of Open Access Journals (Sweden)

    Yicheng Liu

    2016-01-01

    Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

  8. Modeling and control of a flexible space robot to capture a tumbling debris

    Science.gov (United States)

    Dubanchet, Vincent

    After 60 years of intensive satellite launches, the number of drifting objects in Earth orbits is reaching a shifting point, where human intervention is becoming necessary to reduce the threat of collision. Indeed, a 200 year forecast, known as the "Kessler syndrome", states that space access will be greatly compromised if nothing is done to address the proliferation of these debris. Scientist J.-C. Liou from the National Aeronautics and Space Administration (NASA) has shown that the current trend could be reversed if at least five massive objects, such as dead satellites or rocket upper stages, were de-orbited each year. Among the various technical concepts considered for debris removal, robotics has emerged, over the last 30 years, as one of the most promising solutions. The International Space Station (ISS) already possesses fully operational robotic arms, and other missions have explored the potential of a manipulator embedded onto a satellite. During two of the latter, key capabilities have been demonstrated for on-orbit servicing, and prove to be equally useful for the purpose of debris removal. This thesis focuses on the close range capture of a tumbling debris by a robotic arm with light-weight flexible segments. This phase includes the motion planning and the control of a space robot, in order to smoothly catch a target point on the debris. The validation of such technologies is almost impossible on Earth and leads to prohibitive costs when performed on orbit. Therefore, the modeling and simulation of flexible multi-body systems has been investigated thoroughly, and is likewise a strong contribution of the thesis. Based on these models, an experimental validation is proposed by reproducing the on-orbit kinematics on a test bench made up of two industrial manipulators and driven by a real-time dynamic simulation. In a nutshell, the thesis is built around three main parts: the modeling of a space robot, the design of control laws, and their validation on a

  9. Fuzzy adaptive robust control for space robot considering the effect of the gravity

    Directory of Open Access Journals (Sweden)

    Qin Li

    2014-12-01

    Full Text Available Space robot is assembled and tested in gravity environment, and completes on-orbit service (OOS in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control (FARC strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative (PD controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.

  10. An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

    International Nuclear Information System (INIS)

    Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

    2017-01-01

    A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

  11. Robotic and automatic welding development at the Marshall Space Flight Center

    Science.gov (United States)

    Jones, C. S.; Jackson, M. E.; Flanigan, L. A.

    1988-01-01

    Welding automation is the key to two major development programs to improve quality and reduce the cost of manufacturing space hardware currently undertaken by the Materials and Processes Laboratory of the NASA Marshall Space Flight Center. Variable polarity plasma arc welding has demonstrated its effectiveness on class 1 aluminum welding in external tank production. More than three miles of welds were completed without an internal defect. Much of this success can be credited to automation developments which stabilize the process. Robotic manipulation technology is under development for automation of welds on the Space Shuttle's main engines utilizing pathfinder systems in development of tooling and sensors for the production applications. The overall approach to welding automation development undertaken is outlined. Advanced sensors and control systems methodologies are described that combine to make aerospace quality welds with a minimum of dependence on operator skill.

  12. Automatic code generation for distributed robotic systems

    International Nuclear Information System (INIS)

    Jones, J.P.

    1993-01-01

    Hetero Helix is a software environment which supports relatively large robotic system development projects. The environment supports a heterogeneous set of message-passing LAN-connected common-bus multiprocessors, but the programming model seen by software developers is a simple shared memory. The conceptual simplicity of shared memory makes it an extremely attractive programming model, especially in large projects where coordinating a large number of people can itself become a significant source of complexity. We present results from three system development efforts conducted at Oak Ridge National Laboratory over the past several years. Each of these efforts used automatic software generation to create 10 to 20 percent of the system

  13. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  14. 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...

  15. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi...... a requirement specification in Computational Tree Logic (CTL) for a network of robots. The result is a set of motion plans for the robots which satisfy the specification. Framework II - A framework for controller synthesis for a single robot with respect to requirement specification in Linear-time Temporal...

  16. Self-supervised learning as an enabling technology for future space exploration robots: ISS experiments on monocular distance learning

    Science.gov (United States)

    van Hecke, Kevin; de Croon, Guido C. H. E.; Hennes, Daniel; Setterfield, Timothy P.; Saenz-Otero, Alvar; Izzo, Dario

    2017-11-01

    Although machine learning holds an enormous promise for autonomous space robots, it is currently not employed because of the inherent uncertain outcome of learning processes. In this article we investigate a learning mechanism, Self-Supervised Learning (SSL), which is very reliable and hence an important candidate for real-world deployment even on safety-critical systems such as space robots. To demonstrate this reliability, we introduce a novel SSL setup that allows a stereo vision equipped robot to cope with the failure of one of its cameras. The setup learns to estimate average depth using a monocular image, by using the stereo vision depths from the past as trusted ground truth. We present preliminary results from an experiment on the International Space Station (ISS) performed with the MIT/NASA SPHERES VERTIGO satellite. The presented experiments were performed on October 8th, 2015 on board the ISS. The main goals were (1) data gathering, and (2) navigation based on stereo vision. First the astronaut Kimiya Yui moved the satellite around the Japanese Experiment Module to gather stereo vision data for learning. Subsequently, the satellite freely explored the space in the module based on its (trusted) stereo vision system and a pre-programmed exploration behavior, while simultaneously performing the self-supervised learning of monocular depth estimation on board. The two main goals were successfully achieved, representing the first online learning robotic experiments in space. These results lay the groundwork for a follow-up experiment in which the satellite will use the learned single-camera depth estimation for autonomous exploration in the ISS, and are an advancement towards future space robots that continuously improve their navigation capabilities over time, even in harsh and completely unknown space environments.

  17. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

    2013-01-01

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  18. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  19. Towards Safe Robotic Surgical Systems

    DEFF Research Database (Denmark)

    Sloth, Christoffer; Wisniewski, Rafael

    2015-01-01

    a controller for motion compensation in beating-heart surgery, and prove that it is safe, i.e., the surgical tool is kept within an allowable distance and orientation of the heart. We solve the problem by simultaneously finding a control law and a barrier function. The motion compensation system is simulated...... from several initial conditions to demonstrate that the designed control system is safe for every admissible initial condition....

  20. The SEP "Robot": A Valid Virtual Reality Robotic Simulator for the Da Vinci Surgical System?

    NARCIS (Netherlands)

    van der Meijden, O. A. J.; Broeders, I. A. M. J.; Schijven, M. P.

    2010-01-01

    The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's

  1. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  2. Astrobee: Developing a Free Flying Robot for the International Space Station

    Science.gov (United States)

    Bualat, Maria; Barlow, Jonathan; Fong, Terrence; Provencher, Christopher; Smith, Trey; Zuniga, Allison

    2015-01-01

    Astronaut time will always be in short supply, consumables (e.g., oxygen) will always be limited, and some work will not be feasible, or productive, for astronauts to do manually. Free flyers offer significant potential to perform a great variety of tasks, include routine, repetitive or simple but long-duration work, such as conducting environment surveys, taking sensor readings or monitoring crew activities. The "Astrobee" project is developing a new free flying robot system suitable for performing Intravehicular Activity (IVA) work on the International Space Station (ISS). This paper will describe the Astrobee project objectives, initial design, concept of operations, and key challenges.

  3. Intelligent manipulation technique for multi-branch robotic systems

    Science.gov (United States)

    Chen, Alexander Y. K.; Chen, Eugene Y. S.

    1990-01-01

    New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

  4. Robot system for preparing lymphocyte chromosome

    International Nuclear Information System (INIS)

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

    1992-01-01

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

  5. Developing a Fault Management Guidebook for Nasa's Deep Space Robotic Missions

    Science.gov (United States)

    Fesq, Lorraine M.; Jacome, Raquel Weitl

    2015-01-01

    NASA designs and builds systems that achieve incredibly ambitious goals, as evidenced by the Curiosity rover traversing on Mars, the highly complex International Space Station orbiting our Earth, and the compelling plans for capturing, retrieving and redirecting an asteroid into a lunar orbit to create a nearby a target to be investigated by astronauts. In order to accomplish these feats, the missions must be imbued with sufficient knowledge and capability not only to realize the goals, but also to identify and respond to off-nominal conditions. Fault Management (FM) is the discipline of establishing how a system will respond to preserve its ability to function even in the presence of faults. In 2012, NASA released a draft FM Handbook in an attempt to coalesce the field by establishing a unified terminology and a common process for designing FM mechanisms. However, FM approaches are very diverse across NASA, especially between the different mission types such as Earth orbiters, launch vehicles, deep space robotic vehicles and human spaceflight missions, and the authors were challenged to capture and represent all of these views. The authors recognized that a necessary precursor step is for each sub-community to codify its FM policies, practices and approaches in individual, focused guidebooks. Then, the sub-communities can look across NASA to better understand the different ways off-nominal conditions are addressed, and to seek commonality or at least an understanding of the multitude of FM approaches. This paper describes the development of the "Deep Space Robotic Fault Management Guidebook," which is intended to be the first of NASA's FM guidebooks. Its purpose is to be a field-guide for FM practitioners working on deep space robotic missions, as well as a planning tool for project managers. Publication of this Deep Space Robotic FM Guidebook is expected in early 2015. The guidebook will be posted on NASA's Engineering Network on the FM Community of Practice

  6. A Vision-Based Wireless Charging System for Robot Trophallaxis

    Directory of Open Access Journals (Sweden)

    Jae-O Kim

    2015-12-01

    Full Text Available The need to recharge the batteries of a mobile robot has presented an important challenge for a long time. In this paper, a vision-based wireless charging method for robot energy trophallaxis between two robots is presented. Even though wireless power transmission allows more positional error between receiver-transmitter coils than with a contact-type charging system, both coils have to be aligned as accurately as possible for efficient power transfer. To align the coils, a transmitter robot recognizes the coarse pose of a receiver robot via a camera image and the ambiguity of the estimated pose is removed with a Bayesian estimator. The precise pose of the receiver coil is calculated using a marker image attached to a receiver robot. Experiments with several types of receiver robots have been conducted to verify the proposed method.

  7. RoboSmith: Wireless Networked Architecture for Multiagent Robotic System

    Directory of Open Access Journals (Sweden)

    Florin Moldoveanu

    2010-11-01

    Full Text Available In this paper is presented an architecture for a flexible mini robot for a multiagent robotic system. In a multiagent system the value of an individual agent is negligible since the goal of the system is essential. Thus, the agents (robots need to be small, low cost and cooperative. RoboSmith are designed based on these conditions. The proposed architecture divide a robot into functional modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining these functional modules for a specific application. An embedded software with dynamic task uploading and multi-tasking abilities is developed in order to create better interface between robots and the command center and among the robots. The dynamic task uploading allows the robots change their behaviors in runtime. The flexibility of the robots is given by facts that the robots can work in multiagent system, as master-slave, or hybrid mode, can be equipped with different modules and possibly be used in other applications such as mobile sensor networks remote sensing, and plant monitoring.

  8. Aerial robotic data acquisition system

    International Nuclear Information System (INIS)

    Hofstetter, K.J.; Hayes, D.W.; Pendergast, M.M.

    1995-01-01

    A small unmanned aerial vehicle (UAV) equipped with sensors for physical and chemical measurements of remote environments, is described. A miniature helicopter airframe is used as a platform for sensor testing and development. The sensor output is integrated with the flight control system for real-time, interactive, data acquisition and analysis. Pre programmed flight missions will be flown with several sensors to demonstrate the cost-effective surveillance capabilities of this new technology. (author) 10 refs

  9. Application of Joint Parameter Identification and State Estimation to a Fault-Tolerant Robot System

    DEFF Research Database (Denmark)

    Sun, Zhen; Yang, Zhenyu

    2011-01-01

    The joint parameter identification and state estimation technique is applied to develop a fault-tolerant space robot system. The potential faults in the considered system are abrupt parametric faults, which indicate that some system parameters will immediately deviate from their nominal values...

  10. Space astronomy for the mid-21st century: Robotically maintained space telescopes

    Science.gov (United States)

    Schartel, N.

    2012-04-01

    The historical development of ground based astronomical telescopes leads us to expect that space-based astronomical telescopes will need to be operational for many decades. The exchange of scientific instruments in space will be a prerequisite for the long lasting scientific success of such missions. Operationally, the possibility to repair or replace key spacecraft components in space will be mandatory. We argue that these requirements can be fulfilled with robotic missions and see the development of the required engineering as the main challenge. Ground based operations, scientifically and technically, will require a low operational budget of the running costs. These can be achieved through enhanced autonomy of the spacecraft and mission independent concepts for the support of the software. This concept can be applied to areas where the mirror capabilities do not constrain the lifetime of the mission. Online material is available at the CDS via http://cdsarc.u-strasbg.fr/cgi-bin/qcat?J/AN/333/209

  11. Brain Machine Interfaces for Robotic Control in Space Applications, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — This SBIR will study the application of a brain machine interface (BMI) to enable crew to remotely operate and monitor robots from inside a flight vehicle, habitat...

  12. Increasing Efficiency of Routine Robot Space Operations through Adjustable Autonomy and Learning from Human Instructions

    Data.gov (United States)

    National Aeronautics and Space Administration — This research aims to address the execution of repetitive, routine and potentially hazardous tasks by robots operating in crewed low Earth orbit, lunar and...

  13. Research on wheelchair robot control system based on EOG

    Science.gov (United States)

    Xu, Wang; Chen, Naijian; Han, Xiangdong; Sun, Jianbo

    2018-04-01

    The paper describes an intelligent wheelchair control system based on EOG. It can help disabled people improve their living ability. The system can acquire EOG signal from the user, detect the number of blink and the direction of glancing, and then send commands to the wheelchair robot via RS-232 to achieve the control of wheelchair robot. Wheelchair robot control system based on EOG is composed of processing EOG signal and human-computer interactive technology, which achieves a purpose of using conscious eye movement to control wheelchair robot.

  14. A remote maintenance robot system for a pulsed nuclear reactor

    International Nuclear Information System (INIS)

    Thunborg, S.

    1987-01-01

    This paper presents a remote maintenance robot system for use in a hazardous environment. The system consists of turntable, robot and hoist subsystems which operate under the control of a supervisory computer to perform coordinated programmed maintenance operations on a pulsed nuclear reactor. The system is operational

  15. Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2017-02-01

    Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

  16. BOA: Pipe asbestos insulation removal robot system

    International Nuclear Information System (INIS)

    Schempf, H.; Bares, J.; Schnorr, W.

    1995-01-01

    The BOA system is a mobile pipe-external robotic crawler used to remotely strip and bag asbestos-containing lagging and insulation materials (ACLIM) from various diameter pipes in (primarily) industrial installations. Steam and process lines within the DOE weapons complex warrant the use of a remote device due to the high labor costs and high level of radioactive contamination, making manual removal extremely costly and highly inefficient. Currently targeted facilities for demonstration and remediation are Fernald in Ohio and Oak Ridge in Tennessee

  17. Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

    It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.

  18. Human-rating Automated and Robotic Systems - (How HAL Can Work Safely with Astronauts)

    Science.gov (United States)

    Baroff, Lynn; Dischinger, Charlie; Fitts, David

    2009-01-01

    Long duration human space missions, as planned in the Vision for Space Exploration, will not be possible without applying unprecedented levels of automation to support the human endeavors. The automated and robotic systems must carry the load of routine housekeeping for the new generation of explorers, as well as assist their exploration science and engineering work with new precision. Fortunately, the state of automated and robotic systems is sophisticated and sturdy enough to do this work - but the systems themselves have never been human-rated as all other NASA physical systems used in human space flight have. Our intent in this paper is to provide perspective on requirements and architecture for the interfaces and interactions between human beings and the astonishing array of automated systems; and the approach we believe necessary to create human-rated systems and implement them in the space program. We will explain our proposed standard structure for automation and robotic systems, and the process by which we will develop and implement that standard as an addition to NASA s Human Rating requirements. Our work here is based on real experience with both human system and robotic system designs; for surface operations as well as for in-flight monitoring and control; and on the necessities we have discovered for human-systems integration in NASA's Constellation program. We hope this will be an invitation to dialog and to consideration of a new issue facing new generations of explorers and their outfitters.

  19. International Conference on Intelligent Robots and Systems - IROS 2011

    CERN Document Server

    Rosen, Jacob; Redundancy in Robot Manipulators and Multi-Robot Systems

    2013-01-01

    The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: on...

  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. A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

    Science.gov (United States)

    Smith, Jeffrey H.; Gyanfi, Max; Volkmer, Kent; Zimmerman, Wayne

    1988-01-01

    The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

  2. Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

    Science.gov (United States)

    1994-01-01

    The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

  3. A flexible, computer-integrated robotic transfer system

    International Nuclear Information System (INIS)

    Lewis, W.I. III; Taylor, R.M.

    1987-01-01

    This paper reviews a robotic system used to transport materials across a radiation control zone and into a row of shielded cells. The robot used is a five-axis GCA 600 industrial robot mounted on a 50-ft ESAB welding track. Custom software incorporates the track as the sixth axis of motion. An IBM-PC integrates robot control, force sensing, and the operator interface. Multiple end-effectors and a quick exchange mechanism are used to handle a variety of materials and tasks. Automatic error detection and recovery is a key aspect of this system

  4. Biologically Inspired Object Localization for a Modular Mobile Robotic System

    Directory of Open Access Journals (Sweden)

    Zlatogor Minchev

    2005-12-01

    Full Text Available The paper considers a general model of real biological creatures' antennae, which is practically implemented and tested, over a real element of a mobile modular robotic system - the robot MR1. The last could be utilized in solving of the most classical problem in Robotics - Object Localization. The functionality of the represented sensor system is described in a new and original manner by utilizing the tool of Generalized Nets - a new likelihood for description, modelling and simulation of different objects from the Artificial Intelligence area including Robotics.

  5. Advanced robot vision system for nuclear power plants

    International Nuclear Information System (INIS)

    Onoguchi, Kazunori; Kawamura, Atsuro; Nakayama, Ryoichi.

    1991-01-01

    We have developed a robot vision system for advanced robots used in nuclear power plants, under a contract with the Agency of Industrial Science and Technology of the Ministry of International Trade and Industry. This work is part of the large-scale 'advanced robot technology' project. The robot vision system consists of self-location measurement, obstacle detection, and object recognition subsystems, which are activated by a total control subsystem. This paper presents details of these subsystems and the experimental results obtained. (author)

  6. Service Robotics in Healthcare: A Perspective for Information Systems Researchers?

    OpenAIRE

    Garmann-Johnsen, Niels Frederik; Mettler, Tobias; Sprenger, Michaela

    2014-01-01

    Recent advances in electronics and telecommunication have paved the way for service robots to enter the clinical world. While service robotics has long been a core research theme in computer science and other engineering-related fields, it has attracted little interest of Information Systems (IS) researchers so far. We argue that service robotics represents an interesting area of investigation, especially for healthcare, since current research lacks a thorough examination of socio-technical p...

  7. Exoskeletons, Robots and System Software: Tools for the Warfighter

    Science.gov (United States)

    2012-04-24

    Exoskeletons , Robots and System Software: Tools for the Warfighter? Paul Flanagan, Tuesday, April 24, 2012 11:15 am– 12:00 pm 1 “The views...Emerging technologies such as exoskeletons , robots , drones, and the underlying software are and will change the face of the battlefield. Warfighters will...global hub for educating, informing, and connecting Information Age leaders.” What is an exoskeleton ? An exoskeleton is a wearable robot suit that

  8. Development of robotic mobile platform with the universal chassis system

    Science.gov (United States)

    Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

    2018-02-01

    The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

  9. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Garcia Ruiz, Francisco Jose; Kazmi, Wajahat

    2013-01-01

    The ASETA project develops theory and methods for robotic agricultural systems. In ASETA, unmanned aircraft and unmanned ground vehicles are used to automate the task of identifying and removing weeds in sugar beet fields. The framework for a working automatic robotic weeding system is presented...

  10. EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

    Directory of Open Access Journals (Sweden)

    Michal KOPČÍK

    2017-09-01

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

  11. Multiresolutional schemata for unsupervised learning of autonomous robots for 3D space operation

    Science.gov (United States)

    Lacaze, Alberto; Meystel, Michael; Meystel, Alex

    1994-01-01

    This paper describes a novel approach to the development of a learning control system for autonomous space robot (ASR) which presents the ASR as a 'baby' -- that is, a system with no a priori knowledge of the world in which it operates, but with behavior acquisition techniques that allows it to build this knowledge from the experiences of actions within a particular environment (we will call it an Astro-baby). The learning techniques are rooted in the recursive algorithm for inductive generation of nested schemata molded from processes of early cognitive development in humans. The algorithm extracts data from the environment and by means of correlation and abduction, it creates schemata that are used for control. This system is robust enough to deal with a constantly changing environment because such changes provoke the creation of new schemata by generalizing from experiences, while still maintaining minimal computational complexity, thanks to the system's multiresolutional nature.

  12. 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.

  13. Computer Vision for Artificially Intelligent Robotic Systems

    Science.gov (United States)

    Ma, Chialo; Ma, Yung-Lung

    1987-04-01

    In this paper An Acoustic Imaging Recognition System (AIRS) will be introduced which is installed on an Intelligent Robotic System and can recognize different type of Hand tools' by Dynamic pattern recognition. The dynamic pattern recognition is approached by look up table method in this case, the method can save a lot of calculation time and it is practicable. The Acoustic Imaging Recognition System (AIRS) is consist of four parts -- position control unit, pulse-echo signal processing unit, pattern recognition unit and main control unit. The position control of AIRS can rotate an angle of ±5 degree Horizental and Vertical seperately, the purpose of rotation is to find the maximum reflection intensity area, from the distance, angles and intensity of the target we can decide the characteristic of this target, of course all the decision is target, of course all the decision is processed bye the main control unit. In Pulse-Echo Signal Process Unit, we ultilize the correlation method, to overcome the limitation of short burst of ultrasonic, because the Correlation system can transmit large time bandwidth signals and obtain their resolution and increased intensity through pulse compression in the correlation receiver. The output of correlator is sampled and transfer into digital data by u law coding method, and this data together with delay time T, angle information OH, eV will be sent into main control unit for further analysis. The recognition process in this paper, we use dynamic look up table method, in this method at first we shall set up serval recognition pattern table and then the new pattern scanned by Transducer array will be devided into serval stages and compare with the sampling table. The comparison is implemented by dynamic programing and Markovian process. All the hardware control signals, such as optimum delay time for correlator receiver, horizental and vertical rotation angle for transducer plate, are controlled by the Main Control Unit, the Main

  14. Integrating Soft Robotics with the Robot Operating System: A Hybrid Pick and Place Arm

    Directory of Open Access Journals (Sweden)

    Ross M. McKenzie

    2017-08-01

    Full Text Available Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the grasping of irregular and delicate objects. Adoption of soft robotics by the informatics community and industry, however, has been slow and this is, in-part, due to the amount of hardware and software that must be developed from scratch for each use of soft system components. In this paper, we detail the design, fabrication, and validation of an open-source framework that we designed to lower the barrier to entry for integrating soft robotic subsystems. This framework is built on the robot operating system (ROS, and we use it to demonstrate a modular, soft–hard hybrid system, which is capable of completing pick and place tasks. By lowering this barrier to entry through our open sourced hardware and software, we hope that system designers and Informatics researchers will find it easy to integrate soft components into their existing ROS-enabled robotic systems.

  15. Controlling Underwater Robots with Electronic Nervous Systems

    Directory of Open Access Journals (Sweden)

    Joseph Ayers

    2010-01-01

    Full Text Available We are developing robot controllers based on biomimetic design principles. The goal is to realise the adaptive capabilities of the animal models in natural environments. We report feasibility studies of a hybrid architecture that instantiates a command and coordinating level with computed discrete-time map-based (DTM neuronal networks and the central pattern generators with analogue VLSI (Very Large Scale Integration electronic neuron (aVLSI networks. DTM networks are realised using neurons based on a 1-D or 2-D Map with two additional parameters that define silent, spiking and bursting regimes. Electronic neurons (ENs based on Hindmarsh–Rose (HR dynamics can be instantiated in analogue VLSI and exhibit similar behaviour to those based on discrete components. We have constructed locomotor central pattern generators (CPGs with aVLSI networks that can be modulated to select different behaviours on the basis of selective command input. The two technologies can be fused by interfacing the signals from the DTM circuits directly to the aVLSI CPGs. Using DTMs, we have been able to simulate complex sensory fusion for rheotaxic behaviour based on both hydrodynamic and optical flow senses. We will illustrate aspects of controllers for ambulatory biomimetic robots. These studies indicate that it is feasible to fabricate an electronic nervous system controller integrating both aVLSI CPGs and layered DTM exteroceptive reflexes.

  16. A Haptic Guided Robotic System for Endoscope Positioning and Holding.

    Science.gov (United States)

    Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk

    2015-01-01

    To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.

  17. 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...

  18. Folding System for the Clothes by a Robot and Tools

    OpenAIRE

    大澤, 文明; 関, 啓明; 神谷, 好承

    2004-01-01

    The works of a home robot has the laundering. The purpose of this study is to find a means of folding of the clothes and store the clothes in a drawer by a home robot. Because the shape of cloth tends to change in various ways depending on the situation, it is difficult for robot hands to fold the clothes. In this paper, we propose a realistic folding system for the clothes by a robot and tools. The function of a tool is folding the clothes in half by inserting the clothes using two plates. T...

  19. Laparoscopy-assisted Robotic Myomectomy Using the DA Vinci System

    Directory of Open Access Journals (Sweden)

    Shih-Peng Mao

    2007-06-01

    Conclusion: Minimally invasive surgery is the trend of the future. Robot-assisted laparoscopic surgery is a new technique for myomectomy. This robotic system provides a three-dimensional operative field and an easy-to-use control panel, which may be of great help when applying the suturing techniques and may shorten the learning curve. More experience with and long-term follow-up of robotic surgery may be warranted to further validate the role the robot-assisted approach in gynecologic surgery.

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

    Science.gov (United States)

    Ando, Noriyasu; Kanzaki, Ryohei

    2017-09-01

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

  1. Implementation of a robotic flexible assembly system

    Science.gov (United States)

    Benton, Ronald C.

    1987-01-01

    As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

  2. Toward robotic socially believable behaving systems

    CERN Document Server

    Jain, Lakhmi

    2016-01-01

    This volume is a collection of research studies on the modeling of emotions in complex autonomous systems. Several experts in the field are reporting their efforts and reviewing the literature in order to shed lights on how the processes of coding and decoding emotional states took place in humans, which are the physiological, physical, and psychological variables involved, invent new mathematical models and algorithms to describe them, and motivate these investigations in the light of observable societal changes and needs, such as the aging population and the cost of health care services. The consequences are the implementation of emotionally and socially believable machines, acting as helpers into domestic spheres, where emotions drive behaviors and actions. The contents of the book are highly multidisciplinary since the modeling of emotions in robotic socially believable systems requires a holistic perspective on topics coming from different research domains such as computer science, engineering, sociology...

  3. Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle

    Science.gov (United States)

    Komendera, Erik E.; Dorsey, John T.

    2017-01-01

    Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.

  4. A Robust and Efficient Algorithm for Tool Recognition and Localization for Space Station Robot

    Directory of Open Access Journals (Sweden)

    Lingbo Cheng

    2014-12-01

    Full Text Available This paper studies a robust target recognition and localization method for a maintenance robot in a space station, and its main goal is to solve the target affine transformation caused by microgravity and the strong reflection and refraction of sunlight and lamplight in the cabin, as well as the occlusion of other objects. In this method, an Affine Scale Invariant Feature Transform (Affine-SIFT algorithm is proposed to extract enough local feature points with a fully affine invariant, and the stable matching point is obtained from the above point for target recognition by the selected Random Sample Consensus (RANSAC algorithm. Then, in order to localize the target, the effective and appropriate 3D grasping scope of the target is defined, and we determine and evaluate the grasping precision with the estimated affine transformation parameters presented in this paper. Finally, the threshold of RANSAC is optimized to enhance the accuracy and efficiency of target recognition and localization, and the scopes of illumination, vision distance and viewpoint angle for robot are evaluated to obtain effective image data by Root-Mean-Square Error (RMSE. An experimental system to simulate the illumination environment in a space station is established. Enough experiments have been carried out, and the experimental results show both the validity of the proposed definition of the grasping scope and the feasibility of the proposed recognition and localization method.

  5. Space Van system update

    Science.gov (United States)

    Cormier, Len

    1992-07-01

    The Space Van is a proposed commercial launch vehicle that is designed to carry 1150 kg to a space-station orbit for a price of $1,900,000 per flight in 1992 dollars. This price includes return on preoperational investment. Recurring costs are expected to be about $840,000 per flight. The Space Van is a fully reusable, assisted-single-stage-to orbit system. The most innovative new feature of the Space Van system is the assist-stage concept. The assist stage uses only airbreathing engines for vertical takeoff and vertical landing in the horizontal attitude and for launching the rocket-powered orbiter stage at mach 0.8 and an altitude of about 12 km. The primary version of the orbiter is designed for cargo-only without a crew. However, a passenger version of the Space Van should be able to carry a crew of two plus six passengers to a space-station orbit. Since the Space Van is nearly single-stage, performance to polar orbit drops off significantly. The cargo version should be capable of carrying 350 kg to a 400-km polar orbit. In the passenger version, the Space Van should be able to carry two crew members - or one crew member plus a passenger.

  6. Artificial intelligence and information-control systems of robots - 87

    International Nuclear Information System (INIS)

    Plander, I.

    1987-01-01

    Independent research areas of artificial intelligence represent the following problems: automatic problem solving and new knowledge discovering, automatic program synthesis, natural language, picture and scene recognition and understanding, intelligent control systems of robots equipped with sensoric subsystems, dialogue of two knowledge systems, as well as studying and modelling higher artificial intelligence attributes, such as emotionality and personality. The 4th Conference draws on the problems treated at the preceding Conferences, and presents the most recent knowledge on the following topics: theoretical problems of artificial intelligence, knowledge-based systems, expert systems, perception and pattern recognition, robotics, intelligent computer-aided design, special-purpose computer systems for artificial intelligence and robotics

  7. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

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

    2017-10-01

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

  8. L'espace articulaire de la Robotique Industrielle est un espace vectorielIndustrial Robotics joint space is a vector space

    Science.gov (United States)

    Tondu, Bertrand

    2003-05-01

    The mathematical modelling of industrial robots is based on the vectorial nature of the n-dimensional joint space of the robot, defined as a kinematic chain with n degrees of freedom. However, in our opinion, the vectorial nature of the joint space has been insufficiently discussed in the literature. We establish the vectorial nature of the joint space of an industrial robot from the fundamental studies of B. Roth on screws. To cite this article: B. Tondu, C. R. Mecanique 331 (2003).

  9. ASBESTOS PIPE-INSULATION REMOVAL ROBOT SYSTEM; FINAL

    International Nuclear Information System (INIS)

    Unknown

    2000-01-01

    This final topical report details the development, experimentation and field-testing activities for a robotic asbestos pipe-insulation removal robot system developed for use within the DOE's weapon complex as part of their ER and WM program, as well as in industrial abatement. The engineering development, regulatory compliance, cost-benefit and field-trial experiences gathered through this program are summarized

  10. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  11. Application of da Vinci surgical robotic system in hepatobiliary surgery

    Directory of Open Access Journals (Sweden)

    Chen Jiahai

    2018-01-01

    Full Text Available The development of minimally invasive surgery has brought a revolutionary change to surgery techniques, and endoscopic surgical robots, especially Da Vinci robotic surgical system, has further broaden the scope of minimally invasive surgery, which has been applied in a variety of surgical fields including hepatobiliary surgery. Today, the application of Da Vinci surgical robot can cover most of the operations in hepatobiliary surgery which has proved to be safe and practical. What’s more, many clinical studies in recent years have showed that Da Vinci surgical system is superior to traditional laparoscopy. This paper summarize the advantage and disadvantage of Da Vinci surgical system, and outlines the current status of and future perspectives on the robot-assisted hepatobiliary surgery based on the cases reports in recent years of the application of Da Vinci surgical robot.

  12. Are You Talking to Me? Dialogue Systems Supporting Mixed Teams of Humans and Robots

    Science.gov (United States)

    Dowding, John; Clancey, William J.; Graham, Jeffrey

    2006-01-01

    This position paper describes an approach to building spoken dialogue systems for environments containing multiple human speakers and hearers, and multiple robotic speakers and hearers. We address the issue, for robotic hearers, of whether the speech they hear is intended for them, or more likely to be intended for some other hearer. We will describe data collected during a series of experiments involving teams of multiple human and robots (and other software participants), and some preliminary results for distinguishing robot-directed speech from human-directed speech. The domain of these experiments is Mars-analogue planetary exploration. These Mars-analogue field studies involve two subjects in simulated planetary space suits doing geological exploration with the help of 1-2 robots, supporting software agents, a habitat communicator and links to a remote science team. The two subjects are performing a task (geological exploration) which requires them to speak with each other while also speaking with their assistants. The technique used here is to use a probabilistic context-free grammar language model in the speech recognizer that is trained on prior robot-directed speech. Intuitively, the recognizer will give higher confidence to an utterance if it is similar to utterances that have been directed to the robot in the past.

  13. The space station tethered elevator system

    Science.gov (United States)

    Anderson, Loren A.

    1989-01-01

    The optimized conceptual engineering design of a space station tethered elevator is presented. The elevator is an unmanned mobile structure which operates on a ten kilometer tether spanning the distance between the Space Station and a tethered platform. Elevator capabilities include providing access to residual gravity levels, remote servicing, and transportation to any point along a tether. The potential uses, parameters, and evolution of the spacecraft design are discussed. Engineering development of the tethered elevator is the result of work conducted in the following areas: structural configurations; robotics, drive mechanisms; and power generation and transmission systems. The structural configuration of the elevator is presented. The structure supports, houses, and protects all systems on board the elevator. The implementation of robotics on board the elevator is discussed. Elevator robotics allow for the deployment, retrieval, and manipulation of tethered objects. Robotic manipulators also aid in hooking the elevator on a tether. Critical to the operation of the tethered elevator is the design of its drive mechanisms, which are discussed. Two drivers, located internal to the elevator, propel the vehicle along a tether. These modular components consist of endless toothed belts, shunt-wound motors, regenerative power braking, and computer controlled linear actuators. The designs of self-sufficient power generation and transmission systems are reviewed. Thorough research indicates all components of the elevator will operate under power provided by fuel cells. The fuel cell systems will power the vehicle at seven kilowatts continuously and twelve kilowatts maximally. A set of secondary fuel cells provides redundancy in the unlikely event of a primary system failure. Power storage exists in the form of Nickel-Hydrogen batteries capable of powering the elevator under maximum loads.

  14. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  15. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  16. Integrating Robot Task Planning into Off-Line Programming Systems

    DEFF Research Database (Denmark)

    Sun, Hongyan; Kroszynski, Uri

    1988-01-01

    a system architecture for integrated robot task planning. It identifies and describes the components considered necessary for implementation. The focus is on functionality of these elements as well as on the information flow. A pilot implementation of such an integrated system architecture for a robot......The addition of robot task planning in off-line programming systems aims at improving the capability of current state-of-the-art commercially available off-line programming systems, by integrating modeling, task planning, programming and simulation together under one platform. This article proposes...... assembly task is discussed....

  17. Safety assessment of a robotic system handling nuclear material

    International Nuclear Information System (INIS)

    Atcitty, C.B.; Robinson, D.G.

    1996-01-01

    This paper outlines the use of a Failure Modes and Effects Analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, The Weigh and Leak Check System, is to replace a manual process at the Department of Energy facility at Pantex by which nuclear material is inspected for weight and leakage. Failure Modes and Effects Analyses were completed for the robotics process to ensure that safety goals for the system had been meet. These analyses showed that the risks to people and the internal and external environment were acceptable

  18. Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

    Science.gov (United States)

    Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

    2018-04-01

    In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

  19. A Motion System for Social and Animated Robots

    Directory of Open Access Journals (Sweden)

    Jelle Saldien

    2014-05-01

    Full Text Available This paper presents an innovative motion system that is used to control the motions and animations of a social robot. The social robot Probo is used to study Human-Robot Interactions (HRI, with a special focus on Robot Assisted Therapy (RAT. When used for therapy it is important that a social robot is able to create an “illusion of life” so as to become a believable character that can communicate with humans. The design of the motion system in this paper is based on insights from the animation industry. It combines operator-controlled animations with low-level autonomous reactions such as attention and emotional state. The motion system has a Combination Engine, which combines motion commands that are triggered by a human operator with motions that originate from different units of the cognitive control architecture of the robot. This results in an interactive robot that seems alive and has a certain degree of “likeability”. The Godspeed Questionnaire Series is used to evaluate the animacy and likeability of the robot in China, Romania and Belgium.

  20. An advanced rehabilitation robotic system for augmenting healthcare.

    Science.gov (United States)

    Hu, John; Lim, Yi-Je; Ding, Ye; Paluska, Daniel; Solochek, Aaron; Laffery, David; Bonato, Paolo; Marchessault, Ronald

    2011-01-01

    Emerging technologies such as rehabilitation robots (RehaBot) for retraining upper and lower limb functions have shown to carry tremendous potential to improve rehabilitation outcomes. Hstar Technologies is developing a revolutionary rehabilitation robot system enhancing healthcare quality for patients with neurological and muscular injuries or functional impairments. The design of RehaBot is a safe and robust system that can be run at a rehabilitation hospital under the direct monitoring and interactive supervision control and at a remote site via telepresence operation control. RehaBot has a wearable robotic structure design like exoskeleton, which employs a unique robotic actuation--Series Elastic Actuator. These electric actuators provide robotic structural compliance, safety, flexibility, and required strength for upper extremity dexterous manipulation rehabilitation training. RehaBot also features a novel non-treadmill paddle platform capable of haptics feedback locomotion rehabilitation training. In this paper, we concern mainly about the motor incomplete patient and rehabilitation applications.

  1. Calibration technology in application of robot-laser scanning system

    Science.gov (United States)

    Ren, YongJie; Yin, ShiBin; Zhu, JiGui

    2012-11-01

    A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

  2. An approach to software quality assurance for robotic inspection systems

    International Nuclear Information System (INIS)

    Kiebel, G.R.

    1993-10-01

    Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that the systems operate safely and reliably and pose a minimum risk to humans and the environment. This paper describes the SQA approach for the control and data acquisition system for a robotic system being developed for remote surveillance and inspection of underground storage tanks (UST) at the Hanford Site

  3. Developing an Adaptive Robotic Assistant for Close-Proximity Human-Robot Interaction in Space Environments

    Data.gov (United States)

    National Aeronautics and Space Administration — As mankind continues making strides in space exploration and associated technologies, the frequency, duration, and complexity of human space exploration missions...

  4. 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.

  5. Development and verification testing of automation and robotics for assembly of space structures

    Science.gov (United States)

    Rhodes, Marvin D.; Will, Ralph W.; Quach, Cuong C.

    1993-01-01

    A program was initiated within the past several years to develop operational procedures for automated assembly of truss structures suitable for large-aperture antennas. The assembly operations require the use of a robotic manipulator and are based on the principle of supervised autonomy to minimize crew resources. A hardware testbed was established to support development and evaluation testing. A brute-force automation approach was used to develop the baseline assembly hardware and software techniques. As the system matured and an operation was proven, upgrades were incorprated and assessed against the baseline test results. This paper summarizes the developmental phases of the program, the results of several assembly tests, the current status, and a series of proposed developments for additional hardware and software control capability. No problems that would preclude automated in-space assembly of truss structures have been encountered. The current system was developed at a breadboard level and continued development at an enhanced level is warranted.

  6. An architecture for robotic system integration

    International Nuclear Information System (INIS)

    Butler, P.L.; Reister, D.B.; Gourley, C.S.; Thayer, S.M.

    1993-01-01

    An architecture has been developed to provide an object-oriented framework for the integration of multiple robotic subsystems into a single integrated system. By using an object-oriented approach, all subsystems can interface with each other, and still be able to be customized for specific subsystem interface needs. The object-oriented framework allows the communications between subsystems to be hidden from the interface specification itself. Thus, system designers can concentrate on what the subsystems are to do, not how to communicate. This system has been developed for the Environmental Restoration and Waste Management Decontamination and Decommissioning Project at Oak Ridge National Laboratory. In this system, multiple subsystems are defined to separate the functional units of the integrated system. For example, a Human-Machine Interface (HMI) subsystem handles the high-level machine coordination and subsystem status display. The HMI also provides status-logging facilities and safety facilities for use by the remaining subsystems. Other subsystems have been developed to provide specific functionality, and many of these can be reused by other projects

  7. Design, implementation and testing of master slave robotic surgical system

    International Nuclear Information System (INIS)

    Ali, S.A.

    2015-01-01

    The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system. (author)

  8. Design, Implementation and Testing of Master Slave Robotic Surgical System

    Directory of Open Access Journals (Sweden)

    Syed Amjad Ali

    2015-01-01

    Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

  9. Essential technologies for developing human and robot collaborative system

    International Nuclear Information System (INIS)

    Ishikawa, Nobuyuki; Suzuki, Katsuo

    1997-10-01

    In this study, we aim to develop a concept of new robot system, i.e., 'human and robot collaborative system', for the patrol of nuclear power plants. This paper deals with the two essential technologies developed for the system. One is the autonomous navigation program with human intervention function which is indispensable for human and robot collaboration. The other is the position estimation method by using gyroscope and TV image to make the estimation accuracy much higher for safe navigation. Feasibility of the position estimation method is evaluated by experiment and numerical simulation. (author)

  10. An off-line programming system for palletizing robot

    Directory of Open Access Journals (Sweden)

    Youdong Chen

    2016-09-01

    Full Text Available Off-line programming systems are essential tools for the effective use of palletizing robots. This article presents a dedicated off-line programming system for palletizing robots. According to the user practical requirements, there are many user-defined patterns that can’t be easily generated by commercial off-line robot programming systems. This study suggests a pattern generation method that users can easily define their patterns. The proposed method has been simulation and experiment. The results have attested the effectiveness of the proposed pattern generation method.

  11. Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

    Science.gov (United States)

    Kim, Jung Hoon; Hur, Sung-Moon; Oh, Yonghwan

    2018-03-01

    This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H∞ performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L∞ sense because bounded persistent disturbances should be intrinsically regarded as elements of the L∞ space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L∞ gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.

  12. Space Vehicle Valve System

    Science.gov (United States)

    Kelley, Anthony R. (Inventor); Lindner, Jeffrey L. (Inventor)

    2014-01-01

    The present invention is a space vehicle valve system which controls the internal pressure of a space vehicle and the flow rate of purged gases at a given internal pressure and aperture site. A plurality of quasi-unique variable dimension peaked valve structures cover the purge apertures on a space vehicle. Interchangeable sheet guards configured to cover valve apertures on the peaked valve structure contain a pressure-activated surface on the inner surface. Sheet guards move outwardly from the peaked valve structure when in structural contact with a purge gas stream flowing through the apertures on the space vehicle. Changing the properties of the sheet guards changes the response of the sheet guards at a given internal pressure, providing control of the flow rate at a given aperture site.

  13. Development of a remote tank inspection robotic system

    International Nuclear Information System (INIS)

    Knape, B.P.; Bares, L.C.

    1990-01-01

    RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

  14. System and method for seamless task-directed autonomy for robots

    Science.gov (United States)

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  15. Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

    Science.gov (United States)

    Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

    2017-10-01

    Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

  16. Automation and Robotics for space operation and planetary exploration

    Science.gov (United States)

    Montemerlo, Melvin D.

    1990-01-01

    This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

  17. The Canadian Space Agency, Space Station, Strategic Technologies for Automation and Robotics Program technology development activity in protection of materials from the low Earth orbit space environment

    Science.gov (United States)

    Francoeur, J. R.

    1992-01-01

    The Strategic Technologies in Automation and Robotics (STEAR) program is managing a number of development contracts to improve the protection of spacecraft materials from the Low Earth Orbit (LEO) space environment. The project is structured in two phases over a 3 to 4 year period with a budget of 3 to 4 million dollars. Phase 1 is designed to demonstrate the technical feasibility and commercial potential of a coating/substrate system and its associated application process. The objective is to demonstrate a prototype fabrication capability using a full scale component of a commercially viable process for the protection of materials and surface finishes from the LEO space environment, and to demonstrate compliance with a set of performance requirements. Only phase 1 will be discussed in this paper.

  18. Distributed Autonomous Robotic Systems : the 12th International Symposium

    CERN Document Server

    Cho, Young-Jo

    2016-01-01

    This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. .

  19. Design on a Composite Mobile System for Exploration Robot

    OpenAIRE

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

    2016-01-01

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

  20. Visual perception system and method for a humanoid robot

    Science.gov (United States)

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

    2012-01-01

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

  1. Interactive robot control system and method of use

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor); Abdallah, Muhammad E. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert (Inventor)

    2012-01-01

    A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

  2. Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

    Science.gov (United States)

    Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

    2018-05-01

    Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

  3. Vision-based robotic system for object agnostic placing operations

    DEFF Research Database (Denmark)

    Rofalis, Nikolaos; Nalpantidis, Lazaros; Andersen, Nils Axel

    2016-01-01

    Industrial robots are part of almost all modern factories. Even though, industrial robots nowadays manipulate objects of a huge variety in different environments, exact knowledge about both of them is generally assumed. The aim of this work is to investigate the ability of a robotic system to ope...... to the system, neither for the objects nor for the placing box. The experimental evaluation of the developed robotic system shows that a combination of seemingly simple modules and strategies can provide effective solution to the targeted problem....... to operate within an unknown environment manipulating unknown objects. The developed system detects objects, finds matching compartments in a placing box, and ultimately grasps and places the objects there. The developed system exploits 3D sensing and visual feature extraction. No prior knowledge is provided...

  4. A Novel Docking System for Modular Self-Reconfigurable Robots

    Directory of Open Access Journals (Sweden)

    Tan Zhang

    2017-10-01

    Full Text Available Existing self-reconfigurable robots achieve connections and disconnections by a separate drive of the docking system. In this paper, we present a new docking system with which the connections and disconnections are driven by locomotion actuators, without the need for a separate drive, which reduces the weight and the complexity of the modules. This self-reconfigurable robot consists of two types of fundamental modules, i.e., active and passive modules. By the docking system, two types of connections are formed with the fundamental modules, and the docking and undocking actions are achieved through simple control with less sensory feedback. This paper describes the design of the robotic modules, the docking system, the docking process, and the docking force analysis. An experiment is performed to demonstrate the self-reconfigurable robot with the docking system.

  5. Surface Support Systems for Co-Operative and Integrated Human/Robotic Lunar Exploration

    Science.gov (United States)

    Mueller, Robert P.

    2006-01-01

    Human and robotic partnerships to realize space goals can enhance space missions and provide increases in human productivity while decreasing the hazards that the humans are exposed to. For lunar exploration, the harsh environment of the moon and the repetitive nature of the tasks involved with lunar outpost construction, maintenance and operation as well as production tasks associated with in-situ resource utilization, make it highly desirable to use robotic systems in co-operation with human activity. A human lunar outpost is functionally examined and concepts for selected human/robotic tasks are discussed in the context of a lunar outpost which will enable the presence of humans on the moon for extended periods of time.

  6. Modular robotic system for forensic investigation support

    Science.gov (United States)

    Kowalski, Grzegorz; Główka, Jakub; Maciaś, Mateusz; Puchalski, Sławomir

    2017-10-01

    Forensic investigation on the crime scene is an activity that requires not only knowledge about the ways of searching for evidence, collecting and processing them. In some cases the area of operation might not be properly secured and poses threat to human health or life. Some devices or materials may be left intentionally or not to injure potential investigators. Besides conventional explosives, threats can be in form of CBRN materials, which have not only immediate effect on the exposed personnel, but can contaminate further people, when being transferred for example on clothes or unsecured equipment. In this case a risk evaluation should be performed, that can lead to conclusions that it is too dangerous for investigators to work. In that kind of situation remote devices, which are able to examine the crime scene and secure samples, can be used. In the course of R&D activities PIAP developed a system, which is based on small UGV capable of carrying out inspection of suspicious places and securing evidence, when needed. The system consists of remotely controlled mobile robot, its control console and a set of various inspection and support tools, that enable detection of CBRN threats as well as revelation, documentation and securing of the evidence. This paper will present main features of the system, like mission adjustment possibilities and communication aspects, and also examples of the forensic accessories.

  7. Ideas on a system design for end-user robots

    Science.gov (United States)

    Bonasso, R. P.; Slack, Marc G.

    1992-11-01

    Robots are being used successfully in factory automation; however, recently there has been some success in building robots which can operate in field environments, where the domain is less predictable. New perception and control techniques have been developed which allow a robot to accomplish its mission while dealing with natural changes in both land and underwater environments. Unfortunately, efforts in this area have resulted in many one-of-a-kind robots, limited to research laboratories or carefully delimited field task arenas. A user who would like to apply robotic technology to a particular field problem must basically start from scratch. The problem is that the robotic technology (i.e., the hardware and software) which might apply to the user's domain exists in a diverse array of formats and configurations. For end-user robots to become a reality, an effort to standardize some aspects of the robotic technology must be made, in much the same way that personal computer technology is becoming standardized. Presently, a person can buy a computer and then acquire hardware and software extensions which simply `plug in' and provide the user with the required utility without the user having to understand the inner workings of the pieces of the system. This technology even employs standardized interface specifications so the user is presented with a familiar interaction paradigm. This paper outlines some system requirements (hardware and software) and a preliminary design for end-user robots for field environments, drawing parallels to the trends in the personal computer market. The general conclusion is that the appropriate components as well as an integrating architecture are already available, making development of out-of-the- box, turnkey robots for a certain range of commonly required tasks a potential reality.

  8. Proceedings of the international topical meeting on remote systems and robotics in hostile environments

    International Nuclear Information System (INIS)

    Anon.

    1987-01-01

    This book contains the proceedings of the International Topical Meeting on Remote Systems and Robotics in Hostile Environments. It is organized under the following sessions: Worldwide Applications Overview; Operating Mobile Systems; Sensors and Control Systems; Space Applications; Reactor Operations and Surveillance; Remote Equipment for Hazardous Operations; Future Mobile System; Mining and Construction Operations; Special Applications; Hot Cell Applications; Processing; Reactor Operations and Maintenance; Decontamination and Waste Handling; Remote Handling Development and Demonstration

  9. Topology Optimization and Robotic Fabrication of Advanced Timber Space-frame Structures

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn; Amir, Oded; Eversmann, Phillip

    2016-01-01

    This paper presents a novel method for integrated topology optimization and fabrication of advanced timber space-frame structures. The method, developed in research collaboration between ETH Zürich, Aarhus School of Architecture and Israel Institute of Technology, entails the coupling of truss...... processes solving timber joint intersections, robotically controlling member prefabrication, and spatial robotic assembly of the optimized timber structures. The implication of this concept is studied through pilot fabrication and load-testing of a full scale prototype structure.......-based topology optimization with digital procedures for rationalization and robotic assembly of bespoke timber members, through a procedural, cross-application workflow. Through this, a direct chaining of optimization and robotic fabrication is established, in which optimization data is driving subsequent...

  10. Astronomy and space sciences studies - use of a remotely controlled robotic observatory

    Science.gov (United States)

    Priskitch, Ray

    Trinity College in Perth, Western Australia, has designed a self-paced online astronomy and space science course in response to the Earth & Beyond strand of the State's Curriculum Framework learning environment. The course also provides senior physics students the opportunity to undertake research that contributes towards their school-based assessment. Special features of the course include use of the first remotely controlled robotic telescope in a secondary school within Australia, and direct real time links to NASA's Johnson Space Centre. The quantum leap in telescope design and control technology introduces users, especially school students, to a means of data collection and processing that hitherto was in the realm of the professional astronomer. No longer must students be, both in time and space, located at the telescope when an event is taking place. Convenience of use and the high quality of data allows students to undertake scientific investigations that were impractical or of dubious quality beforehand. The Astronomy and Space Sciences course at Trinity offers students the opportunity to explore the solar system and the universe beyond whilst also incorporating a wide range of subjects other than science per se such as mathematics, computing, geography, multimedia, religious education and art. Skills developed in this course are of practical value, such as image processing, and the context of the studies serve to illuminate and stimulate student awareness of our unique environment and its finiteness.

  11. Development of a medical robot system for minimally invasive surgery.

    Science.gov (United States)

    Feng, Mei; Fu, Yili; Pan, Bo; Liu, Chang

    2012-03-01

    Robot-assisted systems have been widely used in minimally invasive surgery (MIS) practice, and with them the precision and accuracy of surgical procedures can be significantly improved. Promoting the development of robot technology in MIS will improve robot performance and help in tackling problems from complex surgical procedures. A medical robot system with a new mechanism for MIS was proposed to achieve a two-dimensional (2D) remote centre of motion (RCM). An improved surgical instrument was designed to enhance manipulability and eliminate the coupling motion between the wrist and the grippers. The control subsystem adopted a master-slave control mode, upon which a new method with error compensation of repetitive feedback can be based for the inverse kinematics solution. A unique solution with less computation and higher satisfactory accuracy was also obtained. Tremor filtration and trajectory planning were also addressed with regard to the smoothness of the surgical instrument movement. The robot system was tested on pigs weighing 30-45 kg. The experimental results show that the robot can successfully complete a cholecystectomy and meet the demands of MIS. The results of the animal experiments were excellent, indicating a promising clinical application of the robot with high manipulability. Copyright © 2011 John Wiley & Sons, Ltd.

  12. Progress in EEG-Based Brain Robot Interaction Systems

    Directory of Open Access Journals (Sweden)

    Xiaoqian Mao

    2017-01-01

    Full Text Available The most popular noninvasive Brain Robot Interaction (BRI technology uses the electroencephalogram- (EEG- based Brain Computer Interface (BCI, to serve as an additional communication channel, for robot control via brainwaves. This technology is promising for elderly or disabled patient assistance with daily life. The key issue of a BRI system is to identify human mental activities, by decoding brainwaves, acquired with an EEG device. Compared with other BCI applications, such as word speller, the development of these applications may be more challenging since control of robot systems via brainwaves must consider surrounding environment feedback in real-time, robot mechanical kinematics, and dynamics, as well as robot control architecture and behavior. This article reviews the major techniques needed for developing BRI systems. In this review article, we first briefly introduce the background and development of mind-controlled robot technologies. Second, we discuss the EEG-based brain signal models with respect to generating principles, evoking mechanisms, and experimental paradigms. Subsequently, we review in detail commonly used methods for decoding brain signals, namely, preprocessing, feature extraction, and feature classification, and summarize several typical application examples. Next, we describe a few BRI applications, including wheelchairs, manipulators, drones, and humanoid robots with respect to synchronous and asynchronous BCI-based techniques. Finally, we address some existing problems and challenges with future BRI techniques.

  13. Walking Robots Dynamic Control Systems on an Uneven Terrain

    Directory of Open Access Journals (Sweden)

    MUNTEANU, M. S.

    2010-05-01

    Full Text Available The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles.

  14. ROS (Robot Operating System) für Automotive

    OpenAIRE

    Bubeck, Alexander

    2014-01-01

    - Introduction into the Robot Operating System - Open Source in the automotive industries - Application of ROS in the automotive industry - ROS navigation - ROS with real time control - ROS in the embedded world - Outlook: ROS 2.0 - Summary

  15. Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

    Science.gov (United States)

    Xu, Yiliang

    2011-01-01

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

  16. Automation and robotics and related technology issues for Space Station customer servicing

    Science.gov (United States)

    Cline, Helmut P.

    1987-01-01

    Several flight servicing support elements are discussed within the context of the Space Station. Particular attention is given to the servicing facility, the mobile servicing center, and the flight telerobotic servicer (FTS). The role that automation and robotics can play in the design and operation of each of these elements is discussed. It is noted that the FTS, which is currently being developed by NASA, will evolve to increasing levels of autonomy to allow for the virtual elimination of routine EVA. Some of the features of the FTS will probably be: dual manipulator arms having reach and dexterity roughly equivalent to that of an EVA-suited astronaut, force reflection capability allowing efficient teleoperation, and capability of operating from a variety of support systems.

  17. Development of small size wall decontamination robot systems in nuclear power plants

    International Nuclear Information System (INIS)

    Fujita, Tsuneaki; Takahashi, Tsuyosi

    2004-01-01

    This paper describes the development of wall decontamination robot systems for nuclear power plants. In nuclear power plants, it is required to reduce maintenance costs, including annual inspection, repairs and so on. Most of such maintenance activities are actually performed after decontamination processes are completed. In particular, the decontamination process of reactor wells is very important for reducing the radiation exposure of human workers. In the past, decontamination of reactor wells used to be done by extra large machine and tools, which caused long working hours and tiresome works. It was one of the reasons maintenance costs couldn't have been easily reduced. There are narrow spaces in the reactor wells that have to be decontaminated by human workers. In order to minimize the radiation exposure to humans, wall decontamination robot systems have been developed. The decontamination robots have rolled brushes and suction mechanisms and are capable of removing contaminants attached to the wall surface of the reactor wells. By making the robots smaller, it is possible to work in narrower spaces. In this paper, the effectiveness of decontamination by the developed robots is shown through experiments in the actual nuclear power plants. (author)

  18. The SEP "robot": a valid virtual reality robotic simulator for the Da Vinci Surgical System?

    Science.gov (United States)

    van der Meijden, O A J; Broeders, I A M J; Schijven, M P

    2010-04-01

    The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's face validity, two questionnaires were constructed. First, a questionnaire was sent to users of the Da Vinci system (reference group) to determine a focused user-group opinion and their recommendations concerning VR-based training applications for robotic surgery. Next, clinical specialists were requested to complete a pre-tested face validity questionnaire after performing a suturing task on the SEP robot simulator. To determine the SEP's construct validity, outcome parameters of the suturing task were compared, for example, relative to participants' endoscopic experience. Correlations between endoscopic experience and outcome parameters of the performed suturing task were tested for significance. On an ordinal five-point, scale the average score for the quality of the simulator software was 3.4; for its hardware, 3.0. Over 80% agreed that it is important to train surgeons and surgical trainees to use the Da Vinci. There was a significant but marginal difference in tool tip trajectory (p = 0.050) and a nonsignificant difference in total procedure time (p = 0.138) in favor of the experienced group. In conclusion, the results of this study reflect a uniform positive opinion using VR training in robotic surgery. Concepts of face and construct validity of the SEP robotic simulator are present; however, these are not strong and need to be improved before implementation of the SEP robotic simulator in its present state for a validated training curriculum to be successful .

  19. Dynamic electronic institutions in agent oriented cloud robotic systems.

    Science.gov (United States)

    Nagrath, Vineet; Morel, Olivier; Malik, Aamir; Saad, Naufal; Meriaudeau, Fabrice

    2015-01-01

    The dot-com bubble bursted in the year 2000 followed by a swift movement towards resource virtualization and cloud computing business model. Cloud computing emerged not as new form of computing or network technology but a mere remoulding of existing technologies to suit a new business model. Cloud robotics is understood as adaptation of cloud computing ideas for robotic applications. Current efforts in cloud robotics stress upon developing robots that utilize computing and service infrastructure of the cloud, without debating on the underlying business model. HTM5 is an OMG's MDA based Meta-model for agent oriented development of cloud robotic systems. The trade-view of HTM5 promotes peer-to-peer trade amongst software agents. HTM5 agents represent various cloud entities and implement their business logic on cloud interactions. Trade in a peer-to-peer cloud robotic system is based on relationships and contracts amongst several agent subsets. Electronic Institutions are associations of heterogeneous intelligent agents which interact with each other following predefined norms. In Dynamic Electronic Institutions, the process of formation, reformation and dissolution of institutions is automated leading to run time adaptations in groups of agents. DEIs in agent oriented cloud robotic ecosystems bring order and group intellect. This article presents DEI implementations through HTM5 methodology.

  20. A lightweight, inexpensive robotic system for insect vision.

    Science.gov (United States)

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

    2017-09-01

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

  1. Automatic Specialization of Modular Robot Limbs

    Data.gov (United States)

    National Aeronautics and Space Administration — Modular robotic systems have the potential to be adapted to varying tasks using a single platform and enable customizable robots to be developed faster and more...

  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. Mobile robots and remote systems in nuclear applications; Robots moviles y sistemas remotos en aplicaciones nucleares

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los Rios, J. A.; Benitez R, J. S., E-mail: armando.segovia@inin.gob.m [ININ, Departamento de Automatizacion e Instrumentacion, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico)

    2010-07-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  4. Effective programming of energy consuming industrial robot systems

    International Nuclear Information System (INIS)

    Trnka, K.; Pinter, T.; Knazik, M.; Bozek, P.

    2012-01-01

    This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part is presented the work done with one of the simulation system with automatic trajectory generation and off-line programming capability [4]. An spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus, transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step. (Authors)

  5. Robot and Human Surface Operations on Solar System Bodies

    Science.gov (United States)

    Weisbin, C. R.; Easter, R.; Rodriguez, G.

    2001-01-01

    This paper presents a comparison of robot and human surface operations on solar system bodies. The topics include: 1) Long Range Vision of Surface Scenarios; 2) Human and Robots Complement Each Other; 3) Respective Human and Robot Strengths; 4) Need More In-Depth Quantitative Analysis; 5) Projected Study Objectives; 6) Analysis Process Summary; 7) Mission Scenarios Decompose into Primitive Tasks; 7) Features of the Projected Analysis Approach; and 8) The "Getting There Effect" is a Major Consideration. This paper is in viewgraph form.

  6. A new CT-aided robotic stereotaxis system

    International Nuclear Information System (INIS)

    Shao, H.M.; Chen, J.Y.; Truong, T.K.; Reed, I.S.

    1985-01-01

    In this paper, it is shown that a robot arm may be programmed to replace the stereotaxic frame for trajectory guidance. Since the robot is driven by a computer, it offers substantial flexibility, speed and accuracy advantages over the frame. It allows a surgeon to conveniently manipulate the probe trajectory in a variety of possible directions. As a consequence, even more sophisticated stereotaxic procedures are now possible. An experimental robotic stereotaxic system is now in operation. It is described in detail in this paper

  7. Space Launch System Development Status

    Science.gov (United States)

    Lyles, Garry

    2014-01-01

    Development of NASA's Space Launch System (SLS) heavy lift rocket is shifting from the formulation phase into the implementation phase in 2014, a little more than three years after formal program approval. Current development is focused on delivering a vehicle capable of launching 70 metric tons (t) into low Earth orbit. This "Block 1" configuration will launch the Orion Multi-Purpose Crew Vehicle (MPCV) on its first autonomous flight beyond the Moon and back in December 2017, followed by its first crewed flight in 2021. SLS can evolve to a130-t lift capability and serve as a baseline for numerous robotic and human missions ranging from a Mars sample return to delivering the first astronauts to explore another planet. Benefits associated with its unprecedented mass and volume include reduced trip times and simplified payload design. Every SLS element achieved significant, tangible progress over the past year. Among the Program's many accomplishments are: manufacture of Core Stage test panels; testing of Solid Rocket Booster development hardware including thrust vector controls and avionics; planning for testing the RS-25 Core Stage engine; and more than 4,000 wind tunnel runs to refine vehicle configuration, trajectory, and guidance. The Program shipped its first flight hardware - the Multi-Purpose Crew Vehicle Stage Adapter (MSA) - to the United Launch Alliance for integration with the Delta IV heavy rocket that will launch an Orion test article in 2014 from NASA's Kennedy Space Center. Objectives of this Earth-orbit flight include validating the performance of Orion's heat shield and the MSA design, which will be manufactured again for SLS missions to deep space. The Program successfully completed Preliminary Design Review in 2013 and Key Decision Point C in early 2014. NASA has authorized the Program to move forward to Critical Design Review, scheduled for 2015 and a December 2017 first launch. The Program's success to date is due to prudent use of proven

  8. Development of 6-DOF painting robot control system

    Science.gov (United States)

    Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang

    2017-01-01

    With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom)robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. Control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

  9. A robotic system for researching social integration in honeybees.

    Directory of Open Access Journals (Sweden)

    Karlo Griparić

    Full Text Available In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera, are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

  10. A robotic system for researching social integration in honeybees.

    Science.gov (United States)

    Griparić, Karlo; Haus, Tomislav; Miklić, Damjan; Polić, Marsela; Bogdan, Stjepan

    2017-01-01

    In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera), are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

  11. Development of a remote controlled robot system for monitoring nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Woo, Hee Gon; Song, Myung Jae; Shin, Hyun Bum; Oh, Gil Hwan; Maeng, Sung Jun; Choi, Byung Jae; Chang, Tae Woo [Korea Electric Power Research Institute, Taejon (Korea, Republic of); Lee, Bum Hee; Yoo, Jun; Choi, Myung Hwan; Go, Nak Yong; Lee, Kee Dong; Lee, Young Dae; Cho, Hae Kyeng; Nam, Yoon Suk [Electric and Science Research Center, (Korea, Republic of)

    1996-12-31

    It`s a final report of the development of remote controlled robot system for monitoring the facilities in nuclear power plant and contains as follows, -Studying the technologies in robot developments and analysing the requirements and working environments - Development of the test mobile robot system - Development of the mobile-robot - Development of the Mounted system on the Mobile robot - Development of the Monitoring system - Mobil-robot applications and future study. In this study we built the basic technologies and schemes for future robot developments and applications. (author). 20 refs., figs.

  12. BellBot - A Hotel Assistant System Using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Joaquín López

    2013-01-01

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

  13. Audio-Visual Perception System for a Humanoid Robotic Head

    Directory of Open Access Journals (Sweden)

    Raquel Viciana-Abad

    2014-05-01

    Full Text Available One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.

  14. System design for safe robotic handling of nuclear materials

    International Nuclear Information System (INIS)

    Drotning, W.; Wapman, W.; Fahrenholtz, J.; Kimberly, H.; Kuhlmann, J.

    1996-01-01

    Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive nuclear materials. These systems will reduce the occupational radiation exposure to workers by automating operations which are currently performed manually. Because the robotic systems will handle material that is both hazardous and valuable, the safety of the operations is of utmost importance; assurance must be given that personnel will not be harmed and that the materials and environment will be protected. These safety requirements are met by designing safety features into the system using a layered approach. Several levels of mechanical, electrical and software safety prevent unsafe conditions from generating a hazard, and bring the system to a safe state should an unexpected situation arise. The system safety features include the use of industrial robot standards, commercial robot systems, commercial and custom tooling, mechanical safety interlocks, advanced sensor systems, control and configuration checks, and redundant control schemes. The effectiveness of the safety features in satisfying the safety requirements is verified using a Failure Modes and Effects Analysis. This technique can point out areas of weakness in the safety design as well as areas where unnecessary redundancy may reduce the system reliability

  15. Computer graphics testbed to simulate and test vision systems for space applications

    Science.gov (United States)

    Cheatham, John B.

    1991-01-01

    Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.

  16. Fast estimation of space-robots inertia parameters: A modular mathematical formulation

    Science.gov (United States)

    Nabavi Chashmi, Seyed Yaser; Malaek, Seyed Mohammad-Bagher

    2016-10-01

    This work aims to propose a new technique that considerably helps enhance time and precision needed to identify ;Inertia Parameters (IPs); of a typical Autonomous Space-Robot (ASR). Operations might include, capturing an unknown Target Space-Object (TSO), ;active space-debris removal; or ;automated in-orbit assemblies;. In these operations generating precise successive commands are essential to the success of the mission. We show how a generalized, repeatable estimation-process could play an effective role to manage the operation. With the help of the well-known Force-Based approach, a new ;modular formulation; has been developed to simultaneously identify IPs of an ASR while it captures a TSO. The idea is to reorganize the equations with associated IPs with a ;Modular Set; of matrices instead of a single matrix representing the overall system dynamics. The devised Modular Matrix Set will then facilitate the estimation process. It provides a conjugate linear model in mass and inertia terms. The new formulation is, therefore, well-suited for ;simultaneous estimation processes; using recursive algorithms like RLS. Further enhancements would be needed for cases the effect of center of mass location becomes important. Extensive case studies reveal that estimation time is drastically reduced which in-turn paves the way to acquire better results.

  17. FY 1998 Report on research and development project. Research and development of human-cooperative/coexisting robot systems; 1998 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    This R and D project is aimed at development of the human-cooperative/coexisting robot systems with high safety and reliability, capable of performing complicated works cooperatively and in a coexisting manner with humans in human working and living spaces, in order to help improve safety and efficiency in various industrial areas, improve services and convenience in manufacturing and service areas, and create new industries. The trend surveys cover humanoid robot systems, remote control systems and simulators, and the application surveys cover services for humans, basic humanoids and entertainment communication. The 1998 R and D efforts include research and development, fabrication and surveys for the following themes; (1) fabrication of robot platforms for supporting manual works, (2) development of surrounded visual display systems, (3) development of robot arm manipulation and force displaying systems, (4) development of a dynamic simulator, (5) development of a distributed software platform, (6) researches and development of computation algorithm for kinematic chain dynamics, (7) development of motion teaching system for multi-functional robots, (8) investigation of trends in robotics technology, and (9) researches and surveys of robot application. (NEDO)

  18. Verification Test of Automated Robotic Assembly of Space Truss Structures

    Science.gov (United States)

    Rhodes, Marvin D.; Will, Ralph W.; Quach, Cuong C.

    1995-01-01

    A multidisciplinary program has been conducted at the Langley Research Center to develop operational procedures for supervised autonomous assembly of truss structures suitable for large-aperture antennas. The hardware and operations required to assemble a 102-member tetrahedral truss and attach 12 hexagonal panels were developed and evaluated. A brute-force automation approach was used to develop baseline assembly hardware and software techniques. However, as the system matured and operations were proven, upgrades were incorporated and assessed against the baseline test results. These upgrades included the use of distributed microprocessors to control dedicated end-effector operations, machine vision guidance for strut installation, and the use of an expert system-based executive-control program. This paper summarizes the developmental phases of the program, the results of several assembly tests, and a series of proposed enhancements. No problems that would preclude automated in-space assembly or truss structures have been encountered. The test system was developed at a breadboard level and continued development at an enhanced level is warranted.

  19. Coordination Mechanisms for Human-Robot Teams in Space

    Data.gov (United States)

    National Aeronautics and Space Administration — A major challenge of coordination in space environments is that teams are often spatially separated and operate at different time scales. Currently, there are few...

  20. A robotic system to characterize soft tailings deposits

    Energy Technology Data Exchange (ETDEWEB)

    Lipsett, M.G.; Dwyer, S.C. [Alberta Univ., Edmonton, AB (Canada). Dept. of Mechanical Engineering

    2009-07-01

    A robotic system for characterizing soft tailings deposits was discussed in this presentation. The system was developed to reduce variability in feedstocks and process performance as well as to improve the trafficability of composite tailings (CT). The method was designed to reliably sample different locations of a soft deposit. Sensors were used to determine water content, clay content, organic matter, and strength. The system included an autonomous rover with a sensor package and teleoperation capability. The system was also designed to be used without automatic controls. The wheeled mobile robot was used to conduct ground contact and soil measurements. The gas-powered robot included on-board microcontrollers and a host computer. The system also featured traction control and fault recovery sub-systems. Wheel contact was used to estimate soil parameters. It was concluded that further research is needed to improve traction control and soil parameter estimation testing capabilities. Overall system block diagrams were included. tabs., figs.

  1. Task Analysis and Descriptions of Required Job Competencies of Robotics/Automated Systems Technicians. Outlines for New Courses and Modules.

    Science.gov (United States)

    Hull, Daniel M.; Lovett, James E.

    The six new robotics and automated systems specialty courses developed by the Robotics/Automated Systems Technician (RAST) project are described in this publication. Course titles are Fundamentals of Robotics and Automated Systems, Automated Systems and Support Components, Controllers for Robots and Automated Systems, Robotics and Automated…

  2. Compensation for positioning error of industrial robot for flexible vision measuring system

    Science.gov (United States)

    Guo, Lei; Liang, Yajun; Song, Jincheng; Sun, Zengyu; Zhu, Jigui

    2013-01-01

    Positioning error of robot is a main factor of accuracy of flexible coordinate measuring system which consists of universal industrial robot and visual sensor. Present compensation methods for positioning error based on kinematic model of robot have a significant limitation that it isn't effective in the whole measuring space. A new compensation method for positioning error of robot based on vision measuring technique is presented. One approach is setting global control points in measured field and attaching an orientation camera to vision sensor. Then global control points are measured by orientation camera to calculate the transformation relation from the current position of sensor system to global coordinate system and positioning error of robot is compensated. Another approach is setting control points on vision sensor and two large field cameras behind the sensor. Then the three dimensional coordinates of control points are measured and the pose and position of sensor is calculated real-timely. Experiment result shows the RMS of spatial positioning is 3.422mm by single camera and 0.031mm by dual cameras. Conclusion is arithmetic of single camera method needs to be improved for higher accuracy and accuracy of dual cameras method is applicable.

  3. A Multimodal Emotion Detection System during Human-Robot Interaction

    Science.gov (United States)

    Alonso-Martín, Fernando; Malfaz, María; Sequeira, João; Gorostiza, Javier F.; Salichs, Miguel A.

    2013-01-01

    In this paper, a multimodal user-emotion detection system for social robots is presented. This system is intended to be used during human–robot interaction, and it is integrated as part of the overall interaction system of the robot: the Robotics Dialog System (RDS). Two modes are used to detect emotions: the voice and face expression analysis. In order to analyze the voice of the user, a new component has been developed: Gender and Emotion Voice Analysis (GEVA), which is written using the Chuck language. For emotion detection in facial expressions, the system, Gender and Emotion Facial Analysis (GEFA), has been also developed. This last system integrates two third-party solutions: Sophisticated High-speed Object Recognition Engine (SHORE) and Computer Expression Recognition Toolbox (CERT). Once these new components (GEVA and GEFA) give their results, a decision rule is applied in order to combine the information given by both of them. The result of this rule, the detected emotion, is integrated into the dialog system through communicative acts. Hence, each communicative act gives, among other things, the detected emotion of the user to the RDS so it can adapt its strategy in order to get a greater satisfaction degree during the human–robot dialog. Each of the new components, GEVA and GEFA, can also be used individually. Moreover, they are integrated with the robotic control platform ROS (Robot Operating System). Several experiments with real users were performed to determine the accuracy of each component and to set the final decision rule. The results obtained from applying this decision rule in these experiments show a high success rate in automatic user emotion recognition, improving the results given by the two information channels (audio and visual) separately. PMID:24240598

  4. Robotic radiation survey and analysis system for radiation waste casks

    International Nuclear Information System (INIS)

    Thunborg, S.

    1987-01-01

    Sandia National Laboratories (SNL) and the Hanford Engineering Development Laboratories have been involved in the development of remote systems technology concepts for handling defense high-level waste (DHLW) shipping casks at the waste repository. This effort was demonstrated the feasibility of using this technology for handling DHLW casks. These investigations have also shown that cask design can have a major effect on the feasibility of remote cask handling. Consequently, SNL has initiated a program to determine cask features necessary for robotic remote handling at the waste repository. The initial cask handling task selected for detailed investigation was the robotic radiation survey and analysis (RRSAS) task. In addition to determining the design features required for robotic cask handling, the RRSAS project contributes to the definition of techniques for random selection of swipe locations, the definition of robotic swipe parameters, force control techniques for robotic swipes, machine vision techniques for the location of objects in 3-D, repository robotic systems requirements, and repository data management system needs

  5. The development of robot system for pressurizer maintenance in NPPs

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Chang Hoi; Jung, Seung Ho; Seo, Yong Chil; Lee, Young Kwang; Go, Byung Yung; Lee, Kwang Won; Lee, Sang Ill; Yun, Jong Yeon; Lee, Hyung Soon; Park, Mig Non; Park, Chang Woo; Cheol, Kwon

    1999-12-01

    The pressurizer that controls the pressure variation of primary coolant system, consists of a vessel, electric heaters and a spray, is one of the safety related equipment in nuclear power plants. Therefore it is required to inspect and maintain it regularly. Because the inside of pressurizer os contaminated by radioactivity, when inspection and repairing it, the radiation exposure of workers is inevitable. In this research two robot system has been developed for inspection and maintenance of the pressurizer for the water filled case and the water sunken case. The one robot system for the water filled case consists of two links, movable gripper using wire string, and support frame for the attachment of robot. The other robot is equipped propeller in order to navigate on the water. It also equipped high performance water resistance camera to make inspection possible. The developed robots are designed under several constraints such as its weight and collision with pressurizer wall. To verify the collision free robot link length and accessibility to the any desired rod heater it is simulated by 3-dimensional graphic simulation software(RobCard). For evaluation stress of the support frame finite element analysis is performed by using the ANSYS code. (author)

  6. Development of a Cognitive Robotic System for Simple Surgical Tasks

    Directory of Open Access Journals (Sweden)

    Riccardo Muradore

    2015-04-01

    Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

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

    Science.gov (United States)

    Wilson, Edward

    1995-01-01

    Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype. The first issue concerns the importance of true system level design of the control system. A new hybrid strategy is developed here, in depth, for the beneficial integration of neural networks into the total control system. A second important issue in neural network control concerns incorporating a priori knowledge into the neural network. In many applications, it is possible to get a reasonably accurate controller using conventional means. If this prior information is used purposefully to provide a starting point for the optimizing capabilities of the neural network, it can provide much faster initial learning. In a step towards addressing this issue, a new generic Fully Connected Architecture (FCA) is developed for use with backpropagation. A third issue is that neural networks are commonly trained using a gradient based optimization method such as backpropagation; but many real world systems have Discrete Valued Functions (DVFs) that do not permit gradient based optimization. One example is the on-off thrusters that are common on spacecraft. A new technique is developed here that now extends backpropagation learning for use with DVFs. The fourth issue is that the speed of adaptation is often a limiting factor in the implementation of a neural network control system. This issue has been strongly resolved in the research by drawing on the above new contributions.

  8. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

    International Nuclear Information System (INIS)

    Dixon, Warren

    2004-01-01

    There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning (DandD) operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, this project focused on the basic science challenges leading to the development of visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix and by disturbances such as nonlinear radial distortion. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This research project focused on the development of a visual servo control methodology that targets compensating for disturbances in the camera model (i.e., camera calibration and the recovery of range information) as a means to achieve predictable response by the robotic system operating in unstructured environments. The fundamental idea is to use nonlinear Lyapunov-based techniques along with photogrammetry methods to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current robotic applications. The outcome of this control methodology is a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature recognition and extraction to enable robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). The developed methodology has been reported in numerous peer-reviewed publications and the

  9. POLICE OFFICE MODEL IMPROVEMENT FOR SECURITY OF SWARM ROBOTIC SYSTEMS

    Directory of Open Access Journals (Sweden)

    I. A. Zikratov

    2014-09-01

    Full Text Available This paper focuses on aspects of information security for group of mobile robotic systems with swarm intellect. The ways for hidden attacks realization by the opposing party on swarm algorithm are discussed. We have fulfilled numerical modeling of potentially destructive information influence on the ant shortest path algorithm. We have demonstrated the consequences of attacks on the ant algorithm with different concentration in a swarm of subversive robots. Approaches are suggested for information security mechanisms in swarm robotic systems, based on the principles of centralized security management for mobile agents. We have developed the method of forming a self-organizing information security management system for robotic agents in swarm groups implementing POM (Police Office Model – a security model based on police offices, to provide information security in multi-agent systems. The method is based on the usage of police station network in the graph nodes, which have functions of identification and authentication of agents, identifying subversive robots by both their formal characteristics and their behavior in the swarm. We have suggested a list of software and hardware components for police stations, consisting of: communication channels between the robots in police office, nodes register, a database of robotic agents, a database of encryption and decryption module. We have suggested the variants of logic for the mechanism of information security in swarm systems with different temporary diagrams of data communication between police stations. We present comparative analysis of implementation of protected swarm systems depending on the functioning logic of police offices, integrated in swarm system. It is shown that the security model saves the ability to operate in noisy environments, when the duration of the interference is comparable to the time necessary for the agent to overcome the path between police stations.

  10. Declarative Rule-based Safety for Robotic Perception Systems

    DEFF Research Database (Denmark)

    Mogensen, Johann Thor Ingibergsson; Kraft, Dirk; Schultz, Ulrik Pagh

    2017-01-01

    Mobile robots are used across many domains from personal care to agriculture. Working in dynamic open-ended environments puts high constraints on the robot perception system, which is critical for the safety of the system as a whole. To achieve the required safety levels the perception system needs...... to be certified, but no specific standards exist for computer vision systems, and the concept of safe vision systems remains largely unexplored. In this paper we present a novel domain-specific language that allows the programmer to express image quality detection rules for enforcing safety constraints...

  11. Goal driven kinematic simulation of flexible arm robot for space station missions

    Science.gov (United States)

    Janssen, P.; Choudry, A.

    1987-01-01

    Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

  12. Motion Planning in Multi-robot Systems using Timed Automata

    DEFF Research Database (Denmark)

    Andersen, Michael. S.; Jensen, Rune S.; Bak, Thomas

    This paper dscribes how interacting timed automata can be used to model, analyze, and verify motion planning problems for systems with multiple mobile robots. The method assumes an infra-structure of simple unicycle type robots, moving om a planar grid. The motion of the robots, including simple...... kinematics, is captured in an automata formalism that allows formal composition and symbolic reasoning. The verification software UppAal is used to verify specification requirements formulated in computational tree logic (CTL), generating all feasible trajectories that satisfy specifications. The results...... of the planning are demonstrateted in a testbed that allows execution of the planned paths and motion primitives by synchronizing the planning results from UppAal with actual robotic vehicles. The planning problem may be modified online by moving obstacles in the physical environment, which causes a re...

  13. Robot path planning using expert systems and machine vision

    Science.gov (United States)

    Malone, Denis E.; Friedrich, Werner E.

    1992-02-01

    This paper describes a system developed for the robotic processing of naturally variable products. In order to plan the robot motion path it was necessary to use a sensor system, in this case a machine vision system, to observe the variations occurring in workpieces and interpret this with a knowledge based expert system. The knowledge base was acquired by carrying out an in-depth study of the product using examination procedures not available in the robotic workplace and relates the nature of the required path to the information obtainable from the machine vision system. The practical application of this system to the processing of fish fillets is described and used to illustrate the techniques.

  14. Construction typification as the tool for optimizing the functioning of a robotized manufacturing system

    Science.gov (United States)

    Gwiazda, A.; Banas, W.; Sekala, A.; Foit, K.; Hryniewicz, P.; Kost, G.

    2015-11-01

    : simple models of technological equipment, conveyors models, models of the obstacles and like that. Using these elements it could be formed various production spaces (robotized workcells), in which it is possible to virtually track the operation of an industrial robot arm modelled in the system.

  15. Virtual Reality Simulator Systems in Robotic Surgical Training.

    Science.gov (United States)

    Mangano, Alberto; Gheza, Federico; Giulianotti, Pier Cristoforo

    2018-06-01

    The number of robotic surgical procedures has been increasing worldwide. It is important to maximize the cost-effectiveness of robotic surgical training and safely reduce the time needed for trainees to reach proficiency. The use of preliminary lab training in robotic skills is a good strategy for the rapid acquisition of further, standardized robotic skills. Such training can be done either by using a simulator or by exercises in a dry or wet lab. While the use of an actual robotic surgical system for training may be problematic (high cost, lack of availability), virtual reality (VR) simulators can overcome many of these obstacles. However, there is still a lack of standardization. Although VR training systems have improved, they cannot yet replace experience in a wet lab. In particular, simulated scenarios are not yet close enough to a real operative experience. Indeed, there is a difference between technical skills (i.e., mechanical ability to perform a simulated task) and surgical competence (i.e., ability to perform a real surgical operation). Thus, while a VR simulator can replace a dry lab, it cannot yet replace training in a wet lab or operative training in actual patients. However, in the near future, it is expected that VR surgical simulators will be able to provide total reality simulation and replace training in a wet lab. More research is needed to produce more wide-ranging, trans-specialty robotic curricula.

  16. Distributed consensus with visual perception in multi-robot systems

    CERN Document Server

    Montijano, Eduardo

    2015-01-01

    This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: ·         distributed consensus algorithms; ·         data association and robustne...

  17. Intelligent robotics and remote systems for the nuclear industry

    International Nuclear Information System (INIS)

    Wehe, D.K.; Lee, J.C.; Martin, W.R.; Tulenko, J.

    1989-01-01

    The nuclear industry has a recognized need for intelligent, multitask robots to carry out tasks in harsh environments. From 1986 to the present, the number of robotic systems available or under development for use in the nuclear industry has more than doubled. Presently, artificial intelligence (AI) plays a relatively small role in existing robots used in the nuclear industry. Indeed, the lack of intelligence has been labeled the ''Achilles heel'' of all current robotic technology. However, larger-scale efforts are underway to make the multitask robot more sensitive to its environment, more capable to move and perform useful work, and more fully autonomous via the use of AI. In this paper, we review the terminology, the history, and the factors which are motivating the development of robotics and remove systems; discuss the applications related to the nuclear industry; and, finally, examine the state of the art of the technologies being applied to introduce more autonomous capabilities. Much of this latter work can be classified as within the artificial intelligence framework. (orig.)

  18. Cloud-Enhanced Robotic System for Smart City Crowd Control

    Directory of Open Access Journals (Sweden)

    Akhlaqur Rahman

    2016-12-01

    Full Text Available Cloud robotics in smart cities is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with a cloud computing infrastructure. It complements the Internet of Things (IoT by creating an expanded network where robots offload data-intensive computation to the ubiquitous cloud to ensure quality of service (QoS. However, offloading for robots is significantly complex due to their unique characteristics of mobility, skill-learning, data collection, and decision-making capabilities. In this paper, a generic cloud robotics framework is proposed to realize smart city vision while taking into consideration its various complexities. Specifically, we present an integrated framework for a crowd control system where cloud-enhanced robots are deployed to perform necessary tasks. The task offloading is formulated as a constrained optimization problem capable of handling any task flow that can be characterized by a Direct Acyclic Graph (DAG. We consider two scenarios of minimizing energy and time, respectively, and develop a genetic algorithm (GA-based approach to identify the optimal task offloading decisions. The performance comparison with two benchmarks shows that our GA scheme achieves desired energy and time performance. We also show the adaptability of our algorithm by varying the values for bandwidth and movement. The results suggest their impact on offloading. Finally, we present a multi-task flow optimal path sequence problem that highlights how the robot can plan its task completion via movements that expend the minimum energy. This integrates path planning with offloading for robotics. To the best of our knowledge, this is the first attempt to evaluate cloud-based task offloading for a smart city crowd control system.

  19. Human-Robot Teaming in a Multi-Agent Space Assembly Task

    Science.gov (United States)

    Rehnmark, Fredrik; Currie, Nancy; Ambrose, Robert O.; Culbert, Christopher

    2004-01-01

    NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of humans with the survivability and physical capabilities of robots is proposed and illustrated by example. Such teams are useful for large-scale, complex missions requiring dispersed manipulation, locomotion and sensing capabilities. To study collaboration modalities within a multi-agent EVA team, a 1-g test is conducted with humans and robots working together in various supporting roles.

  20. Optimization of the Robotic Joint Equipped with Epicyloidal Gear and Direct Drive for Space Applications

    Science.gov (United States)

    Seweryn, Karol; Grassmann, Kamil; Ciesielska, Monika; Rybus, Tomasz; Turek, Michal

    2013-09-01

    One of the most critical element in the orbital manipulators are kinematic joints. Joints must be adapted to work in tough conditions of space environment and must ensure the greatest efficiency and work without backlash. At the Space Mechatronics and Robotics Laboratory (LMRS) of the Space Research Centre, PAS our team designed and built a lightweight kinematic pair based on a new concept. The new concept is based on the epicycloid two-stage gearbox with torque motor. In this paper we have focused on optimization of the joint design for space application. The optimization was focused on the minimization of the mass and backlash effects and on maximizing the joint efficiency.

  1. Safeguards and security considerations for automated and robotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Jordan, S.E.; Jaeger, C.D.

    1994-09-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A&R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S&S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S&S into the design of future A&R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S&S guidance and design considerations for automation and robotics.

  2. Safeguards and security considerations for automated and robotic systems

    International Nuclear Information System (INIS)

    Jordan, S.E.; Jaeger, C.D.

    1994-01-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A ampersand R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S ampersand S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S ampersand S into the design of future A ampersand R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S ampersand S guidance and design considerations for automation and robotics

  3. Safeguards and security considerations for automated and robotic systems

    International Nuclear Information System (INIS)

    Jordan, S.E.; Jaeger, C.D.

    1994-01-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A ampersand R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S ampersand S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S ampersand S into the design of future A ampersand R systems. Towards this, we first examined existing A ampersand R systems from a security perspective to identify areas of concern and possible solutions to these problems. We then were able to develop generalized S ampersand S guidance and design considerations for automation and robotics

  4. A Voice Operated Tour Planning System for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Charles V. Smith Iii

    2010-06-01

    Full Text Available Control systems driven by voice recognition software have been implemented before but lacked the context driven approach to generate relevant responses and actions. A partially voice activated control system for mobile robotics is presented that allows an autonomous robot to interact with people and the environment in a meaningful way, while dynamically creating customized tours. Many existing control systems also require substantial training for voice application. The system proposed requires little to no training and is adaptable to chaotic environments. The traversable area is mapped once and from that map a fully customized route is generated to the user

  5. Robotic digital subtraction angiography systems within the hybrid operating room.

    Science.gov (United States)

    Murayama, Yuichi; Irie, Koreaki; Saguchi, Takayuki; Ishibashi, Toshihiro; Ebara, Masaki; Nagashima, Hiroyasu; Isoshima, Akira; Arakawa, Hideki; Takao, Hiroyuki; Ohashi, Hiroki; Joki, Tatsuhiro; Kato, Masataka; Tani, Satoshi; Ikeuchi, Satoshi; Abe, Toshiaki

    2011-05-01

    Fully equipped high-end digital subtraction angiography (DSA) within the operating room (OR) environment has emerged as a new trend in the fields of neurosurgery and vascular surgery. To describe initial clinical experience with a robotic DSA system in the hybrid OR. A newly designed robotic DSA system (Artis zeego; Siemens AG, Forchheim, Germany) was installed in the hybrid OR. The system consists of a multiaxis robotic C arm and surgical OR table. In addition to conventional neuroendovascular procedures, the system was used as an intraoperative imaging tool for various neurosurgical procedures such as aneurysm clipping and spine instrumentation. Five hundred one neurosurgical procedures were successfully conducted in the hybrid OR with the robotic DSA. During surgical procedures such as aneurysm clipping and arteriovenous fistula treatment, intraoperative 2-/3-dimensional angiography and C-arm-based computed tomographic images (DynaCT) were easily performed without moving the OR table. Newly developed virtual navigation software (syngo iGuide; Siemens AG) can be used in frameless navigation and in access to deep-seated intracranial lesions or needle placement. This newly developed robotic DSA system provides safe and precise treatment in the fields of endovascular treatment and neurosurgery.

  6. Proxemics models for human-aware navigation in robotics: Grounding interaction and personal space models in experimental data from psychology

    OpenAIRE

    Barnaud , Marie-Lou; Morgado , Nicolas; Palluel-Germain , Richard; Diard , Julien; Spalanzani , Anne

    2014-01-01

    International audience; In order to navigate in a social environment, a robot must be aware of social spaces, which include proximity and interaction-based constraints. Previous models of interaction and personal spaces have been inspired by studies in social psychology but not systematically grounded and validated with respect to experimental data. We propose to implement personal and interaction space models in order to replicate a classical psychology experiment. Our robotic simulations ca...

  7. Advanced Technologies for Robotic Exploration Leading to Human Exploration: Results from the SpaceOps 2015 Workshop

    Science.gov (United States)

    Lupisella, Mark L.; Mueller, Thomas

    2016-01-01

    This paper will provide a summary and analysis of the SpaceOps 2015 Workshop all-day session on "Advanced Technologies for Robotic Exploration, Leading to Human Exploration", held at Fucino Space Center, Italy on June 12th, 2015. The session was primarily intended to explore how robotic missions and robotics technologies more generally can help lead to human exploration missions. The session included a wide range of presentations that were roughly grouped into (1) broader background, conceptual, and high-level operations concepts presentations such as the International Space Exploration Coordination Group Roadmap, followed by (2) more detailed narrower presentations such as rover autonomy and communications. The broader presentations helped to provide context and specific technical hooks, and helped lay a foundation for the narrower presentations on more specific challenges and technologies, as well as for the discussion that followed. The discussion that followed the presentations touched on key questions, themes, actions and potential international collaboration opportunities. Some of the themes that were touched on were (1) multi-agent systems, (2) decentralized command and control, (3) autonomy, (4) low-latency teleoperations, (5) science operations, (6) communications, (7) technology pull vs. technology push, and (8) the roles and challenges of operations in early human architecture and mission concept formulation. A number of potential action items resulted from the workshop session, including: (1) using CCSDS as a further collaboration mechanism for human mission operations, (2) making further contact with subject matter experts, (3) initiating informal collaborative efforts to allow for rapid and efficient implementation, and (4) exploring how SpaceOps can support collaboration and information exchange with human exploration efforts. This paper will summarize the session and provide an overview of the above subjects as they emerged from the SpaceOps 2015

  8. 3D vision system for intelligent milking robot automation

    Science.gov (United States)

    Akhloufi, M. A.

    2013-12-01

    In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

  9. Evaluation of robotic inspection systems at nuclear power plants

    International Nuclear Information System (INIS)

    White, J.R.; Eversole, R.E.; Farnstrom, K.A.; Harvey, H.W.; Martin, H.L.

    1984-03-01

    This report presents and demonstrates a cost-effective approach for robotics application (CARA) to surveillance and inspection work in existing nuclear power plants. The CARA was developed by the Remote Technology Corporation to systematically determine the specific surveillance/inspection tasks, worker hazards, and access or equipment placement restraints in each of the many individual rooms or areas at a power plant. Guidelines for designing inspection robotics are included and are based upon the modular arrangement of commercially-available sensors and other components. Techniques for maximizing the cost effectiveness of robotics are emphasized in the report including: selection of low-cost robotic components, minimal installation work in plant areas, portable systems for common use in different areas, and standardized robotic modules. Factors considered as benefits are reduced radiation exposure, lower man-hours, shorter power outage, less waste material, and improved worker safety concerns. A partial demonstration of the CARA methodology to the Sequoyah (PWR) and Browns Ferry (BWR) Plants is provided in the report along with specific examples of robotic installations in high potential areas

  10. Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Platt, Robert J., Jr. (Inventor); Quillin, Nathaniel (Inventor); Permenter, Frank Noble (Inventor); Pfeiffer, Joseph (Inventor)

    2014-01-01

    A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

  11. Remote measurements of radioactivity distribution with BROKK robotic system - 16147

    International Nuclear Information System (INIS)

    Ivanov, Oleg; Danilovich, Alexey; Stepanov, Vyacheslav; Smirnov, Sergey; Potapov, Victor

    2009-01-01

    Robotic system for the remote measurement of radioactivity in the reactor areas was developed. The BROKK robotic system replaces hand-held radiation measuring tools. The system consists of a collimated gamma detector, a standard gamma detector, color CCD video camera and searchlights, all mounted on a robotic platform (BROKK). The signals from the detectors are coupled with the video signals and are transferred to an operator's console via a radio channel or a cable. Operator works at a safe position. The video image of the object with imposed exposure dose rate from the detectors generates an image on the monitor screen, and the images are recorded for subsequent analysis. Preliminary work has started for the decommissioning of a research reactor at the RRC 'Kurchatov Institute'. Results of the remote radioactivity measurements with new system during radiation inspection waste storage of this reactor are presented and discussed. (authors)

  12. Advancing automation and robotics technology for the space station and for the US economy

    Science.gov (United States)

    Nunamaker, Robert

    1988-01-01

    In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memo 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixth in a series of progress updates and covers the period between October 1, 1987 and March 1, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

  13. Reduced dose to urethra and rectum with the use of variable needle spacing in prostate brachytherapy: a potential role for robotic technology

    Science.gov (United States)

    Vyas, Shilpa; Le, Yi; Zhang, Zhe; Armour, Woody

    2015-01-01

    Purpose Several robotic delivery systems for prostate brachytherapy are under development or in pre-clinical testing. One of the features of robotic brachytherapy is the ability to vary spacing of needles at non-fixed intervals. This feature may play an important role in prostate brachytherapy, which is traditionally template-based with fixed needle spacing of 0.5 cm. We sought to quantify potential reductions in the dose to urethra and rectum by utilizing variable needle spacing, as compared to fixed needle spacing. Material and methods Transrectal ultrasound images from 10 patients were used by 3 experienced planners to create 120 treatment plans. Each planner created 4 plan variations per patient with respect to needle positions: 125I fixed spacing, 125I variable spacing, 103Pd fixed spacing, and 103Pd variable spacing. The primary planning objective was to achieve a prostate V100 of 100% while minimizing dose to urethra and rectum. Results All plans met the objective of achieving prostate V100 of 100%. Combined results for all plans show statistically significant improvements in all assessed dosimetric variables for urethra (Umax, Umean, D30, D5) and rectum (Rmax, Rmean, RV100) when using variable spacing. The dose reductions for mean and maximum urethra dose using variable spacing had p values of 0.011 and 0.024 with 103Pd, and 0.007 and 0.029 with 125I plans. Similarly dose reductions for mean and maximum rectal dose using variable spacing had p values of 0.007 and 0.052 with 103Pd, and 0.012 and 0.037 with 125I plans. Conclusions The variable needle spacing achievable by the use of robotics in prostate brachytherapy allows for reductions in both urethral and rectal planned doses while maintaining prostate dose coverage. Such dosimetric advantages have the potential in translating to significant clinical benefits with the use of robotic brachytherapy. PMID:26622227

  14. Reduced dose to urethra and rectum with the use of variable needle spacing in prostate brachytherapy: a potential role for robotic technology.

    Science.gov (United States)

    Vyas, Shilpa; Le, Yi; Zhang, Zhe; Armour, Woody; Song, Daniel Y

    2015-08-01

    Several robotic delivery systems for prostate brachytherapy are under development or in pre-clinical testing. One of the features of robotic brachytherapy is the ability to vary spacing of needles at non-fixed intervals. This feature may play an important role in prostate brachytherapy, which is traditionally template-based with fixed needle spacing of 0.5 cm. We sought to quantify potential reductions in the dose to urethra and rectum by utilizing variable needle spacing, as compared to fixed needle spacing. Transrectal ultrasound images from 10 patients were used by 3 experienced planners to create 120 treatment plans. Each planner created 4 plan variations per patient with respect to needle positions: (125)I fixed spacing, (125)I variable spacing, (103)Pd fixed spacing, and (103)Pd variable spacing. The primary planning objective was to achieve a prostate V100 of 100% while minimizing dose to urethra and rectum. All plans met the objective of achieving prostate V100 of 100%. Combined results for all plans show statistically significant improvements in all assessed dosimetric variables for urethra (Umax, Umean, D30, D5) and rectum (Rmax, Rmean, RV100) when using variable spacing. The dose reductions for mean and maximum urethra dose using variable spacing had p values of 0.011 and 0.024 with (103)Pd, and 0.007 and 0.029 with (125)I plans. Similarly dose reductions for mean and maximum rectal dose using variable spacing had p values of 0.007 and 0.052 with (103)Pd, and 0.012 and 0.037 with (125)I plans. The variable needle spacing achievable by the use of robotics in prostate brachytherapy allows for reductions in both urethral and rectal planned doses while maintaining prostate dose coverage. Such dosimetric advantages have the potential in translating to significant clinical benefits with the use of robotic brachytherapy.

  15. Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

    Science.gov (United States)

    Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

    2016-08-15

    Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

  16. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  17. 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 ...

  18. 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...

  19. Application of Robotic System for Emergency Response in NPP

    International Nuclear Information System (INIS)

    Jeong, Kyung Min; Seo, Yong Chil; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Chang Hoi; Kim, Seung Ho

    2010-01-01

    Increasing energy demand and concerns over climate change make increasing use of nuclear power plant in worldwide. Even though the probability of accident is greatly reduced, safety is the highest priority issue in the nuclear energy industry. Applying highly reliable and conservative 'defense in depth' concepts with the design and construction of NPP, there are very little possibilities with which accidents are occur and radioactive materials are released to environments in NPP. But NPP have prepared with the emergency response procedures and conduct exercises for post-accident circumstance according to the procedures. The application of robots for emergency response task for post-accident in nuclear facilities is not a new concept. Robots have been sent to recover the damaged reactor at Chernobyl where human workers could receive a lifetime dose of radiation in minutes. Based on NRC's TMI-2 Cleanup Program, several robots were built in the 1980s to help gather information and remove debris from a reactor at the Three Mile Island nuclear power plant that partially melted down in 1979. The first robot was lowered into the basement through a hatch and human operators monitoring in a control room drove it through mud, water and debris, capturing the initial post-accident images of the reactor's basement. It was used for several years equipped with various tools allowing it to scour surfaces, scoop samples and vacuum sludge. A second version carried a core sampler to determine the intensity and depth of the radiation that had permeated into the walls. To perform cleanup tasks, they built Workhorse that featured system redundancy and had a boom extendable to reach high places, but it was never used because it had too many complexities and to clean and fix. While remote robotics technology has proven to remove the human from the radioactive environment, it is also difficult to make it useful because it may requires skill about remote control and obtaining remote

  20. Application of Robotic System for Emergency Response in NPP

    Energy Technology Data Exchange (ETDEWEB)

    Jeong, Kyung Min; Seo, Yong Chil; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Chang Hoi; Kim, Seung Ho [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2010-10-15

    Increasing energy demand and concerns over climate change make increasing use of nuclear power plant in worldwide. Even though the probability of accident is greatly reduced, safety is the highest priority issue in the nuclear energy industry. Applying highly reliable and conservative 'defense in depth' concepts with the design and construction of NPP, there are very little possibilities with which accidents are occur and radioactive materials are released to environments in NPP. But NPP have prepared with the emergency response procedures and conduct exercises for post-accident circumstance according to the procedures. The application of robots for emergency response task for post-accident in nuclear facilities is not a new concept. Robots have been sent to recover the damaged reactor at Chernobyl where human workers could receive a lifetime dose of radiation in minutes. Based on NRC's TMI-2 Cleanup Program, several robots were built in the 1980s to help gather information and remove debris from a reactor at the Three Mile Island nuclear power plant that partially melted down in 1979. The first robot was lowered into the basement through a hatch and human operators monitoring in a control room drove it through mud, water and debris, capturing the initial post-accident images of the reactor's basement. It was used for several years equipped with various tools allowing it to scour surfaces, scoop samples and vacuum sludge. A second version carried a core sampler to determine the intensity and depth of the radiation that had permeated into the walls. To perform cleanup tasks, they built Workhorse that featured system redundancy and had a boom extendable to reach high places, but it was never used because it had too many complexities and to clean and fix. While remote robotics technology has proven to remove the human from the radioactive environment, it is also difficult to make it useful because it may requires skill about remote control and

  1. An intention driven hand functions task training robotic system.

    Science.gov (United States)

    Tong, K Y; Ho, S K; Pang, P K; Hu, X L; Tam, W K; Fung, K L; Wei, X J; Chen, P N; Chen, M

    2010-01-01

    A novel design of a hand functions task training robotic system was developed for the stroke rehabilitation. It detects the intention of hand opening or hand closing from the stroke person using the electromyography (EMG) signals measured from the hemiplegic side. This training system consists of an embedded controller and a robotic hand module. Each hand robot has 5 individual finger assemblies capable to drive 2 degrees of freedom (DOFs) of each finger at the same time. Powered by the linear actuator, the finger assembly achieves 55 degree range of motion (ROM) at the metacarpophalangeal (MCP) joint and 65 degree range of motion (ROM) at the proximal interphalangeal (PIP) joint. Each finger assembly can also be adjusted to fit for different finger length. With this task training system, stroke subject can open and close their impaired hand using their own intention to carry out some of the daily living tasks.

  2. Implementing real-time robotic systems using CHIMERA II

    Science.gov (United States)

    Stewart, David B.; Schmitz, Donald E.; Khosla, Pradeep K.

    1990-01-01

    A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort.

  3. A study on dynamically reconfigurable robotic systems, 3

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  4. A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

  5. The Remotely Controlled Robot System for Nuclear Power Plants

    International Nuclear Information System (INIS)

    Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

    1993-01-01

    The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

  6. Obstacle avoidance test using a sensor-based autonomous robotic system

    International Nuclear Information System (INIS)

    Fujii, Yoshio; Suzuki, Katsuo

    1998-12-01

    From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

  7. On dynamically consistent Jacobian inverse for non-holonomic robotic systems

    Directory of Open Access Journals (Sweden)

    Ratajczak Joanna

    2017-12-01

    Full Text Available This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system’s dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered.

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

    Directory of Open Access Journals (Sweden)

    Ngo Tien

    2018-01-01

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

  9. Design on a Composite Mobile System for Exploration Robot

    Directory of Open Access Journals (Sweden)

    Weiyan Shang

    2016-01-01

    Full Text Available In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

  10. Intelligent Robot-assisted Humanitarian Search and Rescue System

    Directory of Open Access Journals (Sweden)

    Henry Y. K. Lau

    2009-11-01

    Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

  11. Intelligent Robot-Assisted Humanitarian Search and Rescue System

    Directory of Open Access Journals (Sweden)

    Albert W. Y. Ko

    2009-06-01

    Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

  12. Robotic Tactile Sensing Technologies and System

    CERN Document Server

    Dahiya, Ravinder S

    2013-01-01

    Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. For this reason, the hardware, software and application related issues (and resulting trade-offs) that must be considered to make tactile sensing an effective component of robotic platforms are discussed in-depth.To this end, human touch sensing has also been explored. The design hints co...

  13. Cooperative Three-Robot System for Traversing Steep Slopes

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  14. Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots

    DEFF Research Database (Denmark)

    Hamann, Heiko; Divband Soorati, Mohammad; Heinrich, Mary Katherine

    2017-01-01

    Key to our project flora robotica is the idea of creating a bio-hybrid system of tightly coupled natural plants and distributed robots to grow architectural artifacts and spaces. Our motivation with this ground research project is to lay a principled foundation towards the design and implementation...... of flora robotica, such as the continuous growth process of architectural artifacts and self-repair of living architecture....

  15. System approach to automation and robotization of drivage

    Science.gov (United States)

    Zinov’ev, VV; Mayorov, AE; Starodubov, AN; Nikolaev, PI

    2018-03-01

    The authors consider the system approach to finding ways of no-man drilling and blasting in the face area by means of automation and robotization of operations with a view to reducing injuries in mines. The analysis is carried out in terms of the drilling and blasting technology applied in Makarevskoe Coal Field, Kuznetsk Coal Basin. Within the system-functional approach and using INDEFO procedure, the processes of drilling and blasthole charging are decomposed into related elementary operations. The automation and robotization methods to avoid the presence of miners in the face are found for each operation.

  16. Robotics in a controlled, ecological life support system

    Science.gov (United States)

    Miles, Gaines E.; Krom, Kimberly J.

    1993-01-01

    Controlled, Ecological Life Support Systems (CELSS) that utilize plants to provide food, water and oxygen could consume considerable amounts of labor unless crop production, recovery and processing are automated. Robotic manipulators equipped with special end-effectors and programmed to perform the sensing and materials handling tasks would minimize the amount of astronaut labor required. The Human Rated Test Facility (HRTF) planned for Johnson Space Center could discover and demonstrate techniques of crop production which can be reliably integrated with machinery to minimize labor requirements. Before the physical components (shelves, lighting fixtures, etc.) can be selected, a systems analysis must be performed to determine which alternative processes should be followed and how the materials handling tasks should be automated. Given that the current procedures used to grow crops in a CELSS may not be the best methods to automate, then what are the alternatives? How may plants be grown, harvested, processed for food, and the inedible components recycled? What commercial technologies current exist? What research efforts are underway to develop new technologies which might satisfy the need for automation in a CELSS? The answers to these questions should prove enlightening and provide some of the information necessary to perform the systems analysis. The planting, culturing, gathering, threshing and separation, food processing, and recovery of inedible portions of wheat were studied. The basic biological and materials handling processes of each task are defined and discussed. Current practices at Johnson Space Center and other NASA centers are described and compared to common production practices in the plant production industry. Technologies currently being researched which might be applicable are identified and illustrated. Finally, based on this knowledge, several scenarios are proposed for automating the tasks for wheat.

  17. Permanent Magnetic System Design for the Wall-Climbing Robot

    Directory of Open Access Journals (Sweden)

    W. Shen

    2006-01-01

    Full Text Available This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.

  18. Nuclear power plant steam pipes repairing with TIRANT 3 robot system

    International Nuclear Information System (INIS)

    Soto Tomas, Marcelo; Curiel Nieva, Marceliano; Monzo Blasco, Enrique; Rodriguez, Salvador Pineda; Vaquer Perez, Juan I.

    2011-01-01

    A typical application functions covering the steam pipes inner surface in coal-fired power station and nuclear power plants. The results of this process are spectacular in terms of protection against corrosion and abrasion, but its application has conditioning factors, such as: Severe application conditions for workers. Due to the postural position (usually kneeling) in small diameter pipes and working with fireproof clothing and masks with outdoor air supplying, due to fumes, sparks and molten metal particles, radiological contamination, confined space, poor lighting... Coating uniformity. As metallization is a manual process, the carried out measurements show small variations in the thickness of the coating, always within the tolerance limits established by the applicable regulations and quality assurance. For all these reasons, Grupo Dominguis has developed the TIRANT 3 robot, a worldwide innovative system, for metallization of steam pipes inner surface. TIRANT 3 robot is teleoperated from outside of the pipe, so that human intervention is reduced to the operations of robot positioning and change of metallization wire. As it is an independent system of the human factor, metallization process performance is significantly increased by reducing rest periods due only to the robot maintenance. Likewise, TIRANT 3 system permits to increase resulting coating uniformity, and thus its resistance, keeping selected parameters constant depending on required type and thickness of wire. TIRANT 3 system has successfully worked in 2010 during the stops refueling of the Units I and II of Laguna Verde nuclear power plant in Mexico. (author)

  19. An Innovate Robotic Endoscope Guidance System for Transnasal Sinus and Skull Base Surgery: Proof of Concept.

    Science.gov (United States)

    Friedrich, D T; Sommer, F; Scheithauer, M O; Greve, J; Hoffmann, T K; Schuler, P J

    2017-12-01

    Objective  Advanced transnasal sinus and skull base surgery remains a challenging discipline for head and neck surgeons. Restricted access and space for instrumentation can impede advanced interventions. Thus, we present the combination of an innovative robotic endoscope guidance system and a specific endoscope with adjustable viewing angle to facilitate transnasal surgery in a human cadaver model. Materials and Methods  The applicability of the robotic endoscope guidance system with custom foot pedal controller was tested for advanced transnasal surgery on a fresh frozen human cadaver head. Visualization was enabled using a commercially available endoscope with adjustable viewing angle (15-90 degrees). Results  Visualization and instrumentation of all paranasal sinuses, including the anterior and middle skull base, were feasible with the presented setup. Controlling the robotic endoscope guidance system was effectively precise, and the adjustable endoscope lens extended the view in the surgical field without the common change of fixed viewing angle endoscopes. Conclusion  The combination of a robotic endoscope guidance system and an advanced endoscope with adjustable viewing angle enables bimanual surgery in transnasal interventions of the paranasal sinuses and the anterior skull base in a human cadaver model. The adjustable lens allows for the abandonment of fixed-angle endoscopes, saving time and resources, without reducing the quality of imaging.

  20. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    Angulo S, P.; Segovia de los Rios, A.

    2005-01-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  1. Mobile robots and remote systems in nuclear applications

    International Nuclear Information System (INIS)

    Segovia de los Rios, J. A.; Benitez R, J. S.

    2010-01-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  2. Construction Tele-Robotics System with AR Presentation

    International Nuclear Information System (INIS)

    Ootsubo, K; Kawamura, T; Yamada, H

    2013-01-01

    Tele-Robotics system using bilateral control is an effective tool for task in disaster scenes, and also in extreme environments. The conventional systems are equipped with a few color video cameras captures view of the task field, and their video images are sent to the operator via some network. Usually, the images are captured only from some fixed angles. So the operator cannot obtain intuitively 3D-sense of the task field. In our previous study, we proposed a construction tele-robotics system based on VR presentation. The operator intuits the geometrical states of the robot presented by CG, but the information of the surrounding environment is not included like a video image. So we thought that the task efficiency could be improved by appending the CG image to the video image. In this study, we developed a new presentation system based on augmented reality (AR). In this system, the CG image, which represents 3D geometric information for the task, is overlaid on the video image. In this study, we confirmed the effectiveness of the system experimentally. Additionally, we verified its usefulness to reduction of the communication delay associated with a tele-robotics system.

  3. First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)

    Science.gov (United States)

    Griffin, Sandy (Editor)

    1987-01-01

    Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered.

  4. Evaluating space station applications of automation and robotics technologies from a human productivity point of view

    Science.gov (United States)

    Bard, J. F.

    1986-01-01

    The role that automation, robotics, and artificial intelligence will play in Space Station operations is now beginning to take shape. Although there is only limited data on the precise nature of the payoffs that these technologies are likely to afford there is a general consensus that, at a minimum, the following benefits will be realized: increased responsiveness to innovation, lower operating costs, and reduction of exposure to hazards. Nevertheless, the question arises as to how much automation can be justified with the technical and economic constraints of the program? The purpose of this paper is to present a methodology which can be used to evaluate and rank different approaches to automating the functions and tasks planned for the Space Station. Special attention is given to the impact of advanced automation on human productivity. The methodology employed is based on the Analytic Hierarchy Process. This permits the introduction of individual judgements to resolve the confict that normally arises when incomparable criteria underly the selection process. Because of the large number of factors involved in the model, the overall problem is decomposed into four subproblems individually focusing on human productivity, economics, design, and operations, respectively. The results from each are then combined to yield the final rankings. To demonstrate the methodology, an example is developed based on the selection of an on-orbit assembly system. Five alternatives for performing this task are identified, ranging from an astronaut working in space, to a dexterous manipulator with sensory feedback. Computational results are presented along with their implications. A final parametric analysis shows that the outcome is locally insensitive to all but complete reversals in preference.

  5. Development of an advanced intelligent robot navigation system

    International Nuclear Information System (INIS)

    Hai Quan Dai; Dalton, G.R.; Tulenko, J.; Crane, C.C. III

    1992-01-01

    As part of the US Department of Energy's Robotics for Advanced Reactors Project, the authors are in the process of assembling an advanced intelligent robotic navigation and control system based on previous work performed on this project in the areas of computer control, database access, graphical interfaces, shared data and computations, computer vision for positions determination, and sonar-based computer navigation systems. The system will feature three levels of goals: (1) high-level system for management of lower level functions to achieve specific functional goals; (2) intermediate level of goals such as position determination, obstacle avoidance, and discovering unexpected objects; and (3) other supplementary low-level functions such as reading and recording sonar or video camera data. In its current phase, the Cybermotion K2A mobile robot is not equipped with an onboard computer system, which will be included in the final phase. By that time, the onboard system will play important roles in vision processing and in robotic control communication

  6. Coordinated robotic system for civil structural health monitoring

    Directory of Open Access Journals (Sweden)

    Qidwai Uvais

    2017-01-01

    Full Text Available With the recent advances in sensors, robotics, unmanned aerial vehicles, communication, and information technologies, it is now feasible to move towards the vision of ubiquitous cities, where virtually everything throughout the city is linked to an information system through technologies such as wireless networking and radio-frequency identification (RFID tags, to provide systematic and more efficient management of urban systems, including civil and mechanical infrastructure monitoring, to achieve the goal of resilient and sustainable societies. In this proposed system, unmanned aerial vehicle (UAVs is used to ascertain the coarse defect signature using panoramic imaging. This involves image stitching and registration so that a complete view of the surface is seen with reference to a common reference or origin point. Thereafter, crack verification and localization has been done using the magnetic flux leakage (MFL approach which has been performed with the help of a coordinated robotic system. In which the first robot is placed at the top of the structure whereas the second robot is equipped with the designed MFL sensory system. With the initial findings, the proposed system identifies and localize the crack in the given structure.

  7. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Science.gov (United States)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  8. Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

    Directory of Open Access Journals (Sweden)

    Jian Huang

    2015-08-01

    Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

  9. Conceptual Kinematic Design and Performance Evaluation of a Chameleon-Like Service Robot for Space Stations

    Directory of Open Access Journals (Sweden)

    Marco Ceccarelli

    2015-03-01

    Full Text Available In this paper a conceptual kinematic design of a chameleon-like robot with proper mobility capacity is presented for service applications in space stations as result of design considerations with biomimetic inspiration by looking at chameleons. Requirements and characteristics are discussed with the aim to identify design problems and operation features. A study of feasibility is described through performance evaluation by using simulations for a basic operation characterization.

  10. Space stations systems and utilization

    CERN Document Server

    Messerschmid, Ernst

    1999-01-01

    The design of space stations like the recently launched ISS is a highly complex and interdisciplinary task. This book describes component technologies, system integration, and the potential usage of space stations in general and of the ISS in particular. It so adresses students and engineers in space technology. Ernst Messerschmid holds the chair of space systems at the University of Stuttgart and was one of the first German astronauts.

  11. Remote Robotic Cleaning System for Contaminated Hot-Cell Floor

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Park, Jang Jin; Yang, Myung S.; Kwon, Hyo Kjo

    2005-01-01

    The M6 hot-cell of the Irradiated Material Examination Facility at the Korea Atomic Energy Research Institute (KAERI) has been contaminated with spent fuel debris and other radioactive waste due to the DUPIC nuclear fuel development processes. As the hot-cell is active, direct human workers' access, even with protection, to the in-cell is not possible because of the nature of the high radiation level of the spent PWR fuel. A remote robotic cleaning system has been developed for use in a highly radioactive environment of the M6 hot-cell. The remote robotic cleaning system was designed to completely eliminate human interaction with hazardous radioactive contaminants. This robotic cleaning system was also designed to remove contaminants or contaminated smears placed or fixed on the floor of the M6 hot-cell by mopping it in a remote manner. The environmental, functional and mechanical design considerations, control system and capabilities of the developed remote robotic cleaning system are presented

  12. Red rover: inside the story of robotic space exploration, from genesis to the mars rover curiosity

    CERN Document Server

    Wiens, Roger

    2013-01-01

    In its eerie likeness to Earth, Mars has long captured our imaginations—both as a destination for humankind and as a possible home to extraterrestrial life. It is our twenty-first century New World; its explorers robots, shipped 350 million miles from Earth to uncover the distant planet’s secrets.Its most recent scout is Curiosity—a one-ton, Jeep-sized nuclear-powered space laboratory—which is now roving the Martian surface to determine whether the red planet has ever been physically capable of supporting life. In Red Rover, geochemist Roger Wiens, the principal investigator for the ChemCam laser instrument on the rover and veteran of numerous robotic NASA missions, tells the unlikely story of his involvement in sending sophisticated hardware into space, culminating in the Curiosity rover's amazing journey to Mars.In so doing, Wiens paints the portrait of one of the most exciting scientific stories of our time: the new era of robotic space exploration. Starting with NASA’s introduction of the Discovery...

  13. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. R and D on robot system cooperating and coexisting with human beings; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating with human beings and executing complicated operations in a human working/living space. This paper describes the fiscal 2000 results. Development of robot motion library was continued for extended task for providing services to people in care houses for the aged controlling motions of the humanoid robot. A basic design for a personal service system by the humanoid robot was conducted with the aim of nursing assistance and for the objective of developing a portable terminal type tele-operation device. A public and a home cockpit were researched with the purpose of developing user interfaces for telexistence control. A dynamic simulator for humanoid robots was built, with motions of standing-up and walking examined, in order to develop basic theories for the dual-handed tasks aided by the leg-arm cooperative motion. To develop a robot that properly and safely cooperates and coexists with the human beings, it is essential to obtain a dynamically reasonable and natural control law, so that the basic studies were conducted in this direction. With the purpose of developing a motion capture and learning system, a virtual robot platform and an information acquiring interface were developed. Studies were also conducted on modeling technique for achieving realistic material properties from high-precision image synthesis and actual images. (NEDO)

  14. Manned spacecraft automation and robotics

    Science.gov (United States)

    Erickson, Jon D.

    1987-01-01

    The Space Station holds promise of being a showcase user and driver of advanced automation and robotics technology. The author addresses the advances in automation and robotics from the Space Shuttle - with its high-reliability redundancy management and fault tolerance design and its remote manipulator system - to the projected knowledge-based systems for monitoring, control, fault diagnosis, planning, and scheduling, and the telerobotic systems of the future Space Station.

  15. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs.

  16. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok.

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs

  17. Dynamic modeling and optimal joint torque coordination of advanced robotic systems

    Science.gov (United States)

    Kang, Hee-Jun

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

  18. Robotic system for the servicing of the orbiter thermal protection system

    Science.gov (United States)

    Graham, Todd; Bennett, Richard; Dowling, Kevin; Manouchehri, Davoud; Cooper, Eric; Cowan, Cregg

    1994-01-01

    This paper describes the design and development of a mobile robotic system to process orbiter thermal protection system (TPS) tiles. This work was justified by a TPS automation study which identified tile rewaterproofing and visual inspection as excellent applications for robotic automation.

  19. Organizational System for the LEGO WeDo 2.0 Robotics System

    Science.gov (United States)

    Dolecheck, Suzann Hagan; Ewers, Timothy

    2017-01-01

    In this article, we explain an organizational system for the new LEGO Education WeDo 2.0 Core Set used in 4-H robotics; in school enrichment, afterschool, and other youth robotics programs; and by hobbyists. The system presented is for organizing WeDo parts into a translucent parts tray that includes part names and numbers. The article provides…

  20. System safety analysis of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Bartos, R.J.

    1994-01-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate trademark robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA copyright) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection

  1. Robotics and Its Effects on the Educational System of Montenegro

    Science.gov (United States)

    Andic, Branko; Grujicic, Rade; Markuš, Marina Mijanovic

    2015-01-01

    The paper presents the results of research conducted among students of primary and secondary schools in Montenegro about robotics and its place in Montenegrin educational system. Survey was used as a data collecting method in the study and the results were obtained using theoretical analysis. Attitudes of Montenegrin students were compared with…

  2. Interacting with Multi-Robot Systems Using BML

    Science.gov (United States)

    2013-06-01

    presented to the operator. 1. Introduction There are many operations in which a multi-robot system (MRS) can be deployed to support the human forces...within the MRS easily. © Fraunhofer FKIE Communication Architecture ~ ~ Fraunhofer FKIE © Fraunhofer FKIE Battle Mangement Language BML...Fraunhofer FKIE Battle Mangement Language Orders Orders move patrol observe distribute guard recce imagery intelligence gathering

  3. Advanced robotic remote handling system for reactor dismantlement

    International Nuclear Information System (INIS)

    Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

    1991-01-01

    An advanced robotic remote handling system equipped with a multi-functional amphibious manipulator has been developed and used to dismantle a portion of radioactive reactor internals of an experimental boiling water reactor in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. (author)

  4. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  5. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-03-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  6. Stormram 4: An MR Safe Robotic System for Breast Biopsy

    NARCIS (Netherlands)

    Groenhuis, Vincent; Siepel, Françoise Jeanette; Veltman, Jeroen; van Zandwijk, Jordy Kristian; Stramigioli, Stefano

    2018-01-01

    Suspicious lesions in the breast that are only visible on magnetic resonance imaging (MRI) need to be biopsied under MR guidance with high accuracy and efficiency for accurate diagnosis. The aim of this study is to present a novel robotic system, the Stormram 4, and to perform preclinical tests in

  7. SVM-Based Control System for a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Foudil Abdessemed

    2012-12-01

    Full Text Available Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.

  8. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  9. Validation of Autonomous Space Systems

    Data.gov (United States)

    National Aeronautics and Space Administration — System validation addresses the question "Will the system do the right thing?" When system capability includes autonomy, the question becomes more pointed. As NASA...

  10. Control system design for robotic underground storage tank inspection systems

    International Nuclear Information System (INIS)

    Kiebel, G.R.

    1994-09-01

    Control and data acquisition systems for robotic inspection and surveillance systems used in nuclear waste applications must be capable, versatile, and adaptable to changing conditions. The nuclear waste remediation application is dynamic -- requirements change as public policy is constantly re-examined and refocused, and as technology in this area advances. Control and data acquisition systems must adapt to these changing conditions and be able to accommodate future missions, both predictable and unexpected. This paper describes the control and data acquisition system for the Light Duty Utility Arm (LDUA) System that is being developed for remote surveillance and inspection of underground storage tanks at the Hanford Site and other US Department of Energy (DOE) sites. It is a high-performance system which has been designed for future growth. The priority mission at the Hanford site is to retrieve the waste generated by 50 years of production from its present storage and process it for final disposal. The LDUA will help to gather information about the waste and the tanks it is stored in to better plan and execute the cleanup mission

  11. Developing and modeling of voice control system for prosthetic robot arm in medical systems

    Directory of Open Access Journals (Sweden)

    Koksal Gundogdu

    2018-04-01

    Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

  12. Pilot Study of Person Robot Interaction in a Public Transit Space

    DEFF Research Database (Denmark)

    Svenstrup, Mikael; Bak, Thomas; Maler, Ouri

    2009-01-01

    This paper describes a study of the effect of a human interactive robot placed in an urban transit space. The underlying hypothesis is that it is possible to create interesting new living spaces and induce value in terms of experiences, information or economics, by putting socially interactive...... showed harder than expected to start interaction with commuters due to their determination and speed towards their goal. Further it was demonstrated that it was possible to track and follow people, who were not beforehand informed about the experiment. The evaluation indicated that the distance...... to initiate interaction was shorter than would be expected for normal human to human interaction....

  13. Control system for a multi-joint inspection robot

    International Nuclear Information System (INIS)

    Asano, K.

    1984-01-01

    Remote systems, in which a human operator in a safe zone determines pertinent circumstances and makes decisions on work procedures, while a robot does direct work in hazardous environments, have been becoming more and more important in accordance with the increase in nuclear facilities. In such remote systems, to perform tasks which are merely ambiguously defined beforehand, it is very important that the systems have the ability to execute desired tasks easily and immediately without any programming or teaching work on the spot. A control system, named Self Approach System (SAS), for a multi-joint inspection robot has been developed as a key component in a remote inspection system for use in physically difficult or dangerous environments. It has 8 joints and 17 degrees-of-freedom and was designed taking many of the above points into account. This paper describes SAS details

  14. Industrial robots with sensors and object recognition systems

    International Nuclear Information System (INIS)

    Koehler, G.W.

    1978-01-01

    The previous development and the present status of industrial robots equipped with sensors and object recognition systems are described. This type of equipment allows flexible automation of many work stations in which industrial robots of the first generation, which are unable to react to changes in their respective environments automatically, apart from their being linked to other machines, could not be used because of the prevailing boundary conditions. A classification system facilitates an overview of the large number of technical solutions now available. The manifold possibilities of application of this equipment are demonstrated by a number of examples. As a result of the present state of development of the components required, and in view also of economic reasons, there is a trend towards special designs for a small number of specific purposes and towards stripped-down object recognition. systems with limited applications. A fitting description is offered of the term 'robot', which is now being used in various contexts, and an indication is made of the capabilities and components a machine to be called robot should have as a minimum. Finally, reference is made to some potential lines of development serving to reduce expediture and accelerate recognition processes. (orig.) [de

  15. An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems.

    Science.gov (United States)

    Timmis, J; Ismail, A R; Bjerknes, J D; Winfield, A F T

    2016-08-01

    Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  16. "Excuse me, where's the registration desk?" Report on Integrating Systems for the Robot Challenge AAAI 2002

    National Research Council Canada - National Science Library

    Perzanowski, Dennis; Schultz, Alan C; Adams, William; Bugajska, Magda; Abramson, M; MacMahon, M; Atrash, A; Coblenz, M

    2002-01-01

    ...., and the Naval Research Laboratory -- collaborated and integrated their various robotic systems and interfaces to attempt The Robot Challenge held at the AAAI 2002 annual conference in Edmonton, Alberta...

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

    Science.gov (United States)

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

    2016-01-01

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

  18. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

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

    Science.gov (United States)

    Maurice, Matthew J; Kaouk, Jihad H

    2017-12-01

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

  20. A Robotic System for Inspection and Repair of Small Diameter Pipelines

    Directory of Open Access Journals (Sweden)

    S. A. Vorotnikov

    2015-01-01

    Full Text Available This paper deals with the construction and control system of miniature robotic system that is designed to move and make inspection inside small diameter pipelines. It gives an overview of ways to move a microsize robotic system inside the small diameter pipe. The proposed design consists of information module and three traction modules, including modules for fixing, linear moving and angular positioning. This paper describes the design and operation of a robotic system and its different modules. Also are shown the structure of the robot control system, the basic calculations of construct and some simulation results of the individual modules of the robot.