Humanlike robots: the upcoming revolution in robotics

Science.gov (United States)

Bar-Cohen, Yoseph

2009-08-01

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

Household vacuum cleaners vs. the high-volume surface sampler for collection of carpet dust samples in epidemiologic studies of children

Directory of Open Access Journals (Sweden)

Buffler Patricia A

2008-02-01

Full Text Available Abstract Background Levels of pesticides and other compounds in carpet dust can be useful indicators of exposure in epidemiologic studies, particularly for young children who are in frequent contact with carpets. The high-volume surface sampler (HVS3 is often used to collect dust samples in the room in which the child had spent the most time. This method can be expensive and cumbersome, and it has been suggested that an easier method would be to remove dust that had already been collected with the household vacuum cleaner. However, the household vacuum integrates exposures over multiple rooms, some of which are not relevant to the child's exposure, and differences in vacuuming equipment and practices could affect the chemical concentration data. Here, we compare levels of pesticides and other compounds in dust from household vacuums to that collected using the HVS3. Methods Both methods were used in 45 homes in California. HVS3 samples were collected in one room, while the household vacuum had typically been used throughout the home. The samples were analyzed for 64 organic compounds, including pesticides, polycyclic aromatic hydrocarbons, and polychlorinated biphenyls (PCBs, using GC/MS in multiple ion monitoring mode; and for nine metals using conventional microwave-assisted acid digestion combined with ICP/MS. Results The methods agreed in detecting the presence of the compounds 77% to 100% of the time (median 95%. For compounds with less than 100% agreement, neither method was consistently more sensitive than the other. Median concentrations were similar for most analytes, and Spearman correlation coefficients were 0.60 or higher except for allethrin (0.15 and malathion (0.24, which were detected infrequently, and benzo(kfluoranthene (0.55, benzo(apyrene (0.55, PCB 105 (0.54, PCB 118 (0.54, and PCB 138 (0.58. Assuming that the HVS3 method is the "gold standard," the extent to which the household vacuum cleaner method yields relative risk

Modular Platform for Commercial Mobile Robots

DEFF Research Database (Denmark)

Kjærgaard, Morten

, and not on putting the robots on the commercial market. At the time when this research project was started in May 2010, the amount of successful commercial applications based on mobile robots was very limited. The most known applications were vacuum cleaners, lawn mowers, and few examples of specialized transport...... by the individual groups and perhaps a few close industrial partners. This research project addresses the problem of increasing the potential for more commercial applications based on mobile wheeled robots. Therefore the main focus is not on inventing new ground-breaking robotics technology, but instead...... period, a signicant research community was created around one specific robot control framework called ROS. From the very beginning,this research project acknowledged the value of such a community, and put a significant eort into in uencing the ROS framework to become usable also for industry...

Coaxial twin-shaft magnetic fluid seals applied in vacuum wafer-handling robot

Science.gov (United States)

Cong, Ming; Wen, Haiying; Du, Yu; Dai, Penglei

2012-07-01

Compared with traditional mechanical seals, magnetic fluid seals have unique characters of high airtightness, minimal friction torque requirements, pollution-free and long life-span, widely used in vacuum robots. With the rapid development of Integrate Circuit (IC), there is a stringent requirement for sealing wafer-handling robots when working in a vacuum environment. The parameters of magnetic fluid seals structure is very important in the vacuum robot design. This paper gives a magnetic fluid seal device for the robot. Firstly, the seal differential pressure formulas of magnetic fluid seal are deduced according to the theory of ferrohydrodynamics, which indicate that the magnetic field gradient in the sealing gap determines the seal capacity of magnetic fluid seal. Secondly, the magnetic analysis model of twin-shaft magnetic fluid seals structure is established. By analyzing the magnetic field distribution of dual magnetic fluid seal, the optimal value ranges of important parameters, including parameters of the permanent magnetic ring, the magnetic pole tooth, the outer shaft, the outer shaft sleeve and the axial relative position of two permanent magnetic rings, which affect the seal differential pressure, are obtained. A wafer-handling robot equipped with coaxial twin-shaft magnetic fluid rotary seals and bellows seal is devised and an optimized twin-shaft magnetic fluid seals experimental platform is built. Test result shows that when the speed of the two rotational shafts ranges from 0-500 r/min, the maximum burst pressure is about 0.24 MPa. Magnetic fluid rotary seals can provide satisfactory performance in the application of wafer-handling robot. The proposed coaxial twin-shaft magnetic fluid rotary seal provides the instruction to design high-speed vacuum robot.

Design of the Intersector Welding Robot for vacuum vessel assembly and maintenance

International Nuclear Information System (INIS)

Jones, L.; Dagenais, J.-F.; Daenner, W.; Maisonnier, D.

2000-01-01

Next Step Fusion Devices require on-site (field weld) joining of sectors of the thick-walled vacuum vessel for structural and vacuum integrity. EFDA (European Fusion Development Agreement) is supporting an R and D programme to investigate processes for assembly of the vacuum vessel and to carry out cutting, re-welding and inspection for remote sector replacement, forming part of the overall VV/blanket research effort. In order to direct the process end-effectors along the field joint zone, a track-mounted Intersector Welding Robot (IWR) on a mock-up of a region of the vacuum vessel has been designed and is described in this paper. A rail-mounted hexapod type robot offers six axes of motion over a limited work envelope with high payload to robot weight ratio. A solution to the production of reduced pressure local vacuum is the installation of short, lightweight segments bolted to each other and the vessel wall. The various process heads can be mounted using end-effectors of special design. To minimise the supply and interface problems for the IWR prototype, its motion control and electronic systems will be embedded locally. A laser scan with camera forms the on-line seam tracking capability to compensate for rail and seam deviations

A mobile robot with parallel kinematics constructed under requirements for assembling and machining of the ITER vacuum vessel

International Nuclear Information System (INIS)

Pessi, P.; Huapeng Wu; Handroos, H.; Jones, L.

2006-01-01

ITER sectors require more stringent tolerances ± 5 mm than normally expected for the size of structure involved. The walls of ITER sectors are made of 60 mm thick stainless steel and are joined together by high efficiency structural and leak tight welds. In addition to the initial vacuum vessel assembly, sectors may have to be replaced for repair. Since commercially available machines are too heavy for the required machining operations and the lifting of a possible e-beam gun column system, and conventional robots lack the stiffness and accuracy in such machining condition, a new flexible, lightweight and mobile robotic machine is being considered. For the assembly of the ITER vacuum vessel sector, precise positioning of welding end-effectors, at some distance in a confined space from the available supports, will be required, which is not possible using conventional machines or robots. This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel, consisting of a ten-degree-of-freedom parallel robot mounted on a carriage driven by electric motor/gearbox on a track. The robot consists of a Stewart platform based parallel mechanism. Water hydraulic cylinders are used as actuators to reach six degrees of freedom for parallel construction. Two linear and two rotational motions are used for enlargement the workspace of the manipulator. The robot carries both welding gun such as a TIG, hybrid laser or e-beam welding gun to weld the inner and outer walls of the ITER vacuum vessel sectors and machining tools to cut and milling the walls with necessary accuracy, it can also carry other tools and material to a required position inside the vacuum vessel . For assembling an on line six degrees of freedom seam finding algorithm has been developed, which enables the robot to find welding seam automatically in a very complex environment. In the machining multi flexible machining processes carried out automatically by

Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

International Nuclear Information System (INIS)

Pessi, P.

2009-01-01

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

Energy Technology Data Exchange (ETDEWEB)

Pessi, P.

2009-07-01

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were

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

Energy Technology Data Exchange (ETDEWEB)

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

2007-10-15

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

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

International Nuclear Information System (INIS)

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

2007-01-01

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

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

Energy Technology Data Exchange (ETDEWEB)

Peng Xuebing, E-mail: pengxb@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China); Yuan Jianjun; Zhang Weijun [Research Institute of Robotics, Mechanical Engineering School, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240 (China); Yang Yang; Song Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China)

2012-08-15

Highlights: Black-Right-Pointing-Pointer A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. Black-Right-Pointing-Pointer The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4-6. Black-Right-Pointing-Pointer The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. Black-Right-Pointing-Pointer The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

International Nuclear Information System (INIS)

Peng Xuebing; Yuan Jianjun; Zhang Weijun; Yang Yang; Song Yuntao

2012-01-01

Highlights: ► A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. ► The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4–6. ► The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. ► The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Aparelho de sucção tipo aspirador para captura de mosquitos A "vacuum-cleaner" type of suction apparatus for the collection of mosquitoes

Directory of Open Access Journals (Sweden)

Délsio Natal

1984-10-01

Full Text Available É feita a descrição de aparelho portátil de sucção tipo aspirador, para captura de mosquitos Culicidae. São sugeridas adaptações para coletas em diferentes situações. São feitos comentários sobre sua aplicação em pesquisa de mosquitos.A portable suction apparatus, which functions like a vacuum cleaner used for the collection of Culicidae mosquitoes is described. Adaptations for collecting in differents situations are suggested and some comments about its application in mosquitoes surveys are made.

Design of parallel intersector weld/cut robot for machining processes in ITER vacuum vessel

International Nuclear Information System (INIS)

Wu Huapeng; Handroos, Heikki; Kovanen, Janne; Rouvinen, Asko; Hannukainen, Petri; Saira, Tanja; Jones, Lawrence

2003-01-01

This paper presents a new parallel robot Penta-WH, which has five degrees of freedom driven by hydraulic cylinders. The manipulator has a large, singularity-free workspace and high stiffness and it acts as a transport device for welding, machining and inspection end-effectors inside the ITER vacuum vessel. The presented kinematic structure of a parallel robot is particularly suitable for the ITER environment. Analysis of the machining process for ITER, such as the machining methods and forces are given, and the kinematic analyses, such as workspace and force capacity are discussed

Chatter suppression methods of a robot machine for ITER vacuum vessel assembly and maintenance

International Nuclear Information System (INIS)

Wu, Huapeng; Wang, Yongbo; Li, Ming; Al-Saedi, Mazin; Handroos, Heikki

2014-01-01

Highlights: •A redundant 10-DOF serial-parallel hybrid robot for ITER assembly and maintains is presented. •A dynamic model of the robot is developed. •A feedback and feedforward controller is presented to suppress machining vibration of the robot. -- Abstract: In the process of assembly and maintenance of ITER vacuum vessel (ITER VV), various machining tasks including threading, milling, welding-defects cutting and flexible hose boring are required to be performed from inside of ITER VV by on-site machining tools. Robot machine is a promising option for these tasks, but great chatter (machine vibration) would happen in the machining process. The chatter vibration will deteriorate the robot accuracy and surface quality, and even cause some damages on the end-effector tools and the robot structure itself. This paper introduces two vibration control methods, one is passive and another is active vibration control. For the passive vibration control, a parallel mechanism is presented to increase the stiffness of robot machine; for the active vibration control, a hybrid control method combining feedforward controller and nonlinear feedback controller is introduced for chatter suppression. A dynamic model and its chatter vibration phenomena of a hybrid robot is demonstrated. Simulation results are given based on the proposed hybrid robot machine which is developed for the ITER VV assembly and maintenance

Chatter suppression methods of a robot machine for ITER vacuum vessel assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Wu, Huapeng; Wang, Yongbo, E-mail: yongbo.wang@lut.fi; Li, Ming; Al-Saedi, Mazin; Handroos, Heikki

2014-10-15

Highlights: •A redundant 10-DOF serial-parallel hybrid robot for ITER assembly and maintains is presented. •A dynamic model of the robot is developed. •A feedback and feedforward controller is presented to suppress machining vibration of the robot. -- Abstract: In the process of assembly and maintenance of ITER vacuum vessel (ITER VV), various machining tasks including threading, milling, welding-defects cutting and flexible hose boring are required to be performed from inside of ITER VV by on-site machining tools. Robot machine is a promising option for these tasks, but great chatter (machine vibration) would happen in the machining process. The chatter vibration will deteriorate the robot accuracy and surface quality, and even cause some damages on the end-effector tools and the robot structure itself. This paper introduces two vibration control methods, one is passive and another is active vibration control. For the passive vibration control, a parallel mechanism is presented to increase the stiffness of robot machine; for the active vibration control, a hybrid control method combining feedforward controller and nonlinear feedback controller is introduced for chatter suppression. A dynamic model and its chatter vibration phenomena of a hybrid robot is demonstrated. Simulation results are given based on the proposed hybrid robot machine which is developed for the ITER VV assembly and maintenance.

Vacuum mechatronics first international workshop

Energy Technology Data Exchange (ETDEWEB)

Belinski, S.E.; Shirazi, M.; Hackwood, S.; Beni, G. (eds.) (California Univ., Santa Barbara, CA (USA))

1989-01-01

This report contains papers on the following topics: proposed epitaxial thin film growth in the ultra-vacuum of space; particle monitoring and control in vacuum processing equipment; electrostatic dust collector for use in vacuum systems; materials evaluation of an electrically noisy vacuum slip ring assembly; an overview of lubrication and associated materials for vacuum service; the usage of lubricants in a vacuum environment; guidelines and practical applications for lubrication in vacuum; recent development in leak detector and calibrator designs; the durability of ballscrews for ultrahigh vacuum; vacuum-compatible robot for self-contained manufacturing systems; the design, fabrication, and assembly of an advanced vacuum robotics system for space payload calibration; design criteria for mechanisms used in space; and concepts and requirements for semiconductor multiprocess integration in vacuum. These papers are indexed separately elsewhere.

Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

International Nuclear Information System (INIS)

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

2005-01-01

This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (VV), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed

Sistema de navegación para un robot limpiador de piscinas

Directory of Open Access Journals (Sweden)

Lorena Cardona Rendón

2014-01-01

Full Text Available In this paper presents the development of a navigation system to estimate the position, velocity and orientation of a pool cleaner robot to be automated. We employ the weighted least-square technique for the design of the navigation system, which combines the noisy measurements of a tri-axial accelerometer and a gyroscope with the solution to the differential equations that describe the robot's movement. The navigation system was tested using a (Simulink-based model of the robot obtained from a tri-dimensional representation (built with CAD software - Autodesk Inventor. The final part of the paper presents the results and draws some conclusions about the feasibility of implementing the navigation system in the automation of a swimming-pool cleaner robot.

Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Li, Ming, E-mail: Ming.Li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China)

2013-10-15

A specific software design is elaborated in this paper for the hybrid robot machine used for the ITER vacuum vessel (VV) assembly and maintenance. In order to provide the multi-machining-function as well as the complicated, flexible and customizable GUI designing satisfying the non-standardized VV assembly process in one hand, and in another hand guarantee the stringent machining precision in the real-time motion control of robot machine, a client–server-control software architecture is proposed, which separates the user interaction, data communication and robot control implementation into different software layers. Correspondingly, three particular application protocols upon the TCP/IP are designed to transmit the data, command and status between the client and the server so as to deal with the abundant data streaming in the software. In order not to be affected by the graphic user interface (GUI) modification process in the future experiment in VV assembly working field, the real-time control system is realized as a stand-alone module in the architecture to guarantee the controlling performance of the robot machine. After completing the software development, a milling operation is tested on the robot machine, and the result demonstrates that both the specific GUI operability and the real-time motion control performance could be guaranteed adequately in the software design.

Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance

International Nuclear Information System (INIS)

Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou

2013-01-01

A specific software design is elaborated in this paper for the hybrid robot machine used for the ITER vacuum vessel (VV) assembly and maintenance. In order to provide the multi-machining-function as well as the complicated, flexible and customizable GUI designing satisfying the non-standardized VV assembly process in one hand, and in another hand guarantee the stringent machining precision in the real-time motion control of robot machine, a client–server-control software architecture is proposed, which separates the user interaction, data communication and robot control implementation into different software layers. Correspondingly, three particular application protocols upon the TCP/IP are designed to transmit the data, command and status between the client and the server so as to deal with the abundant data streaming in the software. In order not to be affected by the graphic user interface (GUI) modification process in the future experiment in VV assembly working field, the real-time control system is realized as a stand-alone module in the architecture to guarantee the controlling performance of the robot machine. After completing the software development, a milling operation is tested on the robot machine, and the result demonstrates that both the specific GUI operability and the real-time motion control performance could be guaranteed adequately in the software design

Vacuum Mechatronics And Insvection For Self-Contained Manufacturing

Science.gov (United States)

Belinski, Steve E.; Shirazi, Majid; Seidel, Thomas E.; Hackwood, Susan

1990-02-01

The vacuum environment is increasingly being used in manufacturing operations, especially in the semiconductor industry. Shrinking linewidths and feature sizes dictate that cleanliness standards become continually more strict. Studies at the Center for Robotic Systems in Microelectronics (CRSM) indicate that a controlled vacuum enclosure can provide a superior clean environment. In addition, since many microelectronic fabrication steps are already carried out under vacuum, self-contained multichamber processing systems are being developed at a rapid pace. CRSM support of these systems includes the development of a research system, the Self-contained Automated Robotic Factory (SCARF), a vacuum-compatible robot, and investigations of particulate characterization in vacuum and inspection for multichamber systems. Successful development of complex and expensive multichamber systems is, to a great extent, dependent upon the discipline called vacuum mechatronics, which includes the design and development of vacuum-compatible computer-controlled mechanisms for manipulating, sensing and testing in a vacuum environment. Here the constituents of the vacuum mechatronics discipline are defined and reviewed in the context of the importance to self-contained in-vacuum manufacturing.

Swimming pool cleaner poisoning

Science.gov (United States)

Swimming pool cleaner poisoning occurs when someone swallows this type of cleaner, touches it, or breathes in ... The harmful substances in swimming pool cleaner are: Bromine ... copper Chlorine Soda ash Sodium bicarbonate Various mild acids

Institutionalising cleaner production in China: the cleaner production promotion law

NARCIS (Netherlands)

Mol, A.P.J.; Liu Yi,

2005-01-01

During the 1990s, cleaner production was introduced in China, in the beginning especially via development aid projects. From 1992 to 1997 the focus was strongly on the introduction of cleaner production methodology, the training of personnel and the implementation of demonstration projects at the

Development of an inspection robot under iter relevant vacuum and temperature conditions

Energy Technology Data Exchange (ETDEWEB)

Hatchressian, J-C; Bruno, V; Gargiulo, L; Bayetti, P; Cordier, J-J; Samaille, F [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA Cadarache, F-13108 Saint Paul-Lez-Durance Cedex (France); Keller, D; Perrot, Y; Friconneau, J-P [CEA, LIST, Service de Robotique Interactive, 18 route du Panorama, BP6, Fontenay aux Roses F-92265 France (France); Palmer, J D [EFDA-CSU Max-Planck-Institut fuer Plasma Physik Boltzmannstr.2, D-85748 Garching Germany (Germany)

2008-03-15

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In vessel inspection operations without loss of conditioning could be very mandatory. Within this framework, the aim of the Articulated Inspection Arm (AIA) project is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system. It is a long reach, composed of 5 segments with in all 8 degrees of freedom, limited payload carrier (up to 10kg) and a total range of 8m. The project is currently developed by the CEA within the European work program. Some tests will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. The presence of magnetic fields, radiation and neutron beams will not be considered. This paper deals with the choices of the materials to minimize the out-gassing under vacuum and high temperature during conditioning, the implantation of the electronics which are enclosed in boxes with special gaskets, the design of the first embedded process which is a viewing system.

Rolling contact fatigue in a vacuum test equipment and coating analysis

CERN Document Server

Danyluk, Michael

2014-01-01

This book deals with wear and performance testing of thin solid film lubrication and hard coatings in an ultra-high vacuum (UHV), a process which enables rapid accumulation of stress cycles compared with testing in oil at atmospheric pressure. The authors' lucid and authoritative narrative broadens readers' understanding of the benefits of UHV testing: a cleaner, shorter test is achieved in high vacuum, disturbance rejection by the deposition controller may be optimized for maximum fatigue life of the coating using rolling contact fatigue testing (RCF) in a high vacuum, and RCF testing in UHV

Vacuum science, technology, and applications

CERN Document Server

Naik, Pramod K

2018-01-01

Vacuum plays an important role in science and technology. The study of interaction of charged particles, neutrals and radiation with each other and with solid surfaces requires a vacuum environment for reliable investigations. Vacuum has contributed immensely to advancements made in nuclear science, space, metallurgy, electrical/electronic technology, chemical engineering, transportation, robotics and many other fields. This book is intended to assist students, scientists, technicians and engineers to understand the basics of vacuum science and technology for application in their projects. The fundamental theories, concepts, devices, applications, and key inventions are discussed.

A study on the optimal design of a cyclone system for vacuum cleaner with the consideration of house dust

International Nuclear Information System (INIS)

Ha, Gun Ho; Kim, Eung Dal; Kim, Young Soo; Lee, Jae Keun; Ahn, Young Chull; Kim, Dong Gyu

2011-01-01

Cyclone, a type of particle collector widely used in the field of ambient sampling and industrial particulate control, is the principal type of gas-solids separator that use a centrifugal force. The goal of this study is to transform conventional cyclone into a new type of cyclone that can be used for the household vacuum cleaners. To meet the goal, first, the analysis about local environment and dust is carried out. Second, it must have enough high-efficiency not to reduce suction power due to clogging of exhaust filter unit. Two single cyclones with central-hopper-dust-outlet and side-wall-dust-outlet and a twin cyclone are designed and fabricated to evaluate, and compare, their dust collection efficiencies and pressure drops. The measurements of separation efficiency for dust by using DMT test dust type 08 are carried out. House dust experiment is additionally performed to check the local matters applicability such as tissue papers, fur and hairs. The collection efficiency of the twin cyclone is found to be 3-6% greater than those of two single cyclones with the same body diameter, inlet and inner cylinder diameter. Twin cyclone with a large body diameter, a small inner cylinder diameter, a short inner cylinder, a narrow inlet has high separation efficiency. This result indicates the possibility of achieving higher collection efficiencies with a twin cyclone

Utilizing Social Network Services for Enhanced Communication with Elderly Living at Home

DEFF Research Database (Denmark)

Wagner, Stefan

2009-01-01

This paper discusses whether social network services, like Facebook and Twitter, may be used by elderly living in their own homes to enhance communication with their relatives and friends. It introduces a prototype solution based on the iRobot Roomba 560, iRobot, USA, robot vacuum cleaner, which...... has been enhanced with Facebook and Twitter communication capabilities. The paper points out a number of other relevant applications where the use of social network services may provide better communication for ambient assisted living solutions and intelligent environments....

7 CFR 2902.34 - Carpet and upholstery cleaners.

Science.gov (United States)

2010-01-01

... procurement applies are: (i) General purpose cleaners. Carpet and upholstery cleaners formulated for use in... PROCUREMENT Designated Items § 2902.34 Carpet and upholstery cleaners. (a) Definition. (1) Cleaning products... upholstery cleaners shall be based on the amount of qualifying biobased carbon in the product as a percent of...

Fatal accidental inhalation of brake cleaner aerosols.

Science.gov (United States)

Veit, F; Martz, W; Birngruber, C G; Dettmeyer, R B

2018-04-23

Brake cleaner liquid is commonly used for cleaning of engines and motor parts. The commercially available products usually contain mainly volatile organic compounds. As a consequence brake cleaner evaporates fast and almost completely from the cleaned surface. This case report presents a fatal accidental inhalation of brake cleaner liquid aerosols due to the attempted cleaning of a boat engine. A 16year old boy was found lifeless in the engine compartment of a boat engine. In close proximity to the body, the police found cleanings wipes soaked with brake cleaner as well as a pump spray bottle filled with brake cleaner. Essentially the autopsy revealed a cerebral oedema with encephalomalacia, no coagulated blood as well as increased blood and tissue fluid content of the lung. Toxicological analysis revealed brake cleaner fluid in the lung, gastric content and heart blood. Copyright © 2018 Elsevier B.V. All rights reserved.

QFD analysis of RSRM aqueous cleaners

Science.gov (United States)

Marrs, Roy D.; Jones, Randy K.

1995-01-01

This paper presents a Quality Function Deployment (QFD) analysis of the final down-selected aqueous cleaners to be used on the Redesigned Solid Rocket Motor (RSRM) program. The new cleaner will replace solvent vapor degreasing. The RSRM Ozone Depleting Compound Elimination program is discontinuing the methyl chloroform vapor degreasing process and replacing it with a spray-in-air aqueous cleaning process. Previously, 15 cleaners were down-selected to two candidates by passing screening tests involving toxicity, flammability, cleaning efficiency, contaminant solubility, corrosion potential, cost, and bond strength. The two down-selected cleaners were further evaluated with more intensive testing and evaluated using QFD techniques to assess suitability for cleaning RSRM case and nozzle surfaces in preparation for adhesive bonding.

Vacuum mechatronics

Science.gov (United States)

Hackwood, Susan; Belinski, Steven E.; Beni, Gerardo

1989-01-01

The discipline of vacuum mechatronics is defined as the design and development of vacuum-compatible computer-controlled mechanisms for manipulating, sensing and testing in a vacuum environment. The importance of vacuum mechatronics is growing with an increased application of vacuum in space studies and in manufacturing for material processing, medicine, microelectronics, emission studies, lyophylisation, freeze drying and packaging. The quickly developing field of vacuum mechatronics will also be the driving force for the realization of an advanced era of totally enclosed clean manufacturing cells. High technology manufacturing has increasingly demanding requirements for precision manipulation, in situ process monitoring and contamination-free environments. To remove the contamination problems associated with human workers, the tendency in many manufacturing processes is to move towards total automation. This will become a requirement in the near future for e.g., microelectronics manufacturing. Automation in ultra-clean manufacturing environments is evolving into the concept of self-contained and fully enclosed manufacturing. A Self Contained Automated Robotic Factory (SCARF) is being developed as a flexible research facility for totally enclosed manufacturing. The construction and successful operation of a SCARF will provide a novel, flexible, self-contained, clean, vacuum manufacturing environment. SCARF also requires very high reliability and intelligent control. The trends in vacuum mechatronics and some of the key research issues are reviewed.

Evaluation of the cleaner technology programme

DEFF Research Database (Denmark)

Andersen, Mikael Skou; Jørgensen, Ulrik

The report presents an independent evaluation of the Danish development programme for cleaner technology 1986-1989 and of the Action Plan for Cleaner Technology 1990-1992. The evaluation focuses on the results of technology development and implementation projects, on an examination...... of the dissemination of cleaner technology solutions achieved in six industrial branches, and on the overall programme and its effects, in particular environmental impacts, but also results in the form of employment, environmental export, strenghtening of Danish know-how etc....

Design of Agricultural Cleaner Production Technology System

OpenAIRE

Hu, Jun-mei; Wang, Xin-jie

2009-01-01

Based on the introduction of agricultural cleaner production, technology system design of planting cleaner production is discussed from five aspects of water-saving irrigation technology, fertilization technology, diseases and insects control technology, straw comprehensive utilization technology and plastic film pollution control technology. Cleaner production technology system of livestock and poultry raise is constructed from the aspects of source control technology, reduction technique in...

Mitigation effects of radon decay products by air cleaner

International Nuclear Information System (INIS)

Kazuki Iwaoka; Tetsuo Ishikawa; Hidenori Yonehara; Shinji Tokonami

2013-01-01

One of the most effective methods for reducing exposure is the use of air cleaners. In this study, a dose mitigation of a commonly-used Japanese air cleaner under conditions in which aerosols are continuously supplied was investigated. Although the values of the EERC during an operation of air cleaner decreased, values of the f p increased with the use of air cleaner. An effective dose was calculated on the basis of our experimental results, resulting in the dose mitigation of about 40 % by the air cleaner. Air cleaners can be regarded as an effective tool for the dose mitigation under with conditions in which aerosols are continuously supplied. (author)

Drivers for Cleaner Production in Malaysian Industry

DEFF Research Database (Denmark)

Wangel, Arne

2003-01-01

This working paper tries to piece together information on regulatory initiatives promoting cleaner production (CP) in Malaysian industry, as well as points of discussion on environmental performance in the sector. It draws upon initial data collection by the team of the research project ‘A Study...... on Promotion and Implementation of Cleaner Production Practices in Malaysian Industry - Development of a National Program and Action Plan for Promotion of Cleaner Production’, which is coordinated by Institute of Environmental and Resource Management, Universiti Teknologi Malaysia; the objective of this study...... is ‘to formulate, establish and develop a comprehensive "National Cleaner Production Promotion Program" for Malaysia’....

7 CFR 2902.48 - General purpose household cleaners.

Science.gov (United States)

2010-01-01

... 7 Agriculture 15 2010-01-01 2010-01-01 false General purpose household cleaners. 2902.48 Section... PROCUREMENT Designated Items § 2902.48 General purpose household cleaners. (a) Definition. Products designed... procurement preference for qualifying biobased general purpose household cleaners. By that date, Federal...

Parasite infestation increases on coral reefs without cleaner fish

Science.gov (United States)

Grutter, A. S.; De Brauwer, M.; Bshary, R.; Cheney, K. L.; Cribb, T. H.; Madin, E. M. P.; McClure, E. C.; Meekan, M. G.; Sun, D.; Warner, R. R.; Werminghausen, J.; Sikkel, P. C.

2018-03-01

Mutualisms are pivotal in shaping ecological communities. Iconic images of cleaner fish entering the mouths of predatory fish clients to remove ectoparasites epitomize their mutual benefit. Experimental manipulations of cleaner wrasse reveal declines in fish size and growth, and population abundance and diversity of client fishes in the absence of cleaner wrasse. Fishes grow more slowly and are less abundant and diverse on reefs without cleaner wrasse, both for larger species that are regularly cleaned and have high ectoparasite loads ("attractive species"), and for those smaller species that are rarely cleaned and are rarely infested with parasites ("unattractive species"). We therefore considered whether these previously observed declines in individual and population parameters on reefs without cleaners were related to increased ectoparasite infestation using an attractive species ( Hemigymnus melapterus, Labridae) and an unattractive species ( Pomacentrus amboinensis, Pomacentridae). Traps with these fish as a form of bait were deployed to sample blood-sucking gnathiid ectoparasites (Gnathiidae: Isopoda) on reefs from which cleaners ( Labroides dimidiatus, Labridae) have been removed for 13 yr. Cleaner fish could not enter traps to access the clients/hosts, but gnathiids could enter the traps to infest hosts; thus, this method sampled the indirect effect of cleaners on gnathiid infestation of fish. Infestation was higher on reefs without cleaners than on those with them. The effect was only detected during the daytime when cleaners are active and only on the attractive species ( H. melapterus). Thus, cleaner presence indirectly reduced fish exposure to parasites in a species that is highly susceptible to parasites, but not in one that is rarely infested with parasites. This suggests that cleaner presence indirectly reduces exposure of a common fish species to harmful parasites, which may explain some observed benefits in fishes at this location.

Beyond symbiosis: cleaner shrimp clean up in culture.

Science.gov (United States)

Militz, Thane A; Hutson, Kate S

2015-01-01

Cleaner organisms exhibit a remarkable natural behaviour where they consume ectoparasites attached to "client" organisms. While this behaviour can be utilized as a natural method of parasitic disease control (or biocontrol), it is not known whether cleaner organisms can also limit reinfection from parasite eggs and larvae within the environment. Here we show that cleaner shrimp, Lysmata amboinensis, consume eggs and larvae of a harmful monogenean parasite, Neobenedenia sp., in aquaculture. Shrimp consumed parasite eggs under diurnal (63%) and nocturnal (14%) conditions as well as infectious larvae (oncomiracidia) diurnally (26%). Furthermore, we trialled the inclusion of cleaner shrimp for preventative parasite management of ornamental fish, Pseudanthias squamipinnis, and found shrimp reduced oncomiracidia infection success of host fish by half compared to controls (held without shrimp). Fish held without cleaner shrimp exhibited pigmentation changes as a result of infection, possibly indicative of a stress response. These results provide the first empirical evidence that cleaner organisms reduce parasite loads in the environment through non-symbiotic cleaning activities. Our research findings have relevance to aquaculture and the marine ornamental trade, where cleaner shrimp could be applied for prophylaxis and control of ectoparasite infections.

EAST-AIA deployment under vacuum: Calibration of laser diagnostic system using computer vision

Energy Technology Data Exchange (ETDEWEB)

Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Cheng, Yong; Feng, Hansheng; Wu, Zhenwei; Li, Yingying; Sun, Yongjun; Zheng, Lei [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Bruno, Vincent; Eric, Villedieu [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France)

2016-11-15

Highlights: • The first deployment of the EAST articulated inspection arm robot under vacuum is presented. • A computer vision based approach to measure the laser spot displacement is proposed. • An experiment on the real EAST tokamak is performed to validate the proposed measure approach, and the results shows that the measurement accuracy satisfies the requirement. - Abstract: For the operation of EAST tokamak, it is crucial to ensure that all the diagnostic systems are in the good condition in order to reflect the plasma status properly. However, most of the diagnostic systems are mounted inside the tokamak vacuum vessel, which makes them extremely difficult to maintain under high vacuum condition during the tokamak operation. Thanks to a system called EAST articulated inspection arm robot (EAST-AIA), the examination of these in-vessel diagnostic systems can be performed by an embedded camera carried by the robot. In this paper, a computer vision algorithm has been developed to calibrate a laser diagnostic system with the help of a monocular camera at the robot end. In order to estimate the displacement of the laser diagnostic system with respect to the vacuum vessel, several visual markers were attached to the inner wall. This experiment was conducted both on the EAST vacuum vessel mock-up and the real EAST tokamak under vacuum condition. As a result, the accuracy of the displacement measurement was within 3 mm under the current camera resolution, which satisfied the laser diagnostic system calibration.

7 CFR 2902.49 - Industrial cleaners.

Science.gov (United States)

2010-01-01

... 7 Agriculture 15 2010-01-01 2010-01-01 false Industrial cleaners. 2902.49 Section 2902.49... Items § 2902.49 Industrial cleaners. (a) Definition. Products used to remove contaminants, such as..., floors, walls, and other production-related work areas. The cleaning products within this item are...

Reconstructing the image of the cleaner

NARCIS (Netherlands)

Jorcho van Vlijmen; Toine van den Hoogen

2013-01-01

Purpose: The article shows the relevance of an insider’s perspective on workers in the cleaning industry (cleaners). It explains how the ways in which cleaners create meaning in their work can be explored. These findings help to create added value for FM. Theory: Organisational theory describes a

Inventory on cleaner production education and training

DEFF Research Database (Denmark)

Jørgensen, Michael Søgaard; Pöyry, Sirkka; Huisingh, Donald

Analysis and presentation of the data from an international inventory on cleaner production education and training......Analysis and presentation of the data from an international inventory on cleaner production education and training...

Health disparities between immigrant and Danish cleaners

DEFF Research Database (Denmark)

Jørgensen, Marie B; Rasmussen, Charlotte D N; Carneiro, Isabella G

2011-01-01

hundred and fifty-one cleaners, consisting of 166 Danes (88% women) and 179 immigrants (74% women) (6 with unknown ethnicity), from 9 workplaces in Denmark participated in the study. Health and work ability were obtained by objective (e.g., BMI and blood pressure) and self-reported measures (e.g., work......PURPOSE: It is unknown whether immigrants working in the cleaning industry have a poorer health and work ability than cleaners from the native population. The main aim was to investigate differences in objective and self-reported health measures between immigrant and Danish cleaners. METHODS: Three...... ability, self-rated health, and musculoskeletal symptoms). In order to investigate differences between Danish and immigrant cleaners, logistic regression analyses and General Linear Models were performed. RESULTS: When controlling for age, sex, workplace, job seniority, and smoking, more Danish compared...

Situation Assessment for Mobile Robots

DEFF Research Database (Denmark)

Beck, Anders Billesø

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

Materials Compatibility Testing in RSRM ODC: Free Cleaner Selection

Science.gov (United States)

Keen, Jill M.; Sagers, Neil W.; McCool, Alex (Technical Monitor)

2001-01-01

Government regulations have mandated production phase-outs of a number of solvents, including 1,1,1-trichloroethane, an ozone-depleting chemical (ODC). This solvent was used extensively in the production of the Reusable Solid Rocket Motors (RSRMs) for the Space Shuttle. Many tests have been performed to identify replacement cleaners. One major area of concern in the selection of a new cleaner has been compatibility. Some specific areas considered included cleaner compatibility with non-metallic surfaces, painted surfaces, support materials such as gloves and wipers as well as corrosive properties of the cleaners on the alloys used on these motors. The intent of this paper is to summarize the test logic, methodology, and results acquired from testing the many cleaner and material combinations.

[Effectiveness and limits of the cleaners steam in hospitals].

Science.gov (United States)

Meunier, O; Meistermann, C; Schwebel, A

2009-05-01

We assessed bactericidal activity of the cleaners steam used for the bio-cleaning of the hospital surfaces. We performed of samples (Rodac) before and after use of cleaner steam and compared with bactericidal effect of disinfecting detergent used in hospital for surfaces. We studied this effectiveness for different time of steam contact. Finally, we wanted to prove, by air sampling, that aero-bio-contamination was possible generated by using cleaners steam. We show that bactericidal effect of the cleaner steam is superior of some tested disinfecting detergent, for the treatment of one square meter till 2 min. This effectiveness diminishes to be just identical in that some disinfecting detergent when use of the cleaner steam is up to two or four square meters surfaces till 2 min. On the other hand, the cleaner steam is less efficient in terms of bacterial destruction when the time of contact steam-soil is superior in 2 min for six square meter surface. The air bacterial pollution, generated by the use of the cleaner steam, is restricted and not significantly augmented if measured in 44 cm above the soil in the course of cleaning. The cleaner steam is indeed a very good equipment for the cleaning of surfaces but it is necessary to respect a time of minimal contact of 2 min for four square meters surfaces treaties to acquire an antibacterial effect at least so important as that acquired with used disinfecting detergent. The disinfection of surfaces is then user-dependent and the time of requested contact is can be not compatible with hospital obligations.

Cleaner Production in the mining

International Nuclear Information System (INIS)

Pinto Martinez, Elias

2004-01-01

The control politics of the environmental contamination have substantially changed from the 80, toward new preventive tendencies that make the question. That we make with the residuals? What can we make for not generating residuals? On this position, the topic of clean production, it really indicates environmentally a production cleaner, to generate a more respectful final product with the environment, as a result of a process that incorporates in each one of the phases of the life cycle of products the best environmental practices. The national politics of cleaner production was approved in August of 1997 by the environmental national advice, it was formulated like an answer to the solution of the environmental problem of the productive sectors that looks for fundamentally to prevent the contamination in its origin, instead of treating her once generated, with significant results for the construction of the real possibilities of sustainability and competitiveness. Their implementation requires of the government like of the productive sectors, fundamentally, because the environmental problems have become very complex for its control, only through direct regulation, and because to reach the sustainable development of the productive activities implies to face the new challenges of the national and international competitiveness, considering that the environmental administration is a source of opportunities and not an obstacle. In the practice the application of the concept of cleaner production, so much in the current systems of production like in the products and services, it doesn't mean a substitution in strict sense for other different, but improving them continually, under the expert that the new technologies will be cleaner. Of here that production cleans it profiles as the goal that will be reached with the new investments, as long as the systematic search of the continuous improvement, corresponds to the concept of cleaner production that obeys a dynamic and

Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

International Nuclear Information System (INIS)

Li, Ming; Wu, Huapeng; Handroos, Heikki; Yang, Guangyou; Wang, Yongbo

2015-01-01

applying these protocols, the software for a multi-task robot machine that is used for ITER vacuum vessel assembly and maintenance has been developed and it is demonstrated that machining tasks of the robot machine, such as milling, drilling, welding etc., can be implemented in both an individual and composite way.

Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Li, Ming, E-mail: ming.li@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Yang, Guangyou [School of Mechanical Engineering, Hubei University of Technology, Wuhan (China); Wang, Yongbo [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

2015-10-15

applying these protocols, the software for a multi-task robot machine that is used for ITER vacuum vessel assembly and maintenance has been developed and it is demonstrated that machining tasks of the robot machine, such as milling, drilling, welding etc., can be implemented in both an individual and composite way.

The Development Of Cleaner Production Practices Between Environmental

DEFF Research Database (Denmark)

Wangel, Arne; Mohamed, Maketab; Agamuthu, P.

2003-01-01

(DANCED), Ministry of Environment and Energy. Small and medium-scale enterprises (SMEs) were targeted within three sectors: Textile, food and electroplating industries. The paper illustrates the change process from the perspective of electroplating SMEs by reviewing the cleaner production options chosen......, presenting figures on the results achieved, and discussing the experiences gained. Reviewing the approach and results of the Centre, as well as the status of cleaner production (CP) in Malaysia, the paper outlines the challenges for national policy making, when moving from promotion by project intervention...... towards sustainable practices in the SME sector at large. The paper draws upon data collection conducted by the research project ‘A Study on Promotion and Implementation of Cleaner Production Practices in Malaysian Industry - Development of a National Program and Action Plan for Promotion of Cleaner...

Remote machining and robotic welding in a proton cyclotron

International Nuclear Information System (INIS)

Cameron, W.; Mark, C.

1984-01-01

Increasing residual radiation in the TRIUMF meson research facility cyclotron at the University of British Columbia has required development of a remotely operable industrial robot cutting and vacuum tight welding capability for modification and updating of vacuum tank access ports, and for possible repairs of leaks or holes in the vacuum tank periphery

Electronic air cleaners and the indoor environment

International Nuclear Information System (INIS)

Krafthefer, B.

1986-01-01

The growing awareness over the quality of air in the indoor environment is driving the search for effective control methods for the contaminants of concern. Electronic air cleaners can control such pollutants as dust, pollen, tobacco smoke, radon decay products, and other particulates. This paper presents an examination of the various types of electronic air cleaners and their effects on indoor pollutants. It also examines the mechanism for contaminant removal, the relationship of the efficiency to the characteristics of the contaminant, and what type of contaminants can be controlled with the electronic air cleaner, with particular emphasis placed on the removal of radon decay products. From a study on radon product removal in residences, the electronic air cleaner was found to have an efficiency of up to 70%. Not only was there a reduction in the residential working level, but the fluctuations in the working level were also reduced. With this information, they can better understand how to solve the air treatment problem of the inhabited space. 17 references, 8 figures

Anthropomorphic Robot Hand And Teaching Glove

Science.gov (United States)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

Evaluation of electrolytic alkaline cleaners by evaporative-rate analysis

International Nuclear Information System (INIS)

Hamilton, C.B.

1975-01-01

A method has been developed by which electrolytic alkaline cleaners used in large volumes in steel mills can be evaluated for their ability to clean rolling oil from steel strip without the necessity of large-scale mill trials. The method is evaporative-rate analysis, which can be used to determine the relative amount of residual oil on steel strip after cleaning. The procedure consists in placing a droplet of a solution of a volatile, radioactive, carbon-14 tagged organic compound dissolved in a more volatile solvent, on the surface of the metal, where it forms a ternary solution with any oil on the surface. The amount of oil in this ternary solution affects the rate of evaporation of the tagged compound. The rate of evaporation, monitored by a Geiger-Mueller detector, is a measure of the cleanliness of the surface. A number of commercial alkaline cleaners, both solids and liquids, were evaluated over a range of concentrations. Results indicated that the effectiveness of commercial alkaline cleaners varies greatly, and is a function of the cleaner concentration, cleaner composition, and polarity of cleaning. The presence of antifoaming agents also affects cleaning ability. The results of this study indicate that evaporative-rate analysis is a rapid and effective method for evaluating cleaners

Hospital trash: cleaners speak of their role in disease prevention.

Science.gov (United States)

Messing, K

1998-06-01

Feminist researchers have contrasted the caring provided by women in hospitals with a more fragmented "curing" approach, which they identify with the predominantly male professions of medicine and surgery. The author spoke with hospital cleaners about their jobs and their health. Several themes emerged: the invisibility of the cleaning function, lack of respect for cleaners, representations of cleaning as undemanding, and assumptions that women's work in cleaning is particularly easy. Cleaners use various strategies to combat these stereotypes but receive little help from administrators or fellow employees. There is a hierarchy in the status of Québec hospital workers with curing (doctors) at the top, followed by caring and healing (nurses, therapists, and attendants), and hygiene (cleaners, sterilizers, and launderers) at the bottom. Authority hierarchies in health care are not related to gender in a simple way, although there is discrimination against women cleaners. The fact that cleaning, especially cleaning performed by women, is invisible to managers, other hospital personnel, and patients has important consequences for cleaners' and for patients' health.

Evaluation of the efficiency of denture cleaners for removing denture adhesives.

Science.gov (United States)

Harada-Hada, Kae; Hong, Guang; Abekura, Hitoshi; Murata, Hiroshi

2016-12-01

We developed a new scoring index for assessing the removability of denture adhesives and evaluated the removal efficiency of denture cleaners. Although our understanding of the importance of denture care is increasing, little is known about the effectiveness and efficiency of denture cleaners on denture adhesives. Therefore, guidelines for proper cleaning are necessary. We used five denture cleaner solutions on two cream adhesives, one powder adhesive and one cushion adhesive. After immersion in the denture cleaners for a designated time, we evaluated the area of the sample plate still covered by denture adhesive. Cream adhesives were removed more completely after immersion in majority of the denture cleaners than in water. Powder adhesive was removed more quickly than cream adhesives. Cushion adhesive was not removed by immersion in either the denture cleaners or water control. Some denture cleaners could liquefy cream adhesives more than water, but these differences were not observed in case of powder and cushion adhesives. © 2015 John Wiley & Sons A/S and The Gerodontology Association. Published by John Wiley & Sons Ltd.

Occupational exposures and health outcomes among Latina hotel cleaners.

Science.gov (United States)

Hsieh, Yu-Chin Jerrie; Apostolopoulos, Yorghos; Hatzudis, Kiki; Sönmez, Sevil

2014-01-01

The poor working conditions of Latina hotel cleaners render them particularly vulnerable to elevated occupational hazards that lead to adverse health outcomes. This article presents a comprehensive review of occupational risks (including physical, chemical, biological, and psychosocial risk factors) and health outcomes (including musculoskeletal disorders, respiratory diseases, dermatological diseases and allergies, and psychological disorders) for Latina hotel cleaners, within their unique sociocultural contexts. Preventive interventions for improving Latina hotel cleaners' work and health conditions are recommended.

Cutting cleaner

International Nuclear Information System (INIS)

Elsen, R.P.H. van; Smits, M.

1991-01-01

This paper presents the results of a long term field test of the Cutting Cleaner, which is used for the treatment of wet oil contaminated cuttings (WOCC) produced when drilling with Oil Based Mud (OBM). It was concluded that it is possible to reduce the oil content of cuttings to an average of 1 - 2%. The recovered base oil can be reused to make new oil based mud

Metal cleaner poisoning

Science.gov (United States)

... do so by poison control or a health care provider. If the chemical is on the skin or in the eyes, flush with lots of water for at least 15 minutes. If the person swallowed the metal cleaner, give them water or milk right away, unless a provider tells you not ...

Epidemiology of occupational injury among cleaners in the healthcare sector.

Science.gov (United States)

Alamgir, Hasanat; Yu, Shicheng

2008-09-01

The cleaning profession has been associated with multiple ergonomic and chemical hazards which elevate the risk for occupational injury. This study investigated the epidemiology of occupational injury among cleaners in healthcare work settings in the Canadian province of British Columbia. Incidents of occupational injury among cleaners, resulting in lost time from work or medical care, over a period of 1 year in two healthcare regions were extracted from a standardized operational database and with person-years obtained from payroll data. Detailed analysis was conducted using Poisson regression modeling. A total of 145 injuries were identified among cleaners, with an annual incidence rate of 32.1 per 100 person-years. After adjustment for age, gender, subsector, facility, experience and employment status, Poisson regression models demonstrated that a significantly higher relative risk (RR) of all injury, musculoskeletal injury and cuts was associated with cleaning work in acute care facilities, compared with long-term care facilities. Female cleaners were at a higher RR of all injuries and contusions than male cleaners. A lower risk of all injury and allergy and irritation incidents among part-time or casual workers was found. Cleaners with >10 years of experience were at significantly lower risk for all injury, contusion and allergy and irritation incidents. Cleaners were found to be at an elevated risk of all injury categories compared with healthcare workers in general.

Metal-Detergent/Cleaner Compatibility

National Research Council Canada - National Science Library

Hindin, Barry

1994-01-01

...) such as CFC-1 13 or 1,1,1 Trichioroethane (TCA) in their cleaning and degreasing procedures. During the last few years, AGMC has been evaluating alternative, environmentally acceptable chemicals to replace their ODC cleaners...

Soft Robotic Manipulation of Onions and Artichokes in the Food Industry

Directory of Open Access Journals (Sweden)

R. Morales

2014-04-01

Full Text Available This paper presents the development of a robotic solution for a problem of fast manipulation and handling of onions or artichokes in the food industry. The complete solution consists of a parallel robotic manipulatior, a specially designed end-effector based on a customized vacuum suction cup, and a computer vision software developed for pick and place operations. First, the selection and design process of the proposed robotic solution to fit with the initial requeriments is presented, including the customized vacuum suction cup. Then, the kinematic analysis of the parallel manipulator needed to develop the robot control system is reviewed. Moreover, computer vision application is presented inthe paper. Hardware details of the implementation of the building prototype are also shown. Finally, conclusions and future work show the current status of the project.

Cleaner Technology in Denmark - support measures and regulatory efforts

DEFF Research Database (Denmark)

Jørgensen, Ulrik

2005-01-01

Danish cleaner technology support policies have been successful in fostering innovations that reduce the invironmental impact of products and production. But the lack of enforcement support for cleaner technology in environmental permits has limited the overall impact....

Inhomogeneous electric field air cleaner

International Nuclear Information System (INIS)

Schuster, B.G.

1976-01-01

For applications requiring the filtration of air contaminated with enriched uranium, plutonium or other transuranium compounds, it appears desirable to collect the material in a fashion more amenable to recovery than is now practical when material is collected on HEPA filters. In some instances, it may also be desirable to use an air cleaner of this type to substantially reduce the loading to which HEPA filters are subjected. A theoretical evaluation of such an air cleaner considers the interaction between an electrically neutral particle, dielectric or conducting, with an inhomogeneous electric field. An expression is derived for the force exerted on a particle in an electrode configuration of two concentric cylinders. Equations of motion are obtained for a particle suspended in a laminar flow of air passing through this geometry. An electrical quadrupole geometry is also examined and shown to be inferior to the cylindrical one. The results of two separate configurations of the single cell prototypes of the proposed air cleaner are described. These tests were designed to evaluate collection efficiencies using mono-disperse polystyrene latex and polydisperse NaCl aerosols. The advantages and problems of such systems in terms of a large scale air cleaning facility will be discussed

Cleaner technology diffusion: case studies, modeling and policy. Editorial

NARCIS (Netherlands)

Montalvo Corral, C.; Kemp, R.

2008-01-01

The development and application of cleaner technologies (environmental technologies) offer multiple benefits for the adopter: reduced emissions, less waste and cost savings from reduced resource use and savings on waste costs. The question here is: if cleaner technologies offer such great benefits

Self-Compensation of Astigmatism in Mode-Cleaners for Advanced Interferometers

Energy Technology Data Exchange (ETDEWEB)

Barriga, P; Zhao Chunnong; Ju Li; Blair, David G [School of Physics, University of Western Australia, Crawley, WA6009 (Australia)

2006-03-02

Using a conventional mode-cleaner with the output beam taken through a diagonal mirror it is impossible to achieve a non-astigmatic output. The geometrical astigmatism of triangular mode-cleaners for gravitational wave detectors can be self-compensated by thermally induced astigmatism in the mirrors substrates. We present results from finite element modelling of the temperature distribution of the suspended mode-cleaner mirrors and the associated beam profiles. We use these results to demonstrate and present a self-compensated mode-cleaner design. We show that the total astigmatism of the output beam can be reduced to 5x10{sup -3} for {+-}10% variation of input power about a nominal value when using the end mirror of the cavity as output coupler.

Planning of the evaluation of cleaner production experiences in the CEPITA companies

DEFF Research Database (Denmark)

Jørgensen, Michael Søgaard

1998-01-01

The report describes the theoretical and methodological background for the evaluation in 1998 of the cleaner production implementation in a nu,mber of Tanzanian companies taking part in a DANIDA financed cleaner production develeopment project in 1994-95......The report describes the theoretical and methodological background for the evaluation in 1998 of the cleaner production implementation in a nu,mber of Tanzanian companies taking part in a DANIDA financed cleaner production develeopment project in 1994-95...

IWR-solution for the ITER vacuum vessel assembly

Energy Technology Data Exchange (ETDEWEB)

Wu, H., E-mail: huapeng@lut.fi [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Handroos, H. [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Pela, P. [Tekes (Finland); Wang, Y. [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland)

2011-10-15

The assembly of ITER vacuum vessel (VV) is still a very big challenge as the process can only be done from inside the VV. The welding of the VV assembly is carried out using the dedicated robotic systems. The main functions of the robots are: (i) measuring the actual space between every two sectors, (ii) positioning of the 150 kg splice plates between the sector shells, (iii) welding the splice plates to the sector shells, (iv) NDT of the welds, (v) repairing, including machining of the welds, (vi) He-leak tests of the welds, and (vii) the non-planned functions that may turn out. This paper presents a reasonable method to assemble the ITER VV. In this article, one parallel mobile robot, running on the track rail fixed on the wall inside the VV, is designed and tested. The assembling process, carried out by the mobile robot together with the welding robot, is presented.

Static stiffness modeling of a novel hybrid redundant robot machine

International Nuclear Information System (INIS)

Li Ming; Wu Huapeng; Handroos, Heikki

2011-01-01

This paper presents a modeling method to study the stiffness of a hybrid serial-parallel robot IWR (Intersector Welding Robot) for the assembly of ITER vacuum vessel. The stiffness matrix of the basic element in the robot is evaluated using matrix structural analysis (MSA); the stiffness of the parallel mechanism is investigated by taking account of the deformations of both hydraulic limbs and joints; the stiffness of the whole integrated robot is evaluated by employing the virtual joint method and the principle of virtual work. The obtained stiffness model of the hybrid robot is analytical and the deformation results of the robot workspace under certain external load are presented.

Development of self-running underwater cleaner for nuclear facilities

International Nuclear Information System (INIS)

Ito, Haruo; Mizutani, Takeshi; Miki, Masamichi

1979-01-01

A self-running underwater cleaner for removing sediment accumulated on the bottoms of water tanks in nuclear power stations by remote operation was developed. This cleaner is used in the state maintaining the shielding effect of water against radiation as water is filled in equipment pits, and by the remote operation using cables, it runs freely in water and sucks bottom sediment. The sediment is transported through a drain hose to a treating facility in a power station, and treated in a lump. The cleaner is composed of the carriage with electric steering wheels and driving wheels and a high head submerged pump. Front and rear suction mouths are provided, and suck sediment with high speed water flow while scraping with rubber boards. The cleaner can be used in the water depth of 7 m, and as the results of practical test, it was confirmed that the decontaminating effect and maneuverability were very good so that the sediment at the corner was scarcely left behind, and the effects of labor saving and the reduction of exposure of employees were large. The fundamental experiments were carried out on the running mechanism, the coefficient of friction in water, and the construction of suction mouth. The trial manufacture of the under water cleaner, the water tank experiment and the test in the Mamaoka No. 1 plant are reported. (Kako, I.)

Cleaner shrimp use a rocking dance to advertise cleaning service to clients.

Science.gov (United States)

Becker, Justine H A; Curtis, Lynda M; Grutter, Alexandra S

2005-04-26

Signals transmit information to receivers about sender attributes, increase the fitness of both parties, and are selected for in cooperative interactions between species to reduce conflict [1, 2]. Marine cleaning interactions are known for stereotyped behaviors [3-6] that likely serve as signals. For example, "dancing" and "tactile dancing" in cleaner fish may serve to advertise cleaning services to client fish [7] and manipulate client behavior [8], respectively. Cleaner shrimp clean fish [9], yet are cryptic in comparison to cleaner fish. Signals, therefore, are likely essential for cleaner shrimp to attract clients. Here, we show that the yellow-beaked cleaner shrimp [10] Urocaridella sp. c [11] uses a stereotypical side-to-side movement, or "rocking dance," while approaching potential client fish in the water column. This dance was followed by a cleaning interaction with the client 100% of the time. Hungry cleaner shrimp, which are more willing to clean than satiated ones [12], spent more time rocking and in closer proximity to clients Cephalopholis cyanostigma than satiated ones, and when given a choice, clients preferred hungry, rocking shrimp. The rocking dance therefore influenced client behavior and, thus, appears to function as a signal to advertise the presence of cleaner shrimp to potential clients.

Reputation management promotes strategic adjustment of service quality in cleaner wrasse.

Science.gov (United States)

Binning, Sandra A; Rey, Olivia; Wismer, Sharon; Triki, Zegni; Glauser, Gaétan; Soares, Marta C; Bshary, Redouan

2017-08-21

Adjusting one's behaviour in response to eavesdropping bystanders is considered a sophisticated social strategy, yet the underlying mechanisms are not well studied. Cleaner wrasse, Labroides dimidiatus, cooperate by eating ectoparasites off "client" fishes, or cheat (i.e. bite) and eat client mucus. Image scoring by bystander clients generally causes cleaners from socially-complex (i.e. high cleaner and client abundance; high client species richness) habitats to increase levels of cooperation. However, some individuals may periodically provide tactile stimulation to small resident clients, which attract bystanders close that are bitten, a form of tactical deception. Cortisol injection can reproduce this pattern. Here, we tested whether cleaners from socially-complex versus simple habitats respond differently to cortisol injections in terms of their cleaning interactions with clients. We found that only cleaners from the socially-complex habitat respond to cortisol injection with strategies functioning as tactical deception: i.e. increased tactile stimulation to small clients and increased cheating of large clients relative to small ones. At the socially-simple site, where reputation management is less important, cortisol-treated fish increased their overall levels of cheating, especially of small clients. Thus, strategic adjustments to cooperative behaviour and tactical deception are likely context-dependent, forming part of general reputation management abilities in cleaner wrasse.

COREXIT 9580 shoreline cleaner: Development, application, and status

International Nuclear Information System (INIS)

Canevari, G.P.; Fiocco, R.J.; Lessard, R.R.; Fingas, M.

1995-01-01

This paper will describe research on chemical beach cleaners for treatment of oiled shorelines that was initiated in support of the cleaning activities in Prince William Sound (PWS) following the Valdez oil spill in March 1989. The concept for using beach cleaners for shoreline cleanup is to apply a pre-soak to the weathered crude oil on shore and then flush with sea water to wash the oil into a boomed area for subsequent recovery. Criteria imposed on the use of chemical beach cleaners for the cleanup of the Valdez spill were: (1) effective rock cleaning agents should have very little or no toxicity to marine and terrestrial life, (2) there should be no dispersion of the oil washed from the shoreline into the water column; oil was to be recovered by techniques such as skimming or sorbents, and (3) the agents should be on the EPA National Contingency Plan (NCP) list. A laboratory-scale rock washing test was developed to measure cleaner effectiveness and dispersion. A large number of commercially available formulated products were evaluated, as well as development formulations. The commercial products included all of the available NCP-listed products which could function as cleaners. None of the commercial products completely satisfied all the requirements established by the agencies for beach cleaning. However, a new formula, called COREXIT 9580, consisting of two surfactants and a solvent was developed. It exhibited low fish toxicity, low dispersancy and effective rock cleaning capability. The paper reviews the laboratory and field testing to explore the potential use of the COREXIT 9580 to save and restore oiled vegetation

Cleaner products : new tools, players and relationships

DEFF Research Database (Denmark)

Remmen, Arne

focus in the Product Oriented Environmental Initiative. The purpose of this evaluation has been to assess experience from the initiatives to date against the intentions of the action plan, and to provide constructive input to help flesh out a future product-oriented initiative, including the activities...... linked to the new programme for cleaner products. The evaluation has focused on three selected sectors and on inter-sector product-oriented projects carried out under the Action Plan for Cleaner Technology 1993-97. The investigation has been carried out at the request of the Council for Recycling...

The 1997 AAAI Mobile Robot Competition and Exhibition

OpenAIRE

Arkin, Ronald C.

1998-01-01

In July 1997, the Sixth Annual Association for the Advancement of Artificial Intelligence (AAAI) Mobile Robot Competition and Exhibition was held. The competition consisted of four new events: (1) Find Life on Mars; (2) Find the Remote; (3) Home Vacuum; and (4) Hors d'Oeuvres, Anyone? The robot exhibition was the largest in AAAI history. This article presents the history, motivation, and contributions for the event.

Development and Testing of an ISRU Soil Mechanics Vacuum Test Facility

Science.gov (United States)

Kleinhenz, Julie E.; Wilkinson, R. Allen

2014-01-01

For extraterrestrial missions, earth based testing in relevant environments is key to successful hardware development. This is true for both early component level development and system level integration. For In-Situ Resource Utilization (ISRU) on the moon, hardware must interface with the surface material, or regolith, in a vacuum environment. A relevant test environment will therefore involve a vacuum chamber with a controlled, properly conditioned bed of lunar regolith simulant. However, in earth-based granular media, such as lunar regolith simulant, gases trapped within the material pore structures and water adsorbed to all particle surfaces will release when exposed to vacuum. Early vacuum testing has shown that this gas release can occur violently, which loosens and weakens the simulant, altering the consolidation state. A mid-size chamber (3.66 m tall, 1.5 m inner diameter) at the NASA Glenn Research Center has been modified to create a soil mechanics test facility. A 0.64 m deep by 0.914 m square metric ton bed of lunar simulant was placed under vacuum using a variety of pumping techniques. Both GRC-3 and LHT-3M simulant types were used. Data obtained from an electric cone penetrometer can be used to determine strength properties at vacuum including: cohesion, friction angle, bulk density and shear modulus. Simulant disruptions, caused by off-gassing, affected the strength properties, but could be mitigated by reducing pump rate. No disruptions were observed at pressures below 2.5 Torr, regardless of the pump rate. The slow off-gassing of the soil at low pressure lead to long test times; a full week to reach 10(exp -5) Torr. Robotic soil manipulation would enable multiple ISRU hardware test within the same vacuum cycle. The feasibility of a robotically controlled auger and tamper was explored at vacuum conditions.

Opportunities application of cleaner production practices in paint industry

International Nuclear Information System (INIS)

Mohammed, Y. S. Y.

2010-08-01

There are releases of volatile organic compounds VOC from paint manufacturing process steps and from cleaning operations in El Mohandas Paint Factory. These emission can cause health, safety and productivity problems in the work area. Hence cleaner production application is necessary in this case. Some of the manufacturing processes and equipment used to accomplish these manufacturing are analyzed and generate cleaner production opportunities, implement some of cleaner production solutions of VOC emission control by some of the methods used by paint facilities in reducing emissions. It was found that there is no control available for emissions factors in paints manufacturing process, so that VOC emission based on raw material consumption rather than calculation emission from processes or equipment by alternative method. (Author)

Application of new pre-isolation techniques to mode cleaner design

Energy Technology Data Exchange (ETDEWEB)

Barriga, Pablo [School of Physics, University of Western Australia, Crawley, WA 6009 (Australia); Woolley, Andrew [School of Physics, University of Western Australia, Crawley, WA 6009 (Australia); Zhao Chunnong [Computer and Information Science, Edith Cowan University, Mount Lawley, WA 6050 (Australia); Blair, David G [School of Physics, University of Western Australia, Crawley, WA 6009 (Australia)

2004-03-07

Two very low frequency pre-isolation stages can greatly reduce the residual motion of suspended optical components. In a mode cleaner this can reduce the control forces required on the mirrors, simplifying lock acquisition and reducing noise injection through control forces. This paper describes a 12 m triangular suspended mode cleaner under construction for the AIGO high optical power interferometer. A novel and very compact multistage isolator supports the cavity mirrors. It combines an inverse pendulum in series with a low-mass Roberts linkage, both with pendulum frequencies below 0.1 Hz. The suspension chain is connected to the Roberts linkage via a Euler spring stage and a cantilever spring assembly for vertical isolation. We present an analysis of the mode cleaner, emphasizing the advantage of the improved mode-cleaner suspension and its power-handling capability. The effect of seismic noise on the residual velocity of the mirrors and the predicted frequency stability of the optical cavity are presented.

Application of new pre-isolation techniques to mode cleaner design

International Nuclear Information System (INIS)

Barriga, Pablo; Woolley, Andrew; Zhao Chunnong; Blair, David G

2004-01-01

Two very low frequency pre-isolation stages can greatly reduce the residual motion of suspended optical components. In a mode cleaner this can reduce the control forces required on the mirrors, simplifying lock acquisition and reducing noise injection through control forces. This paper describes a 12 m triangular suspended mode cleaner under construction for the AIGO high optical power interferometer. A novel and very compact multistage isolator supports the cavity mirrors. It combines an inverse pendulum in series with a low-mass Roberts linkage, both with pendulum frequencies below 0.1 Hz. The suspension chain is connected to the Roberts linkage via a Euler spring stage and a cantilever spring assembly for vertical isolation. We present an analysis of the mode cleaner, emphasizing the advantage of the improved mode-cleaner suspension and its power-handling capability. The effect of seismic noise on the residual velocity of the mirrors and the predicted frequency stability of the optical cavity are presented

An overview of cleaner fish use in Ireland.

Science.gov (United States)

Bolton-Warberg, M

2017-11-21

Sea lice infestations represent one of the most significant challenges facing the salmon farming industry, giving rise to lost production, additional costs of treatment and potential negative interactions with wild stocks. At present, cleaner fish, which actively remove lice from salmon, are an effective, biological, long-term option which has been adopted by many countries. In Ireland, several key studies were conducted in the 1990s on the use of wild-caught wrasse (corkwing, goldsinny and rock cook) as cleaner fish in experimental and commercial scale trials. More recently, the National University of Ireland Galway (NUIG), at their marine research facility in Carna (CRS), has undertaken applied research on ballan wrasse and lumpsucker. Currently, CRS is providing lumpsucker juveniles and research and development for the Irish salmon industry with support from BIM (Ireland's Seafood Development Agency) and Marine Harvest Ireland. There is a large amount of research currently being carried out in this area in all countries that are utilizing cleaner fish technology. The current focus in Ireland is the development of a native lumpsucker broodstock to facilitate its sustainable production. The aim of this article was to provide an overview of the research, challenges and use of cleaner fish in Ireland. © 2017 The Authors Journal of Fish Diseases Published by John Wiley & Sons Ltd.

Plasma sputtering robotic device for in-situ thick coatings of long, small diameter vacuum tubesa)

Science.gov (United States)

Hershcovitch, A.; Blaskiewicz, M.; Brennan, J. M.; Custer, A.; Dingus, A.; Erickson, M.; Fischer, W.; Jamshidi, N.; Laping, R.; Liaw, C.-J.; Meng, W.; Poole, H. J.; Todd, R.

2015-05-01

A novel robotic plasma magnetron mole with a 50 cm long cathode was designed, fabricated, and operated. The reason for this endeavor is to alleviate the problems of unacceptable resistive heating of stainless steel vacuum tubes in the BNL Relativistic Heavy Ion Collider (RHIC). The magnetron mole was successfully operated to copper coat an assembly containing a full-size, stainless steel, cold bore, RHIC magnet tubing connected to two types of RHIC bellows, to which two additional pipes made of RHIC tubing were connected. To increase the cathode lifetime, a movable magnet package was developed, and the thickest possible cathode was made, with a rather challenging target to substrate (de facto anode) distance of less than 1.5 cm. Achieving reliable steady state magnetron discharges at such a short cathode to anode gap was rather challenging, when compared to commercial coating equipment, where the target to substrate distance is 10's cm; 6.3 cm is the lowest experimental target to substrate distance found in the literature. Additionally, the magnetron developed during this project provides unique omni-directional uniform coating. The magnetron is mounted on a carriage with spring loaded wheels that successfully crossed bellows and adjusted for variations in vacuum tube diameter, while keeping the magnetron centered. Electrical power and cooling water were fed through a cable bundle. The umbilical cabling system is driven by a motorized spool. Excellent coating adhesion was achieved. Measurements indicated that well-scrubbed copper coating reduced secondary electron yield to 1, i.e., the problem of electron clouds can be eliminated. Room temperature RF resistivity measurement indicated that a 10 μm copper coated stainless steel RHIC tube has a conductivity close to that of pure copper tubing. Excellent coating adhesion was achieved. The device details and experimental results are described.

Plasma sputtering robotic device for in-situ thick coatings of long, small diameter vacuum tubes

Energy Technology Data Exchange (ETDEWEB)

Hershcovitch, A., E-mail: hershcovitch@bnl.gov; Blaskiewicz, M.; Brennan, J. M.; Fischer, W.; Liaw, C.-J.; Meng, W.; Todd, R. [Brookhaven National Laboratory, Upton, New York 11973 (United States); Custer, A.; Dingus, A.; Erickson, M.; Jamshidi, N.; Laping, R.; Poole, H. J. [PVI, Oxnard, California 93031 (United States)

2015-05-15

A novel robotic plasma magnetron mole with a 50 cm long cathode was designed, fabricated, and operated. The reason for this endeavor is to alleviate the problems of unacceptable resistive heating of stainless steel vacuum tubes in the BNL Relativistic Heavy Ion Collider (RHIC). The magnetron mole was successfully operated to copper coat an assembly containing a full-size, stainless steel, cold bore, RHIC magnet tubing connected to two types of RHIC bellows, to which two additional pipes made of RHIC tubing were connected. To increase the cathode lifetime, a movable magnet package was developed, and the thickest possible cathode was made, with a rather challenging target to substrate (de facto anode) distance of less than 1.5 cm. Achieving reliable steady state magnetron discharges at such a short cathode to anode gap was rather challenging, when compared to commercial coating equipment, where the target to substrate distance is 10's cm; 6.3 cm is the lowest experimental target to substrate distance found in the literature. Additionally, the magnetron developed during this project provides unique omni-directional uniform coating. The magnetron is mounted on a carriage with spring loaded wheels that successfully crossed bellows and adjusted for variations in vacuum tube diameter, while keeping the magnetron centered. Electrical power and cooling water were fed through a cable bundle. The umbilical cabling system is driven by a motorized spool. Excellent coating adhesion was achieved. Measurements indicated that well-scrubbed copper coating reduced secondary electron yield to 1, i.e., the problem of electron clouds can be eliminated. Room temperature RF resistivity measurement indicated that a 10 μm copper coated stainless steel RHIC tube has a conductivity close to that of pure copper tubing. Excellent coating adhesion was achieved. The device details and experimental results are described.

Visual servo simulation of EAST articulated maintenance arm robot

Energy Technology Data Exchange (ETDEWEB)

Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

2016-03-15

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Visual servo simulation of EAST articulated maintenance arm robot

International Nuclear Information System (INIS)

Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

2016-01-01

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Remote machining and robotic welding in a proton cyclotron

Energy Technology Data Exchange (ETDEWEB)

Cameron, W; Mark, C

1984-09-01

Increasing residual radiation in the TRIUMF meson research facility cyclotron at the University of British Columbia has required development of a remotely operable industrial robot cutting and vacuum tight welding capabili

Psychosocial work factors and shoulder pain in hotel room cleaners.

Science.gov (United States)

Burgel, Barbara J; White, Mary C; Gillen, Marion; Krause, Niklas

2010-07-01

Hotel room cleaners have physically demanding jobs that place them at high risk for shoulder pain. Psychosocial work factors may also play a role in shoulder pain, but their independent role has not been studied in this group. Seventy-four percent (941 of 1,276) of hotel room cleaners from five Las Vegas hotels completed a 29-page survey assessing health status, working conditions, and psychosocial work factors. For this study, 493 of the 941 (52%) with complete data for 21 variables were included in multivariate logistic regression analyses. Fifty-six percent reported shoulder pain in the prior four weeks. Room cleaners with effort-reward imbalance (ERI) were three times as likely to report shoulder pain (OR 2.99, 95% CI 1.95-4.59, P = 0.000) even after adjustment for physical workload and other factors. After adjustment for physical workload, job strain and iso-strain were not significantly associated with shoulder pain. ERI is independently associated with shoulder pain in hotel room cleaners even after adjustment for physical workload and other risk factors. 2010 Wiley-Liss, Inc.

TESTING ANTIMICROBIAL CLEANER EFFICACY ON GYPSUM WALLBOARD CONTAMINATED WITH STACHYBOTRYS CHARTARUM

Science.gov (United States)

Reducing occupant exposure to indoor mold growth is the goal of this research, through the efficacy testing of antimicrobial cleaners. Often mold contaminated building materials are not properly removed, but instead surface cleaners are applied in an attempt to alleviate the prob...

ENERGY STAR Certified Room Air Cleaners

Data.gov (United States)

U.S. Environmental Protection Agency — Certified models meet all ENERGY STAR requirements as listed in the Version 1.2 ENERGY STAR Program Requirements for Room Air Cleaners that are effective as of July...

Participation of Danish and immigrant cleaners in a 1-year worksite intervention preventingphysical deterioration

DEFF Research Database (Denmark)

Rasmussen, Charlotte D N; Jørgensen, Marie B; Carneiro, Isabella G

2012-01-01

differences in participation among immigrant and Danish cleaners throughout a 1-year randomised controlled study tailored to cleaners and carried out in predominantly female workplaces. No significant differences in ethnicity were found in consent and participation throughout the 1-year intervention. Dropout...... was equally distributed among Danish and immigrant cleaners. This study indicates that a worksite health promotion intervention among a female-dominated, high-risk occupation such as cleaning can be equally appealing for Danes and immigrants. Statement of Relevance: This study provides insight about...... participation of Danish and immigrant cleaners in a worksite health promotion intervention in a predominantly female occupation. For attaining high participation and low dropout in future worksite health promotion interventions among cleaners, the intervention ought to not only target the ethnic background...

Accuracy analysis of hybrid parallel robot for the assembling of ITER

Energy Technology Data Exchange (ETDEWEB)

Wang Yongbo [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland); The State Key Laboratory of Mechanical Transmission, Chongqing University (China); Pessi, Pekka [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland); Wu Huapeng [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland)], E-mail: huapeng@lut.fi; Handroos, Heikki [Institute of Mechatronics and Virtual Engineering, Lappeenranta University of Technology, Skinnarilankatu 34, 53850 Lappeenranta (Finland)

2009-06-15

This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

Accuracy analysis of hybrid parallel robot for the assembling of ITER

International Nuclear Information System (INIS)

Wang Yongbo; Pessi, Pekka; Wu Huapeng; Handroos, Heikki

2009-01-01

This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

Evaluation of several air cleaners for reducing indoor radon progeny

International Nuclear Information System (INIS)

Hopke, P.K.; Jensen, B.; Montassier, N.

1994-01-01

Over the past several years, studies have been made of the effectiveness of several kinds of air cleaners in removing radon decay products from indoor air using a recently developed automated, semi-continuous measurement system that can determine the activity-weighted size distributions in occupied homes. Measurements of activity-weighted size distributions and radon concentrations were made every 90 min in a home with a high air exchange rate. A week-long series of measurements was made for the home with no cleaner operating and a similar set of measurements were made for each of the air cleaners. Two different types of air cleaners were tested in this study; filtration units (two different designs from two different manufacturers) and two ion generator/fan systems (identical design NO-RAD systems, but from two different manufacturers). It was found that the filtration units resulted in a median reduction in exposure of 15% and 36% for the two units and corresponding dose reductions of 32% and 53%. The two NO-RAD systems produced 37% and 10% reductions in the median exposure, but the reductions in the median dose were 49% and 46%. (author)

Environmental Technology Verification: Supplement to Test/QA Plan for Biological and Aerosol Testing of General Ventilation Air Cleaners; Bioaerosol Inactivation Efficiency by HVAC In-Duct Ultraviolet Light Air Cleaners

Science.gov (United States)

The Air Pollution Control Technology Verification Center has selected general ventilation air cleaners as a technology area. The Generic Verification Protocol for Biological and Aerosol Testing of General Ventilation Air Cleaners is on the Environmental Technology Verification we...

Does aerobic exercise improve or impair cardiorespiratory fitness and health among cleaners?

DEFF Research Database (Denmark)

Korshøj Larsen, Mette; Lidegaard, Mark; Skotte, Jørgen H

2015-01-01

OBJECTIVE: It is unknown if aerobic exercise overloads or improves the cardiovascular system among workers with high occupational physical activity. This was investigated in a worksite randomized controlled trial (RCT) of aerobic exercise among cleaners. METHODS: We randomized 116 cleaners betwee...

76 FR 71342 - Proposed CERCLA Administrative Cost Recovery Settlement; River Forest Dry Cleaners Site, River...

Science.gov (United States)

2011-11-17

... Settlement; River Forest Dry Cleaners Site, River Forest, Cook County, IL AGENCY: Environmental Protection... response costs concerning the River Forest Dry Cleaners site in River Forest, Cook County, Illinois with... code: C-14J, Chicago, Illinois 60604. Comments should reference the River Forest Dry Cleaners Site...

A Study on Promotion and Implementation of Cleaner Production Practices in Malaysian Industry - Development of a National Program and Action Plan for Promotion of Cleaner Production. Progress Report 1

DEFF Research Database (Denmark)

Wangel, Arne

This Progress Report presents the initial findings of the research project 'A Study on Promotion and Implementation of Cleaner Production Practices in Malaysian Industry - Development of a National Program and Action Plan for Promotion of Cleaner Production. Progress Report' funded...

Results of a cleanup and treatment test at the Nevada test site: Evaluation of vacuum removal of Pu-contaminated soil

International Nuclear Information System (INIS)

Shinn, J.H.; Essington, E.H.; Miller, F.L. Jr.; O'Farrell, T.P.; Orcutt, J.A.; Romney, E.M.; Shugart, J.W.; Sorom, E.R.

1989-01-01

We have conducted experiments to evaluate the effectiveness of removing contaminated soils from the Nevada Test Site with a large truck-mounted vacuum cleaner. Our results show that this method is effective, relatively easy, and safe for equipment operators. With four passes of the truck-mounted vacuum, 92% of the 241Am (and the accompanying 239 + 240Pu) was removed and resuspension rates were reduced by more than 99%. The ecological impact was, however, serious in terms of soil erosion and destruction of small animal habitats. Compared to standard earth-moving techniques, vacuuming permits a significant reduction in the volume of soil collected to achieve the desired level of decontamination, and the volume reduction could result in cost savings for packaging, shipment, and burial. This cost savings would only be realized for projects involving decontamination of the top 5 cm of soil

Short-term respiratory effects of cleaning exposures in female domestic cleaners.

Science.gov (United States)

Medina-Ramón, M; Zock, J P; Kogevinas, M; Sunyer, J; Basagaña, X; Schwartz, J; Burge, P S; Moore, V; Antó, J M

2006-06-01

Symptoms of obstructive lung disease in domestic cleaners have been related to the use of bleach and other irritant cleaning products. The short-term effects of cleaning exposures on respiratory symptoms and peak expiratory flow (PEF) were investigated in domestic cleaners with respiratory disorders. In a panel study, 43 female domestic cleaners with a recent history of asthma and/or chronic bronchitis completed a 2-week diary, collecting information on respiratory symptoms, PEF and cleaning exposures. Mixed regression models were used to assess daily changes in symptoms and PEF associated with specific cleaning exposures. The probability of having work-related asthma was individually assessed by a computerised diagnostic system and an occupational asthma expert. Lower respiratory tract symptoms were more common on working days and were predominantly associated with exposure to diluted bleach, degreasing sprays/atomisers and air fresheners. Associations with upper respiratory tract symptoms and PEF were less apparent. Eleven (30%) subjects scored positively for work-related asthma. It is concluded that exposure to certain irritant cleaning products aggravates lower respiratory tract symptoms in female domestic cleaners with asthma or chronic bronchitis.

Plasma Sputtering Robotic Device for In-Situ Thick Coatings of Long, Small Diameter Vacuum Tubes

Science.gov (United States)

Hershcovitch, Ady

2014-10-01

A novel robotic plasma magnetron mole with a 50 cm long cathode was designed fabricated & operated. Reason for this endeavor is to alleviate the problems of unacceptable ohmic heating of stainless steel vacuum tubes and of electron clouds, due to high secondary electron yield (SEY), in the BNL Relativistic Heavy Ion Collider (RHIC). The magnetron mole was successfully operated to copper coat an assembly containing a full-size, stainless steel, cold bore, RHIC magnet tubing connected to two types of RHIC bellows, to which two additional pipes made of RHIC tubing were connected. To increase cathode lifetime, movable magnet package was developed, and thickest possible cathode was made, with a rather challenging target to substrate (de facto anode) distance of less than 1.5 cm. Achieving reliable steady state magnetron discharges at such a short cathode to anode gap was rather challenging, when compared to commercial coating equipment, where the target to substrate distance is 10's cm; 6.3 cm is the lowest experimental target to substrate distance found in the literature. Additionally, the magnetron developed during this project provides unique omni-directional uniform coating. The magnetron is mounted on a carriage with spring loaded wheels that successfully crossed bellows and adjusted for variations in vacuum tube diameter, while keeping the magnetron centered. Electrical power and cooling water were fed through a cable bundle. The umbilical cabling system is driven by a motorized spool. Excellent coating adhesion was achieved. Measurements indicated that well-scrubbed copper coating reduced SEY to 1, i.e., the problem of electron clouds can be eliminated. Room temperature RF resistivity measurement indicated that 10 μm Cu coated stainless steel RHIC tube has conductivity close to that of pure copper tubing. Excellent coating adhesion was achieved. Device detail and experimental results will be presented. Work supported by Brookhaven Science Associates, LLC under

ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

International Nuclear Information System (INIS)

Perrot, Y.; Cordier, J.J.; Friconneau, J.P.; Gargiulo, L.; Martin, E.; Palmer, J.D.; Tesini, A.

2005-01-01

This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 o C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module

ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

Energy Technology Data Exchange (ETDEWEB)

Perrot, Y. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France)]. E-mail: yann.perrot@cea.fr; Cordier, J.J. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France); Gargiulo, L. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Martin, E. [ITER International Team, Boltzmannstrasse 2, 85748 Garching (Germany); Palmer, J.D. [EFDA CSU Garching, Boltzmannstrasse 2, 85748 Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, 801-1, Muouyama, Naka-machi, Naka-gun, Iberaki-ken 311-0193 (Japan)

2005-11-15

This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 {sup o}C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

The Life, Work and Recreational Physical Activity of Female Cleaners

DEFF Research Database (Denmark)

Lenneis, Verena

The main aim of this article-based PhD thesis was to explore the recreational physical activity participation of female cleaners – an occupational group mainly consisting of minority ethnic women from non-western countries. As the PhD project was integrated in and financially supported...... by the Copenhagen Centre for Team Sport and Health, a part of the PhD project was to organize and evaluate a workplace physical activity programme that used team games as the main form of exercise. Via participant observation and semi-structured interviews with 42 cleaners and their supervisors I gained insights...... and employed different theories, they drew a coherent picture: the interviewees’ everyday lives as migrant cleaners in Denmark had a decisive influence on their opportunities to engage in recreational physical activity: most women struggled with the demands of a physically exhausting job and an extensive...

Bedbug Bites

Science.gov (United States)

... walls, and floors. Vacuuming some talcum powder will reduce the chance that the bugs will crawl out of the vacuum cleaner. Dispose of the vacuum cleaner filter and bags in a tightly sealed plastic bag. Use mattress, box spring, and pillow encasements to trap ...

A study on the sound quality evaluation model of mechanical air-cleaners

DEFF Research Database (Denmark)

Ih, Jeong-Guon; Jang, Su-Won; Jeong, Cheol-Ho

2009-01-01

In operating the air-cleaner for a long time, people in a quiet enclosed space expect low sound at low operational levels for a routine cleaning of air. However, in the condition of high operational levels of the cleaner, a powerful yet nonannoying sound is desired, which is connected to a feeling...... of an immediate cleaning of pollutants. In this context, it is important to evaluate and design the air-cleaner noise to satisfy such contradictory expectations from the customers. In this study, a model for evaluating the sound quality of air-cleaners of mechanical type was developed based on objective...... and subjective analyses. Sound signals from various aircleaners were recorded and they were edited by increasing or decreasing the loudness at three wide specific-loudness bands: 20-400 Hz (0-3.8 barks), 400-1250 Hz (3.8-10 barks), and 1.25- 12.5 kHz bands (10-22.8 barks). Subjective tests using the edited...

Paper-based Pneumatic Locomotive Robot with Sticky Actuator

Directory of Open Access Journals (Sweden)

Du Xiaohan

2016-01-01

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

Gaze-Based Controlling a Vehicle

DEFF Research Database (Denmark)

Mardanbeigi, Diako; Witzner Hansen, Dan

) as an example of a complex gaze-based task in environment. This paper discusses the possibilities and limitations of how gaze interaction can be performed for controlling vehicles not only using a remote gaze tracker but also in general challenging situations where the user and robot are mobile...... modality if gaze trackers are embedded into the head- mounted devices. The domain of gaze-based interactive applications increases dramatically as interaction is no longer constrained to 2D displays. This paper proposes a general framework for gaze-based controlling a non- stationary robot (vehicle...... and the movements may be governed by several degrees of freedom (e.g. flying). A case study is also introduced where the mobile gaze tracker is used for controlling a Roomba vacuum cleaner....

Development of an ITER relevant inspection robot

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C. [Association Euratom-CEA, Cadarache (France). Dept. de Recherche sur la Fusion Controlee; Friconneau, J.P.; Keller, D.; Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, Fontenay aux Roses (France)

2007-07-01

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

Development of an ITER relevant inspection robot

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, Laurent [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Friconneau, Jean-Pierre [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France); Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Keller, Delphine; Perrot, Yann [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France)

2008-12-15

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions.

Development of an ITER relevant inspection robot

International Nuclear Information System (INIS)

Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C.

2007-01-01

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

Development of an ITER relevant inspection robot

International Nuclear Information System (INIS)

Gargiulo, Laurent; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques; Friconneau, Jean-Pierre; Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael; Keller, Delphine; Perrot, Yann

2008-01-01

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions

Trajectory planning of tokamak flexible in-vessel inspection robot

Energy Technology Data Exchange (ETDEWEB)

Wang, Hesheng [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China); Lai, Yinping; He, Tao [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China)

2015-10-15

Highlights: • A tokamak flexible in-vessel inspection robot is designed. • Two trajectory planning methods are used to ensure the full coverage of the first wall scanning. • The method is tested on a simulated platform of EAST with the flexible in-vessel inspection robot. • Experimental results show the effectiveness of the proposed algorithm. - Abstract: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.

Trajectory planning of tokamak flexible in-vessel inspection robot

International Nuclear Information System (INIS)

Wang, Hesheng; Chen, Weidong; Lai, Yinping; He, Tao

2015-01-01

Highlights: • A tokamak flexible in-vessel inspection robot is designed. • Two trajectory planning methods are used to ensure the full coverage of the first wall scanning. • The method is tested on a simulated platform of EAST with the flexible in-vessel inspection robot. • Experimental results show the effectiveness of the proposed algorithm. - Abstract: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.

Cleaner production - a tool for sustainable environmental development

International Nuclear Information System (INIS)

Ahmad, I.; Batool, S.

2005-01-01

Industrial Development and Production with no regard for environmental impacts creates water and air pollution, soil degradation, and large-scale global impacts such as acid rain, global warming and ozone depletion. To create more sustainable methods of industrial production, there needs to be a shift in attitudes away from control towards pollution prevention and management. Cleaner Production (CP) refers to a management process that seeks out and eliminates the causes of pollution, waste generation and resource consumption at their source through input reductions or substitutions, pollution prevention, internal recycling and more efficient production technology and processes for sustainable environmental development. The objective of cleaner production is to avoid generating pollution in the first place, which frequently cuts costs, reduces risks associated with liability, and identifies new market opportunities. Introducing cleaner production has become a goal to improve the competitiveness through increased eco-efficiency. CP is a business strategy for enhancing productivity and environmental performance for overall socio-economic development. The environmental and economic benefits can only be achieved by implementing cleaner production tools. The CP assessment methodology is used to systematically identify and evaluate the waste minimization opportunities and facilitate their implementation in industries. It refers to how goods and services are produced with the minimum environmental impact under present technological and economic limits. CP shares characteristics with many environmental management tools such as Environmental Assessment or Design for Environment by including them among the technological options for reducing material and energy intensiveness in production, as well as facilitating ruse trough remanufacturing and recycling. It is thus an extension of the total quality management process. The CP program has been successfully implemented in

GUIDE TO CLEANER TECHNOLOGIES: ORGANIC COATING REMOVAL

Science.gov (United States)

A cleaner technology is a source reduction or recycle method |applied to eliminate or significantly reduce hazardous waste generation. Source reduction includes product changes and source control. Source control can be further characterized as input material changes, technology...

Measurement of concentration and size distribution of radon decay products in homes using air cleaners

International Nuclear Information System (INIS)

Montassier, N.; Hopke, P.K.; Shi, Y.; McCallum, B.

1992-01-01

By removing particles, air cleaners can also eliminate radon decay products. However, by removing the particles, the open-quotes unattachedclose quotes fraction of the radon progeny is increased leading to a higher dose per unit exposure. Thus, both the concentration and size distributions of the radon decay products are needed to evaluate air cleaners. Three types of room air cleaners, NO-RAD Radon Removal System, Electronic Air Cleaner and PUREFLOW Air Treatment System were tested in a single family home in Arnprior, Ontario (Canada). Semi-continuous measurements of radon gas concentration and radon decay product activity weighted size distribution were performed in the kitchen/dining room under real living conditions. The effects of air cleaners on both the concentration and size distribution of the radon decay products were measured, and their impact on the dose of radiation given to the lung tissue were examined

Removing seed coat fragments with a lint cleaner grid bar air knife

Science.gov (United States)

Seed coat fragments (SCF) in ginned lint cause spinning problems at the textile mill and undesirable defects in finished goods. Work continued on developing an air knife that may help remove SCF from ginned lint. The air knife is mounted on the 1st lint cleaner grid bar of a saw-type lint cleaner,...

Employee participation and cleaner technology: learning processes in environmental teams

DEFF Research Database (Denmark)

Remmen, Arne; Lorentzen, Børge

2000-01-01

The approach to pollution prevention in Danish industries in the late-1980s and in the beginning of the 1990s met criticism, because the cleaner technology projects focused too narrowly on technical solutions implemented by experts. The objective of the project “Employee Participation in the Impl...... to improve the firms' environmental activities (e.g. setting up environmental policies, targets and action plans, implementing new procedures and technologies).......The approach to pollution prevention in Danish industries in the late-1980s and in the beginning of the 1990s met criticism, because the cleaner technology projects focused too narrowly on technical solutions implemented by experts. The objective of the project “Employee Participation...... in the Implementation of Cleaner Technology” was to develop a more active role for employees in the environmental activities of companies. Based on practical experiments in five Danish firms within different industrial sectors, the project concluded that employee participation can have a strong effect on changing...

40 CFR 761.378 - Decontamination, reuse, and disposal of solvents, cleaners, and equipment.

Science.gov (United States)

2010-07-01

... of solvents, cleaners, and equipment. 761.378 Section 761.378 Protection of Environment ENVIRONMENTAL...-Porous Surfaces § 761.378 Decontamination, reuse, and disposal of solvents, cleaners, and equipment. (a) Decontamination. Decontaminate solvents and non-porous surfaces on equipment in accordance with the standards and...

GUIDE TO CLEANER TECHNOLOGIES: ORGANIC COATING REPLACEMENTS

Science.gov (United States)

This guide describes available and emerging cleaner technologies that can be used to reduce emissions and wastes from paint and coatings applications. Environmental concerns and increasing costs of organic chemicals and metals are leading to changes in the formulation of organic ...

Education and Manpower development for Cleaner Production

DEFF Research Database (Denmark)

Jørgensen, Michael Søgaard

1996-01-01

An overview of the needs for education and training for dissemination and implementation of cleaner production. Expericne from training in companies and training of officials from public authorities and from integration into engineering, business and management and social science curricula...

Cleaner Production Practices, Environmental Management and National Policy Development in Malaysia for Electroplating Enterprises

DEFF Research Database (Denmark)

Wangel, Arne; Mohamed, Maketab; Agamuthu, P.

2004-01-01

-operation for Environment and Development (DANCED), Ministry of Environment and Energy. SMEs were targeted within three sectors: Textile, food and electroplating industries. The paper illustrates the change process from the perspective of electroplating SMEs by reviewing the cleaner production options chosen, presenting...... figures on the results achieved, and discussing the experiences gained. Reviewing the approach and results of the Centre, as well as the status of cleaner production (CP) in Malaysia, the paper outlines the challenges for national policy making, when moving from promotion by project intervention towards...... sustainable practices in the SME sector at large. The paper draws upon data collection conducted by the research project 'A Study on Promotion and Implementation of Cleaner Production Practices in Malaysian Industry - Development of a National Program and Action Plan for Promotion of Cleaner Production'....

Visibility and social recognition as psychosocial work environment factors among cleaners in a multi-ethnic workplace intervention.

Science.gov (United States)

Hviid, Kirsten; Smith, Louise Hardman; Frydendall, Karen Bo; Flyvholm, Mari-Ann

2012-12-24

This article focuses on the psychosocial work environment of immigrant cleaners at a Danish workplace. Today, many cleaners working in Danish cleaning jobs are women from the established immigrant communities, but also labour migrants from the newer EU member states have found their way to the cleaning industry. Studies have drawn attention to immigrants' low position in the cleaning industry and their increased risk of work injuries. This article is based on a case study of an intervention called "Make a Difference" designed to improve the work environment among cleaners at a multi-ethnic workplace. We used semi-structured interviews, photo logs, observation and participation to investigate how the cleaners experienced their work environment. The cleaners reported an overload of heavy work, related to the concept of a classroom's "readiness for cleaning", and they expressed strained social relations and communication in addition to a lack of social recognition and invisibility at the workplace, a school. We analysed these psychosocial work environmental problems by investigating the different forms of social relationships and communication within the group of cleaners, and between the cleaners and the teachers and pupils at the school. Moreover, we discussed why the intervention, based on training of language and cleaning skills and social interaction, only partially improved the cleaners' psychosocial work environment problems. In this article, we argue that social divisions based on ethnicity between the new and the established group of cleaners, combined with their marginal position and poor work organisation at the school, reinforced the cleaners' experiences of psychosocial work environment problems. This article suggests that increased effort towards social inclusion at work and improved work organisation, especially for the new labour migrants from newer EU-countries, should be considered.

Aerobic exercise reduces biomarkers related to cardiovascular risk among cleaners

DEFF Research Database (Denmark)

Korshøj, Mette; Ravn, Marie Højbjerg; Holtermann, Andreas

2016-01-01

PURPOSE: Blue-collar workers have an increased risk of cardiovascular disease. Accordingly, elevated levels of biomarkers related to risk of cardiovascular disease, such as high-sensitive C-reactive protein, have been observed among blue-collar workers. The objective was to examine whether...... an aerobic exercise worksite intervention changes the level of inflammation biomarkers among cleaners. METHODS: The design was a cluster-randomized controlled trial with 4-month worksite intervention. Before the 116 cleaners aged 18-65 years were randomized, they signed an informed consent form...

A 24-h assessment of physical activity and cardio-respiratory fitness among female hospital cleaners

DEFF Research Database (Denmark)

Larsen, Mette Korshøj; Krustrup, Peter; Jespersen, Tobias

2013-01-01

measured. The methods were feasible for the objective 24-h sampling of physical activity and cardio-respiratory fitness among cleaners. Measurements showed that the cleaners walked 20,198 ± 4,627 steps per day. During working hours, the average cardio-respiratory load was 25 ± 6% of heart rate reserve (HRR......). The cleaners had a low estimated cardio-respiratory fitness (34 mlO2/kg/min), a high BMI (50%, >25 kg/m(2)) and blood pressure (50%, >120/>80 mmHg). The high amount of steps, the relatively high cardiovascular load at work and low cardio-respiratory fitness illustrate the need for further investigation...... of the relationship between physical activity at work and in leisure, and cardiovascular health in this population. Practitioner Summary: This study evaluated the feasibility of methods for objective 24-h sampling of physical activity among cleaners; the methods used were found to be feasible. The cleaners had a high...

Centrifugal forming and mechanical properties of silicone-based elastomers for soft robotic actuators

Science.gov (United States)

Kulkarni, Parth

This thesis describes the centrifugal forming and resulting mechanical properties of silicone-based elastomers for the manufacture of soft robotic actuators. This process is effective at removing bubbles that get entrapped within 3D-printed, enclosed molds. Conventional methods for rapid prototyping of soft robotic actuators to remove entrapped bubbles typically involve degassing under vacuum, with open-faced molds that limit the layout of formed parts to raised 2D geometries. As the functionality and complexity of soft robots increase, there is a need to mold complete 3D structures with controlled thicknesses or curvatures on multiples surfaces. In addition, characterization of the mechanical properties of common elastomers for these soft robots has lagged the development of new designs. As such, relationships between resulting material properties and processing parameters are virtually non-existent. One of the goals of this thesis is to provide guidelines and physical insights to relate the design, processing conditions, and resulting properties of soft robotic components to each other. Centrifugal forming with accelerations on the order of 100 g's is capable of forming bubble-free, true 3D components for soft robotic actuators, and resulting demonstrations in this work include an aquatic locomotor, soft gripper, and an actuator that straightens when pressurized. Finally, this work shows that the measured mechanical properties of 3D geometries fabricated within enclosed molds through centrifugal forming possess comparable mechanical properties to vacuumed materials formed from open-faced molds with raised 2D features.

An Orientation Sensor for Mobile Robots Using Differentials

Directory of Open Access Journals (Sweden)

Wei-Chen Lee

2013-02-01

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

Associations between psychosocial work environment and hypertension among non-Western immigrant and Danish cleaners

DEFF Research Database (Denmark)

Olesen, Kasper Vinther; Carneiro, Isabella G; Jørgensen, Marie B

2012-01-01

INTRODUCTION: Non-Western cleaners have reported better psychosocial work environment but worse health compared with their Danish colleagues. The aim of this study was to compare the association between psychosocial work environment and hypertension among non-Western immigrant cleaners and Danish...

Increased Participation Among Cleaners as a Strategy to Improve Quality and Occupational Health

Directory of Open Access Journals (Sweden)

Therese Öhrling

2014-09-01

Full Text Available Like many other industries, today the cleaning industry is affected more than ever by competition and pressure toward low prices, which leads to a nonadvantageous situation for cleaners. These days many Swedish municipalities choose to outsource cleaning service in order to save money, although the situation for the cleaners appears to be worsening. The aim of this paper is to evaluate an alternative organizational structure within a Swedish public cleaning division to investigate how good work environment for cleaners can be combined with economical savings for a municipality. Like many other cleaning organizations, both national and international, the present cleaning division has been struggling for a long time with high levels of sick leave and early retirements. After years of unsuccessful attempts to improve the situation by reducing the physical load, cleaning managers made a decision to broaden their strategy by changing the structure of their organization. In this study, both qualitative and quantitative methods have been applied to identify and understand the effects of the organizational change, both on an individual level and on an organizational level. The results show that the organizational change, which leads to increased participation and autonomy for the cleaners, in combination with a high degree of social support, had a positive effect on job satisfaction, work motivation, and pride among the cleaners. Sick leave within the division has decreased, and both the quality and efficiency of the cleaning service have increased. It can be concluded that there are other alternative organizational structures that could be applied within the public sector and prove advantageous, both for the individual cleaners and for the municipality. Further research of similar organizational structures within the private cleaning sector is recommended.

Integrated Technology Air Cleaners (ITAC): Design and Evaluation

Energy Technology Data Exchange (ETDEWEB)

Fisk, William J.; Cohn, Sebastian; Destaillats, Hugo; Henzel, Victor; Sidheswaran, Meera; Sullivan, Douglas P.

2013-09-13

The primary objective of this project was to design, build, and test an air cleaner for residential use with the potential to substantially improve indoor air quality, or maintain indoor air quality unchanged, when outdoor air ventilation rates are reduced to save energy. Two air cleaners were designed and fabricated. The design targets for airflow rate, fan power, and projected cost were met. In short term laboratory studies, both units performed as expected; however, during field studies in homes, the formaldehyde removal performance of the air cleaners was much lower than expected. In subsequent laboratory studies, incomplete decomposition of some indoor air volatile organic compounds, with formaldehyde as a product of partial decomposition of volatile organic compounds, was confirmed as the explanation for the poor formaldehyde removal performance in the field studies. The amount of formaldehyde produced per unit of decomposition of other volatile organic compounds was substantially diminished by increasing the amount of catalyst on the filter and also by decreasing the air velocity. Together, these two measures reduced formaldehyde production, per unit destruction of other volatile organic compounds, by a factor of four, while increasing the removal efficiency of volatile organic compounds by a factor of 1.4. A company with a southern California office is conducting studies in conjunction with Lawrence Berkeley National Laboratory, with the goal of incorporating the ITAC catalytic air cleaning technology in their future commercial products.

The local implementation of clean(er) fuels policies in Europe. A Handbook with guidelines. Final version

International Nuclear Information System (INIS)

Mulder, F.; Amara, Sliman Abu; Uustal, M.; Pelkmans, L.; Devriendt, N.; Rogulska, M.; Defranceschi, P.

2009-05-01

This handbook aims to guide the local/regional governments all over Europe who are involved in implementing clean(er) fuel policies in transport. The general challenge these governments are facing is how local policies on clean(er) fuels and vehicles can be made operational. Hence, how can the step be made from a vision on the strategic policy level, to a vision on the implementation of these policies. A local/regional policy on clean(er) fuels and vehicles is commonly part of the larger category 'sustainable transport policy', which in itself is part of a broader local environmental policy. The encompassing local/regional sustainable mobility policy will in most cases be based on the three well known main policy aims in this area: CO2 reduction; Improving the local air quality; and Improving the security of supply (locally often less stressed). This handbook will focus on the actual implementation of a clean(er) fuels and vehicles policy. It will describe the main challenges and how these can be overcome. It will describe how the market conditions for clean(er) fuels and vehicles can be created by establishing the vital market elements and which process is required to do so. And it will show how local enterprises can be involved and what the role of the local governments in this process can be. In order to identify the local success factors in overcoming the main challenges for implementation, case studies have been carried out in three European cities, namely Stockholm (Sweden), Graz (Austria) and Lille (France). The choice of these cities was based on their successes in implementing clean(er) fuel policies (although they followed different paths) and the fact that they managed to achieve ambitious clean(er) fuel/ clean(er) vehicle targets. These cities may thus be considered as ?good practice examples?. The case studies are based on existing literature, on multiple stakeholders? interviews in all three cities, and on two small surveys. The objectives of this

The STELLA Robotic Observatory on Tenerife

Directory of Open Access Journals (Sweden)

Klaus G. Strassmeier

2010-01-01

Full Text Available The Astrophysical Institute Potsdam (AIP and the Instituto de Astrofísica de Canarias (IAC inaugurated the robotic telescopes STELLA-I and STELLA-II (STELLar Activity on Tenerife on May 18, 2006. The observatory is located on the Izaña ridge at an elevation of 2400 m near the German Vacuum Tower Telescope. STELLA consists of two 1.2 m alt-az telescopes. One telescope fiber feeds a bench-mounted high-resolution echelle spectrograph while the other telescope feeds a wide-field imaging photometer. Both scopes work autonomously by means of artificial intelligence. Not only that the telescopes are automated, but the entire observatory operates like a robot, and does not require any human presence on site.

Ultra-Stable, New Generation Q-Switched Monolithic Laser Cleaners for Fine Art Conservation

Science.gov (United States)

Brioschi, F.; Salvadeo, P.

The increasing use of laser cleaners in fine art conservation boosts the demand on improvements of the laser performances. More power and more wavelengths are required by the current applications, while laser should be more reliable, rugged and compact. The characteristics and performances of a new generation of laser cleaners are presented as a result of a dedicated research and development program.

Determination and ranking cleaner production criteria by using analytic hierarchy process (Case study: Latif paper products company

Directory of Open Access Journals (Sweden)

Yaghob Asadizadeh

2018-02-01

Full Text Available Cleaner production process is an environmentally friendly approach that attempts to reduce waste and energy consumption then reduce environmental pollutions of industrial processes to provide the possibility of sustainable production in industrial units. To achieve this goal and alignment with cleaner production strategies, paper industries should consider reducing wastes of production processes and irregular consumption of energy as a priority in their programs. In this research Analytic Hierarchy Process has been applied and a three level hierarchy model was structured to facilitate the cleaner production process in Latif paper products firm. Using a literature review and field study, the proposed model provided a framework for cleaner production implementation in the firm. Results showed priorities of the main criteria of cleaner production are process change, product modification, implementation of preventive maintenance system, resititution and man force capitals respectively. Process change criterion allocated 40 percent of the total weighing value and has the highest priority in implementation of cleaner production strategy. Existence of industrial automation and its technology level which is a sub criterion of process change has the highest priority among 31 sub criteria. Also some of higher priority sub criteria such as use of higher quality inclusion and implementation of calibration system are related to process change. Therefore, to achieve cleaner production goals and implementation of its strategic objectives it is necessary to pay more attention to this criterion. Inconsistency ratio of the research is 0.06 which indicates the results are compatible. The results of this research can be used to accelerate the implementation of cleaner production process in Iran’s pulp and paper industry.

The vacuum system for technological unit development and design

Science.gov (United States)

Zhukeshov, A. M.; Gabdullina, A. T.; Amrenova, A. U.; Giniyatova, Sh G.; Kaibar, A.; Sundetov, A.; Fermakhan, K.

2015-11-01

The paper shows results of development of plasma technological unit on the basis of accelerator of vacuum arc and automated system. During the previous years, the authors investigated the operation of pulsed plasma accelerator and developed unique technologies for hardening of materials. Principles of plasma formation in pulsed plasma accelerator were put into basis of the developed unit. Operation of the pulsed arc accelerator was investigated at different parameters of the charge. The developed vacuum system is designed for production of hi-tech plasma units in high technologies in fields of nanomaterials, mechanical and power engineering and production with high added value. Unlike integrated solutions, the system is a module one to allow its low cost, high reliability and simple maintenance. The problems of use of robots are discussed to modernize the technological process.

The vacuum system for technological unit development and design

International Nuclear Information System (INIS)

Zhukeshov, A M; Gabdullina, A T; Amrenova, A U; Giniyatova, Sh G; Kaibar, A; Sundetov, A; Fermakhan, K

2015-01-01

The paper shows results of development of plasma technological unit on the basis of accelerator of vacuum arc and automated system. During the previous years, the authors investigated the operation of pulsed plasma accelerator and developed unique technologies for hardening of materials. Principles of plasma formation in pulsed plasma accelerator were put into basis of the developed unit. Operation of the pulsed arc accelerator was investigated at different parameters of the charge. The developed vacuum system is designed for production of hi-tech plasma units in high technologies in fields of nanomaterials, mechanical and power engineering and production with high added value. Unlike integrated solutions, the system is a module one to allow its low cost, high reliability and simple maintenance. The problems of use of robots are discussed to modernize the technological process. (paper)

The association between health and sickness absence among Danish and non-Western immigrant cleaners in Denmark.

Science.gov (United States)

Carneiro, Isabella G; Rasmussen, Charlotte D N; Jørgensen, Marie B; Flyvholm, Mari-Ann; Olesen, Kasper; Madeleine, Pascal; Ekner, Dorte; Søgaard, Karen; Holtermann, Andreas

2013-05-01

The aim of the study is to investigate the association between health and sickness absence among Danish and non-Western immigrant cleaners in Denmark. This study is based on a cross-sectional analysis of baseline data from 2007 to 2008. The study population includes 276 cleaners, 144 Danish and 132 non-Western immigrant cleaners. Cumulative sickness absences during a 6-month period from administrative records were subdivided into no sickness absence (0 days), low occurrence of sickness absence (1-10 days) and high occurrence of sickness absence (over 10 days). Measures of health consisted of self-report and objective assessments. The relationship between sickness absence and health was analyzed through multinomial logistic regression, stratified by immigrant status. For both Danish and non-Western immigrant cleaners, poor self-reported health was significantly related to high occurrence of sickness absence. Among Danish cleaners, high blood pressure was related to high occurrence of sickness absence. Among non-Western immigrant cleaners, total body pain and having one or more diagnosed chronic disease were related to high occurrence of sickness absence. No association between health and low occurrence of sickness absence was found. The findings confirm the importance of health for high occurrence of sickness absence, in both ethnic groups. Moreover, low occurrence of sickness absence was not related to the health conditions investigated.

On Cleaner Technologies in a Transboundary Pollution Game

NARCIS (Netherlands)

Benchekroun, H.; Ray Chaudhuri, A.

2009-01-01

We show that in a non-cooperative transboundary pollution game, a cleaner technology (i.e., a decrease in the emission to output ratio) induces each country to increase its emissions and ultimately can yield a higher level of pollution and reduce social welfare.

A Case Study of Air Cleaner by the Intelligent Interaction and Emotion

Science.gov (United States)

Cao, Huai; Sun, Yuwen

2018-02-01

The pure and fresh air can not only contribute to our physical and mental health, but also can be beneficial to ease the pressure and relax the mood. The vertical intelligent air cleaner can remove the harmful gases from the air and absorb the suspended particles in the air, especially all kinds of the bacteria and viruses. The air cleaner is good for improving the air quality of the indoor and maintaining the health of the people. The designing of the vertical air cleaner is as follows: The designing of the vertical intelligent make full use of the developed air purification technology. The smart home is inserted into the work. Simultaneously, in the aspect of the design of intelligent products, the intelligent interactive processes are scientifically planned. Moreover, the emotional design and the user experience are fully considered, which can enhance the comprehensive design ability.

Guide to cleaner coal technology-related web sites

Energy Technology Data Exchange (ETDEWEB)

Davidson, R; Jenkins, N; Zhang, X [IEA Coal Research - The Clean Coal Centre, London (United Kingdom)

2001-07-01

The 'Guide to Cleaner Coal Technology-Related Web Sites' is a guide to web sites that contain important information on cleaner coal technologies (CCT). It contains a short introduction to the World Wide Web and gives advice on how to search for information using directories and search engines. The core section of the Guide is a collection of factsheets summarising the information available on over 65 major web sites selected from organizations worldwide (except those promoting companies). These sites contain a wealth of information on CCT research and development, technology transfer, financing and markets. The factsheets are organised in the following categories. Associations, research centres and programmes; Climate change and sustainable development; Cooperative ventures; Electronic journals; Financial institutions; International organizations; National government information; and Statistical information. A full subject index is provided. The Guide concludes with some general comments on the quality of the sites reviewed.

Visibility and Social Recognition as Psychosocial Work Environment Factors among Cleaners in a Multi-Ethnic Workplace Intervention

Directory of Open Access Journals (Sweden)

Kirsten Hviid

2012-12-01

Full Text Available This article focuses on the psychosocial work environment of immigrant cleaners at a Danish workplace. Today, many cleaners working in Danish cleaning jobs are women from the established immigrant communities, but also labour migrants from the newer EU member states have found their way to the cleaning industry. Studies have drawn attention to immigrants’ low position in the cleaning industry and their increased risk of work injuries. This article is based on a case study of an intervention called “Make a Difference” designed to improve the work environment among cleaners at a multi-ethnic workplace. We used semi-structured interviews, photo logs, observation and participation to investigate how the cleaners experienced their work environment. The cleaners reported an overload of heavy work, related to the concept of a classroom’s “readiness for cleaning”, and they expressed strained social relations and communication in addition to a lack of social recognition and invisibility at the workplace, a school. We analysed these psychosocial work environmental problems by investigating the different forms of social relationships and communication within the group of cleaners, and between the cleaners and the teachers and pupils at the school. Moreover, we discussed why the intervention, based on training of language and cleaning skills and social interaction, only partially improved the cleaners’ psychosocial work environment problems. In this article, we argue that social divisions based on ethnicity between the new and the established group of cleaners, combined with their marginal position and poor work organisation at the school, reinforced the cleaners’ experiences of psychosocial work environment problems. This article suggests that increased effort towards social inclusion at work and improved work organisation, especially for the new labour migrants from newer EU-countries, should be considered.

Evaluation of heat stress in dry cleaner units:A case study in Qom, Iran

Directory of Open Access Journals (Sweden)

Javad Malakouti

2016-04-01

Full Text Available Background & Aims of the Study: Nowadays, heat stress is one of the most harmful physical agents in workplaces. According to the consequences of heat stress and have no information about it in Qom dry cleaner units, Iran, this study have been designed to evaluate the heat stress among workers of dry cleaner units in Qom province of Iran, in Jul-Aug 2011. Materials & Methods: This cross-sectional study was conducted in 113 units of active dry cleaner units. WBGT (Wet Bulb Globe Temperature index was selected for heat stress evaluation. In order to measure the requisite parameters, WBGT meter made of Casella Company had been used according to ISO 7243. Data had been analyzed according to Occupational Exposure Limits (OELs with SPSS V.16, using analysis of variance, independent T and LSD tests. Results: The average of WBGT index in Qom dry cleaner units of Iran were 28.98±1.64 °C. The average of WBGT index in 66.4% of units was up to 28°C. The average of relative humidity was 42.86%, the average of wet bulb temperature and globe temperature were 25.56°C and 36.72°C, respectively. The findings showed a significant correlation between the average of WBGT index and the standard recommendation level (p<0.0001. In dry cleaner units with less than 10 m2 area, heat stress was higher than other units  significantly (p<0.05. Conclusions: Heat stress in many dry cleaner units in Qom, Iran, was more than recommended OELs. Because of wet bulb and globe temperature in units were high value, the most important measures to heat controls, are technical engineering controls such as  radiation shield, insulation on boilers and modify the cooling systems.

What characterizes cleaners sustaining good musculoskeletal health after years with physically heavy work?

DEFF Research Database (Denmark)

Holtermann, A; Blangsted, A K; Christensen, H

2009-01-01

OBJECTIVES: The aim of this case-control study was to investigate characteristics of cleaners with good musculoskeletal health after years with physically heavy work. METHODS: One hundred and 41 female seniority cleaners participated. Twenty-five reported no musculoskeletal symptoms, whereas 83...... reported severe symptoms in the low back, neck shoulders or upper limbs. The groups were of matching age, height, body weight and seniority (19 years). Muscular strength was recorded by isometric maximal voluntary contractions on a day without pain. Exposure to physical risk factors at work, psychosocial...... work factors, and leisure time physical activity were assessed by a postal questionnaire. RESULTS: Cleaners with good musculoskeletal health were not reporting different exposure to physical risk factors at work or leisure time physical activity, but had higher muscular strength and reported higher...

7 CFR 2902.18 - Hand cleaners and sanitizers.

Science.gov (United States)

2010-01-01

..., DEPARTMENT OF AGRICULTURE GUIDELINES FOR DESIGNATING BIOBASED PRODUCTS FOR FEDERAL PROCUREMENT Designated... the purposes of this rule. (b) Minimum biobased content. The minimum biobased content requirement for all hand cleaners and/or sanitizers shall be based on the amount of qualifying biobased carbon in the...

A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

Science.gov (United States)

Wang, Liang; Shu, Chengyou; Jin, Jiamei; Zhang, Jianhui

2017-03-01

A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 Vpp is able to achieve a maximum velocity of 57 mm s-1 moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.

Control of respirable particles and radon progeny with portable air cleaners

International Nuclear Information System (INIS)

Offermann, F.J.; Sextro, R.G.; Fisk, W.J.; Nazaroff, W.W.; Nero, A.V.; Revzan, K.L.; Yater, J.

1984-02-01

Eleven portable air cleaning devices have been evaluated for control of indoor concentrations of respirable particles and radon progeny. Following injection of cigarette smoke and radon in a room-size chamber, decay rates for particles and radon progeny concentrations were measured with and without air cleaner operation. Particle concentrations were obtained for total number concentration and for number concentration by particle size. In tests with no air cleaner the natural decay rate for cigarette smoke was observed to be 0.2 hr -1 . Air cleaning rates for particles were found to be negligible for several small panel-filters, a residential ion-generator, and a pair of mixing fans. The electrostatic precipitators and extended surface filters tested had significant particle removal rates, and a HEPA-type filter was the most efficient air cleaner. The evaluation of radon progeny control produced similar results; the air cleaners which were effective in removing particles were also effective in removing radon progeny. At low particle concentrations plateout of the unattached radon progeny is an important removal mechanism. Based on data from these tests, the plateout rate for unattached progeny was found to be 15 hr -1 . The unattached fraction and the overall removal rate due to deposition of attached and unattached nuclides have been estimated for each radon decay product as a function of particle concentration. While air cleaning can be effective in reducing total radon progeny, concentrations of unattached radon progeny can increase with increasing air cleaning. 39 references, 26 figures, 9 tables

ITER articulated inspection arm (AIA): R and D progress on vacuum and temperature technology for remote handling

Energy Technology Data Exchange (ETDEWEB)

Perrot, Y.; Friconneau, J.P. [Robotics and Interactive Systems Unit - CEA/LIST, 92 - Fontenay aux Roses (France); Cordier, J.J.; Gargiulo, L. [Association Euratom-CEA, Centre d' Etudes de Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Palmer, J.D. [EFDA CSU Garching (Germany); Martin, E. [ITER International Team, Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, Iberaki-ken (Japan)

2004-07-01

To perform an intervention a short time after plasma shutdown, the operation of the robot will have to be under ITER conditions which means: under high vacuum, pollution avoidance and a temperature ambience around 120 C. The feasibility studies have led to the design of a robot in the shape of a 8.2 meter long articulated arm made up of 5 modules with 11 articulated joints. A single module prototype has been manufactured to be tested. The prototype was set up in a specific vacuum vessel at Tore-Supra facility that can be baked up to 230 C under high-vacuum conditions. The first tests have shown that: -) the efficiency of the actuators at 120 C was the same than in air at room temperature, the speed was slightly lower, -) the monitoring of the temperature of the motor and of the power electronics components showed an increasing of only 40 C during 3 full pitch movements, and -) most of the greases was degassed during the 1 week long baking at 200 C except one which comes from an organic material in a component that has to be identified.

ITER articulated inspection arm (AIA): R and D progress on vacuum and temperature technology for remote handling

International Nuclear Information System (INIS)

Perrot, Y.; Friconneau, J.P.; Cordier, J.J.; Gargiulo, L.; Martin, E.; Tesini, A.

2004-01-01

To perform an intervention a short time after plasma shutdown, the operation of the robot will have to be under ITER conditions which means: under high vacuum, pollution avoidance and a temperature ambience around 120 C. The feasibility studies have led to the design of a robot in the shape of a 8.2 meter long articulated arm made up of 5 modules with 11 articulated joints. A single module prototype has been manufactured to be tested. The prototype was set up in a specific vacuum vessel at Tore-Supra facility that can be baked up to 230 C under high-vacuum conditions. The first tests have shown that: -) the efficiency of the actuators at 120 C was the same than in air at room temperature, the speed was slightly lower, -) the monitoring of the temperature of the motor and of the power electronics components showed an increasing of only 40 C during 3 full pitch movements, and -) most of the greases was degassed during the 1 week long baking at 200 C except one which comes from an organic material in a component that has to be identified

The Urban Function of the Infraordinary: Dry Cleaners as Social Vertexes

DEFF Research Database (Denmark)

Lunde Nielsen, Espen

2015-01-01

of social coexistence that has ‘a function that is separate from their practical use’ (Jorn 1954). A London dry cleaner serves as testing ground, employing critical spatial practices and creative writing as research tools. The dry cleaner does not simply clean clothes, but is a social vertex and physical...... interface through which (non-)events unfold, trajectories thickens and people of the neighbourhood coexists as familiar strangers (Milgram 2010; Paulos and Goodman 2004) through events in real-time and deposits over time. It is a semi-public space and an implosion of the external neighbourhood, partly...

Cleaners in reducing the hazards of indoor radon decay products

International Nuclear Information System (INIS)

Montassier, N.; Hopke, P.K.; Shi, Y.; Wasiolek, P.; McCallum, B.

1992-01-01

The objective of this study was to evaluate the influence of three types of air cleaners on the concentration and size distribution of radon progeny in a normally occupied house. Using an automated, semi-continuous, graded-screen array system and a radon monitor, the activity size distribution and radon concentration was measured and the exposure of the occupants of the home to radon could be assessed. The dose model developed as part of the recently released U.S. National Academy of Sciences report was used to related the exposure to deposited dose in the tissue of the bronchial epithelium. Thus, the effectiveness of the air cleaners in reducing both exposure and dose were evaluated. (author)

Psychosocial work environment among immigrant and Danish cleaners

DEFF Research Database (Denmark)

Olesen, Kasper; Carneiro, Isabella G; Jørgensen, Marie B

2012-01-01

Non-Western cleaners have been shown to have poorer health than their Danish colleagues. One reason could be a poorer psychosocial work environment. However, it is unknown if differences in self-reported psychosocial work environment exist between non-Western and Danish workers within the same so...

Cleaner Production: A Growing Movement in Brazilian Companies

Directory of Open Access Journals (Sweden)

Oduvaldo Vendrametto

2010-03-01

Full Text Available Cleaner Production (CP is gaining emphasis in both world and Brazilian production sectors. Nature’s warnings indicating the exhaustion of any capacity to absorb and regenerate waste, stricter legislation regarding pollution emitters, market competitiveness associated with environmental and social responsibility cause concerns and lead to actions to reduce aggressions against the environment. This paper shows evidence of this concern and presents cases in which a large automotive industry, acting as a partner to suppliers, promotes changes in how it delivers its products, eliminating large cardboard, plastic and wood packaging. A small company had a similar initiative, reducing the use of cardboard and plastic packaging. More important is the revelation of a widely dispersed, yet growing and incremental movement of responsibilities among companies.The benefits of cleaner production implementation were evaluated by confronting environmental and financial assessment. For the ambient evaluation, it will be used methodology of Material Intensity (Wuppertal Institute, a.

Collaboration Layer for Robots in Mobile Ad-hoc Networks

DEFF Research Database (Denmark)

Borch, Ole; Madsen, Per Printz; Broberg, Jacob Honor´e

2009-01-01

networks to solve tasks collaboratively. In this proposal the Collaboration Layer is modelled to handle service and position discovery, group management, and synchronisation among robots, but the layer is also designed to be extendable. Based on this model of the Collaboration Layer, generic services...... are provided to the application running on the robot. The services are generic because they can be used by many different applications, independent of the task to be solved. Likewise, specific services are requested from the underlying Virtual Machine, such as broadcast, multicast, and reliable unicast....... A prototype of the Collaboration Layer has been developed to run in a simulated environment and tested in an evaluation scenario. In the scenario five robots solve the tasks of vacuum cleaning and entrance guarding, which involves the ability to discover potential co-workers, form groups, shift from one group...

Pressure pain sensitivity maps, self-reported musculoskeletal disorders and sickness absence among cleaners

DEFF Research Database (Denmark)

Binderup, Asbjørn Thalund; Holtermann, Andreas; Søgaard, Karen

2011-01-01

back regions (27 points). LTSA was defined as ten or more consecutive workdays with sick leave. RESULTS: The PPT maps revealed the spatial heterogeneity in mechanical sensitivity among cleaners. The level of pain in the neck and dominant shoulder and upper back within the last 7 days correlated......BACKGROUND: Pressure pain threshold mapping is a valuable method for the identification of distinct zones of mechanical pain sensitivity. Such approach was applied for the first time in relation to self-reported musculoskeletal disorders and long-term sickness absence (LTSA) within the last 12...... months among cleaners. METHODS: About 29 cleaners filled out a self-administered questionnaire regarding health, work-related measures and musculoskeletal disorders. Subsequently, PPTs were measured at (1) tibialis anterior (control location, 1 point), (2) the neck-shoulder (48 points) and (3) the low...

Breathing easier: Indonesia works towards cleaner air

International Nuclear Information System (INIS)

Madsen, Michael Amdi

2015-01-01

Indonesians can look forward to breathing cleaner air following upcoming changes in regulations introduced as a result of a study conducted using nuclear analytical techniques. Lead pollution and other fine particulate matter in the air is now, for the first time, being accurately monitored and is giving Indonesian officials a good understanding of their air pollution problem and how to manage it.

Regenerating using aqueous cleaners with ozone and electrolysis

Science.gov (United States)

McGinness, Michael P.

1994-02-01

A new process converts organic oil and grease contaminates in used water based cleaners into synthetic surfactants. This permits the continued use of a cleaning solution long after it would have been dumped using previously known methods. Since the organic soils are converted from contaminates to cleaning compounds the need for frequent bath dumps is totally eliminated. When cleaning solutions used in aqueous cleaning systems are exhausted and ready for disposal, they will always contain the contaminates removed from the cleaned parts and drag-in from prior cleaning steps. Even when the cleaner is biodegradable these contaminants will frequently cause the waste cleaning solution to be a hazardous waste. Chlorinated solvents are rapidly being replaced by aqueous cleaners to avoid the new ozone-depletion product-labeling-law. Many industry standard halocarbon based solvents are being completely phased out of production, and their prices have nearly tripled. Waste disposal costs and cradle-to-grave liability are also major concerns for industry today. This new process reduces the amount of water and chemicals needed to maintain the cleaning process. The cost of waste disposal is eliminated because the water and cleaning compounds are reused. Energy savings result by eliminating the need for energy currently used to produce and deliver fresh water and chemicals as well as the energy used to treat and destroy the waste from the existing cleaning processes. This process also allows the cleaning bath to be maintained at the peak performance of a new bath resulting in decreased cycle times and decreased energy consumption needed to clean the parts. This results in a more efficient and cost effective cleaning process.

Increased participation among cleaners as a strategy to improve quality and occupational health

OpenAIRE

Öhrling, Therese

2014-01-01

Like many other industries, today the cleaning industry is affected more than ever by competition and pressure toward low prices, which leads to a nonadvantageous situation for cleaners. These days many Swedish municipalities choose to outsource cleaning service in order to save money, although the situation for the cleaners appears to be worsening. The aim of this paper is to evaluate an alternative organizational structure within a Swedish public cleaning division to investigate how good wo...

Cleaner Technologies and the Stability of International Environmental Agreements

NARCIS (Netherlands)

Benchekroun, H.; Ray Chaudhuri, A.

2012-01-01

Abstract: This paper shows that, if countries are farsighted when deciding whether to defect from a coalition, then the implementation of cleaner technologies may jeopardize the chances of reaching an international environmental agreement. The grand coalition may be destabilized by the

Development of a self-maintenance radiation-tolerant robot

International Nuclear Information System (INIS)

Shimomura, Y.; Takahashi, H.; Tsuboi, Y.; Komatsu, K.

2004-01-01

The purpose of this research is to develop robot which dose not lose the function in radiation fields, and is able to get self-diagnosis and self-repair in the case of failure. The fundamental operation element and operational process algorithm are discussed. Utilizations of gas-micro electronics, which is easy to handle in comparison with vacuum field and to amplify with high speed by use of electron avalanche, are planed. The fundamental researches on radiation-tolerant robot which is not destructed by cosmic ray fields are carried out. The action of basic logic elements is ascertained. Self-repair type logic operations are considered. The self-repair type logic needs for to diagnosis abnormality of elements intellectually and repair by itself. Module failure diagnosis and repair plan technique based on qualitative inference are placed on the center of self-repair type logic. Self-maintenance robot can be actualized by modularization and divergence processing of diagnosis. (M. Suetake)

Screening for common mental disorders and substance abuse among temporary hired cleaners in Egyptian Governmental Hospitals, Zagazig City, Sharqia Governorate.

Science.gov (United States)

Abbas, R A; Hammam, R A M; El-Gohary, S S; Sabik, L M E; Hunter, M S

2013-01-01

Informal employment is common in developing countries, including Egypt. This type of employment may have significant consequences on mental health. To determine the prevalence and risk factors of common mental disorders and substance abuse among temporary hired hospital cleaners. A cross-sectional study was conducted on 242 adult temporary cleaners and 209 permanent cleaners working in 4 governmental hospitals in Zagazig City, Sharqia Governorate, Egypt. All participants were invited to complete a structured questionnaire through a semi-structured interview which included the self-reporting questionnaire 20 items (SRQ-20) and the work stress scale. Assessment of drug use included urine-based screening tests for common substances abused. The prevalence of job stress, common mental disorders and substance abuse, particularly tramadol and cannabis (Bango), was significantly higher in the studied temporary cleaners compared to permanent cleaners. Risk factors associated with increased susceptibility of the temporary cleaners to common mental disorders were family history of substance abuse, high crowding index, history of physical illness, low educational level, and smoking; while being unmarried, male sex, family history of mental disorder, age ≥40 years, smoking, and length of service ≥8 years, were associated with substance abuse among the same group. Temporary hired hospital cleaners suffered from impaired mental health more than permanent cleaners. Therefore, expanding the coverage of current laws and occupational safety and health standards to cover workers in the informal sector especially in developing countries is recommended.

Screening for Common Mental Disorders and Substance Abuse among Temporary Hired Cleaners in Egyptian Governmental Hospitals, Zagazig City, Sharqia Governorate

Directory of Open Access Journals (Sweden)

RA Abbas

2012-12-01

Full Text Available Background: Informal employment is common in developing countries, including Egypt. This type of employment may have significant consequences on mental health. Objectives: To determine the prevalence and risk factors of common mental disorders and substance abuse among temporary hired hospital cleaners. Methods: A cross-sectional study was conducted on 242 adult temporary cleaners and 209 permanent cleaners working in 4 governmental hospitals in Zagazig City, Sharqia Governorate, Egypt. All participants were invited to complete a structured questionnaire through a semi-structured interview which included the self-reporting questionnaire 20 items (SRQ-20 and the work stress scale. Assessment of drug use included urine-based screening tests for common substances abused. Results: The prevalence of job stress, common mental disorders and substance abuse, particularly tramadol and cannabis (Bango, was significantly higher in the studied temporary cleaners compared to permanent cleaners. Risk factors associated with increased susceptibility of the temporary cleaners to common mental disorders were family history of substance abuse, high crowding index, history of physical illness, low educational level, and smoking; while being unmarried, male sex, family history of mental disorder, age ≥40 years, smoking, and length of service ≥8 years, were associated with substance abuse among the same group. Conclusion: Temporary hired hospital cleaners suffered from impaired mental health more than permanent cleaners. Therefore, expanding the coverage of current laws and occupational safety and health standards to cover workers in the informal sector especially in developing countries is recommended.

Ethnic Mobilization among Korean Dry Cleaners

OpenAIRE

Thomas, Ward F; Ong, Paul

2015-01-01

Korean immigrants in the U.S. rely heavily on ethnic resources to start small businesses.  Ethnic resources include business networks and knowledge, start-up capital, and access to labor power that are embedded in networks of family, friends, and co-ethnics.  This paper shows how Korean dry cleaners in Southern California used ethnic resources to mobilize in response to an environmental policy initiated by the South Coast Air Quality Management District (AQMD).  While Korean immigrants used e...

Actual problems of municipal cleaner’s waste waters

Directory of Open Access Journals (Sweden)

Konko¾ová Patrícia

2000-03-01

Full Text Available In paper are evaluated social and economical changes in water economy with emphasis on complex evaluation of municipal cleaner’s waste waters with respect of legislative, position of ownerskip relationskips and financial security of public experiences of water economy.

Third quarterly report and final report within the counterpart subcontract no. 97/219: Support to the National Cleaner Production Centre, Tanzania

DEFF Research Database (Denmark)

Jørgensen, Michael Søgaard

1999-01-01

The report analyses barriers and incentivres to cleaner production in Tanznaia based on experiences in three demonstration projects with around 25 companies.An outline for a policy study on cleaner production in Tanzania and for the strengthening of cleaner production in Tanzania is given....

The association between health and sickness absence among Danish and non-Western immigrant cleaners in Denmark

DEFF Research Database (Denmark)

Carneiro, Isabella G.; Rasmussen, Charlotte D. N.; Jørgensen, Marie B.

2013-01-01

PURPOSE: The aim of the study is to investigate the association between health and sickness absence among Danish and non-Western immigrant cleaners in Denmark. METHODS: This study is based on a cross-sectional analysis of baseline data from 2007 to 2008. The study population includes 276 cleaners...

Physical Fitness of Cleaners in Faculty of Medicine Universitas Padjadjaran, November 2012

Directory of Open Access Journals (Sweden)

Adi Wibisono Sulistijo

2015-09-01

Full Text Available Background: Cleaning is an occupation that is carried out worldwide in many different environments. Cleaning workers (cleaners often have low occupational skills and belong to the less advantaged educational and socioeconomic groups. Because of the high physical work demands and low cardiorespiratory fitness, cleaners have the risk to have cardiovascular diseases. The aim of this study was to measure the 5 components of physical fitness (cardiorespiratory endurance, muscle endurance, muscle strength, flexibility and body composition of cleaners in Faculty of Medicine Universitas Padjadjaran. Methods: A descriptive study was carried out to all cleaners (31 persons of Faculty of Medicine Universitas Padjadjaran in November 2012. The subjects were tested for cardiorespiratory endurance, muscle endurance, muscle strength, flexibility and body composition. The results were categorized using the standard of Ministry of Health Republic Indonesia. Results: From 31 subjects, cardiorespiratory endurance was in poor category (50%. Shoulder and hand muscle endurance was in poor category (54.8% and stomach muscle endurance was in very poor category (67.7%. Hand−grip muscular strength was in very poor category: right hand (80.7% and left hand (87.1%. Back muscle strength was in poor category (58.1%. Leg muscular strength was in very poor category (48.4%. Flexibility was in a very good category (97% and body composition was also in a good category (54.8%. Conclusions: From 5 components of cleaners’ physical fitness, 3 components (cardiorespiratory endurance, muscle endurance and muscular strength are in poor and very poor category.

Primary DNA Damage in Dry Cleaners with Perchlorethylene Exposure

Directory of Open Access Journals (Sweden)

Mohammad Azimi

2017-10-01

Full Text Available Background: Perchloroethylene is a halogenated solvent widely used in dry cleaning. International agency of research on cancer classified this chemical as a probable human carcinogen. Objective: To evaluate the extent of primary DNA damage in dry cleaner workers who were exposed to perchloroethylene as compared to non-exposed subjects. The effect of exposure modifying factors such as use of personal protective equipment, perceived risk, and reported safe behaviors on observed DNA damage were also studied. Methods: 59 exposed and non-exposed workers were selected from Yazd, Iran. All the 33 exposed workers had work history at least 3 months in the dry cleaning shops. Peripheral blood sampling was performed. Microscope examination was performed under fluorescent microscope (400×. Open comet software was used for image analysis. All biological analysis was performed in one laboratory. Results: Primary DNA damage to leukocytes in dry cleaners was relatively high. The median tail length, %DNA in tail, and tail moment in exposed group were significantly higher than those in non-exposed group. There was no significant difference between smokers and nonsmokers in terms of tail length, tail moment, and %DNA in tail. There was no significant correlation between duration of employment in dry cleaning and observed DNA damage in terms of tail length, tail moment and %DNA in tail. Stratified analysis based on exposed and nonexposed category showed no significant relationship between age and observed DNA damage. Conclusion: Occupationally exposure to perchloroethylene can cause early DNA damage in dry cleaners.

Implementing Cleaner Production as an Environmental Management Efforts in Small Industries of Cassava Chips

Directory of Open Access Journals (Sweden)

Rahmadyanti Erina

2016-01-01

Full Text Available Small and Medium Enterprises (SMEs is one of the major driving factors for Indonesian economy, especially in food processing industries. The cassava-based industry is one type of food and beverage industry with chips as its major product. The limitations of knowledge caused their activities to only aim at pursuing economic benefits and ignoring the environmental balance. The most appropriate preventive method used, according to the characteristics of SMEs in Indonesia, is Cleaner Production. This study aims to reduce the risk of environmental pollution caused by the waste production of small chips industries by implementing cleaner production. The method used in this study is quick scanning by analyzing mass balance, energy, and utilities that aim to find an inefficient process to minimize losses. Implementation of cleaner production may include good housekeeping, reducing, and reusing. Based on the assessment of alternative eligibility criteria, the equipment modifications are the main factor in implementing cleaner production that drives the profits by providing efficiency of cutting as much as 80 percent and optimizes the profits into 57.62 kg in a month or 691.44 kg in a year. If the price of cassava chips is IDR 40,000 in a kg, then it would save IDR 27,657,600 in a year.

Cleaner production for solid waste management in leather industry ...

African Journals Online (AJOL)

Cleaner production for solid waste management in leather industry. ... From the processes, wastes are generated which include wastewater effluents, solid wastes, and hazardous wastes. In developing countries including Ethiopia, many ... The solid waste inventory of the factory has been carried out. The major problems ...

GAS-PHASE AND PARTICULATE EMISSIONS DURING APPLICATION OF A WATER-BASED CLEANER WITH A HAND-PUMP SPRAYER

Science.gov (United States)

The paper gives results of tests in a controlled environment test room to measure concentrations of 2-butoxyethanol and particles during application of a cleaner to realistic surfaces (counter tops, glass, walls). (NOTE: Users of water-based cleaners applied with hand-pump spray...

Back to Office Report. Mission no.1 to Tanzania as counterpart institution to Cleaner Production Centre of Tanzania

DEFF Research Database (Denmark)

Jørgensen, Michael Søgaard

1996-01-01

A presentation of some important actors and institutions in the capacity building within cleaner production in Tanzania......A presentation of some important actors and institutions in the capacity building within cleaner production in Tanzania...

Effects on musculoskeletal pain, work ability and sickness absence in a 1-year randomised controlled trial among cleaners

DEFF Research Database (Denmark)

Jørgensen, Marie B.; Faber, Anne; Hansen, Jørgen V.

2011-01-01

Only a few workplace initiatives among cleaners have been reported, even though they constitute a job group in great need of health promotion. The purpose of this trial was to evaluate the effect of either physical coordination training or cognitive behavioural training on musculoskeletal pain......, work ability and sickness absence among cleaners. A cluster-randomised controlled trial was conducted among 294 female cleaners allocated to either physical coordination training (PCT), cognitive behavioural training (CBTr) or a reference group (REF). Questionnaires about musculoskeletal pain and work...... intervention appeared effective for reducing chronic neck/shoulder pain among the female cleaners. It is recommended that future interventions among similar high-risk job groups focus on the implementation aspects of the interventions to maximise outcomes more distal from the intervention such as work ability...

Successes emerge in search for cleaner processes

International Nuclear Information System (INIS)

Anon.

1992-01-01

Faced with mounting public and regulatory pressures, many chemical producers have long adopted pollution reduction efforts. But increasingly, firms are eyeing fundamental process changes to achieve cleaner technologies. In addition to environmental benefits, the promised economic payoffs are clear: higher yields and an escape from soaring waste treatment and disposal costs. Having such technologies, says Paolo Galli, Montecatini's (Milan) director/corporate research, is a tremendous tool. It's becoming an increasingly important competitive element. Indeed, suggests David Hyde, ICI's (London) manager/environmental technology, everyone is looking to use cleaner technologies for a competitive advantage. A number of leading technology groups, including UOP (Des Plaines, IL), are working on replacing hydrofluoric acid (HF) with solid catalysts in alkylation processes. Although it is technologically tough to replace HF or alternative sulfuric acid technology, the rewards could be huge in producing high-octane fuel additives. Catalytica (Mountain View, CA), for one, is building a pilot plant with partners Neste (Helsinki) and Du Pont's Conoco. The company has developed a process to manufacture high-purity DMC by direct synthesis from carbom monoxide, methanol, and oxygen. The medium-pressure process uses a copper salts catalyst system; EniChem says the only significant by-product is carbon dioxide, and there are no chlorinated impurities

BOA: Asbestos pipe-insulation removal robot system, Phase 2. Topical report, January--June 1995

Energy Technology Data Exchange (ETDEWEB)

Schempf, H.; Bares, J.E.

1995-06-01

This report explored the regulatory impact and cost-benefit of a robotic thermal asbestos pipe-insulation removal system over the current manual abatement work practice. The authors are currently in the second phase of a two-phase program to develop a robotic asbestos abatement system, comprised of a ground-based support system (including vacuum, fluid delivery, computing/electronics/power, and other subsystems) and several on-pipe removal units, each sized to handle pipes within a given diameter range. The intent of this study was to (i) aid in developing design and operational criteria for the overall system to maximize cost-efficiency, and (ii) to determine the commercial potential of a robotic pipe-insulation abatement system.

Blood cleaner on-chip design for artificial human kidney manipulation

Directory of Open Access Journals (Sweden)

Suwanpayak N

2011-05-01

Full Text Available N Suwanpayak1, MA Jalil2, MS Aziz3, FD Ismail3, J Ali3, PP Yupapin11Nanoscale Science and Engineering Research Alliance (N'SERA, Advanced Research Center for Photonics, Faculty of Science, King Mongkut's Institute of Technology, Ladkrabang, Bangkok, Thailand; 2Ibnu Sina Institute of Fundamental Science Studies (IIS, 3Institute of Advanced Photonics Science, Nanotechnology Research Alliance, Universiti Teknologi Malaysia, Johor Bahru, MalaysiaAbstract: A novel design of a blood cleaner on-chip using an optical waveguide known as a PANDA ring resonator is proposed. By controlling some suitable parameters, the optical vortices (gradient optical fields/wells can be generated and used to form the trapping tools in the same way as optical tweezers. In operation, the trapping force is formed by the combination between the gradient field and scattering photons by using the intense optical vortices generated within the PANDA ring resonator. This can be used for blood waste trapping and moves dynamically within the blood cleaner on-chip system (artificial kidney, and is performed within the wavelength routers. Finally, the blood quality test is exploited by the external probe before sending to the destination. The advantage of the proposed kidney on-chip system is that the unwanted substances can be trapped and filtered from the artificial kidney, which can be available for blood cleaning applications.Keywords: optical trapping, blood dialysis, blood cleaner, human kidney manipulation

Evaluation of ozone generation and indoor organic compounds removal by air cleaners based on chamber tests

Science.gov (United States)

Yu, Kuo-Pin; Lee, Grace Whei-May; Hsieh, Ching-Pei; Lin, Chi-Chi

2011-01-01

Ozone can cause many health problems, including exacerbation of asthma, throat irritation, cough, chest ache, shortness of breath, and respiratory infections. Air cleaners are one of the sources of indoor ozone, and thus the evaluation of ozone generated by air cleaners is desired significant issue. Most evaluation methods proposed are based on chamber tests. However, the adsorption and desorption of ozone on the wall of test chamber and the deposition of ozone resulted from the surface reaction can influence the evaluation results. In this study, we developed a mass balance model that took the adsorption, desorption and deposition of ozone into consideration to evaluate the effective ozone emission rates of six selected air cleaners. The experiments were conducted in a stainless steel chamber with a volume of 11.3 m 3 at 25 °C and 60% relative humidity. The adsorption, desorption and deposition rate constants of ozone obtained by fitting the model to the experimental data were k a = 0.149 ± 0.052 m h -1, k d = 0.013 ± 0.007 h -1, and k r = 0.050 ± 0.020 h -1, respectively. The effective ozone emission rates of Air Cleaners No. 1, 2, and 3 ranged between 13,400-24,500 μg h -1, 7190-10,400 μg h -1, and 4880-6560 μg h -1, respectively, which were more stable than those of No.4, 5, and 6. The effective ozone emission rates of Air Cleaners No. 4, 5, and 6 increased with the time of operation which might be relevant to the decrease of ozone removal by the "aging" filter installed in these cleaners. The removal of toluene and formaldehyde by these six air cleaners were also evaluated and the clean air delivery rates (CADRs) of these two pollutants ranged from non-detectable to 0.42 ± 0.08 m 3 h -1, and from non-detectable to 0.75 ± 0.07 m 3 h -1, respectively. The CADRs showed an insignificant relationship with the effective ozone emission rates. Thus, the removal of toluene and formaldehyde might be resulted from the adsorption on the filters and the

Robot vision system R and D for ITER blanket remote-handling system

International Nuclear Information System (INIS)

Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Tesini, Alessandro

2014-01-01

For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system

Robot vision system R and D for ITER blanket remote-handling system

Energy Technology Data Exchange (ETDEWEB)

Maruyama, Takahito, E-mail: maruyama.takahito@jaea.go.jp [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Tesini, Alessandro [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France)

2014-10-15

For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system.

Sustainability and cleaner production: a study on the implications competitive advantage in business

Directory of Open Access Journals (Sweden)

Jaqueline Guimarães Santos

2015-08-01

Full Text Available This paper discusses the relationship between the adoption of environmental management system in the business and the competitive advantages that can result from this process. Therefore, the effects are discussed the emergence of a model of sustainable development and the role and opportunities of the company that perspective. Being theoretical, the aim of this paper is to discuss the potential contributions that the implementation of cleaner production technology can offer to the enterprise competitive strategy. To elucidate these relationships are discussed concepts relating to the introduction of an environmental management system, which emphasized the use of environmental measures, specifically the inherent Cleaner Production that aim to reduce the environmental impacts of industrial production, eliminating waste and reducing costs. Moreover, the concept of competitive advantage is crafted light of assumptions Porter on profitability from cost reduction and product differentiation. The findings indicate that the introduction of the Cleaner Production to reduce costs and add value to the image of the product, is an instrument of competitiveness that allows the company to differentiate and gain competitive advantage.

Screening for Common Mental Disorders and Substance Abuse among Temporary Hired Cleaners in Egyptian Governmental Hospitals, Zagazig City, Sharqia Governorate

OpenAIRE

RA Abbas; RAM Hammam; SS El-Gohary; LME Sabik; MS Hunter

2012-01-01

Background: Informal employment is common in developing countries, including Egypt. This type of employment may have significant consequences on mental health. Objectives: To determine the prevalence and risk factors of common mental disorders and substance abuse among temporary hired hospital cleaners. Methods: A cross-sectional study was conducted on 242 adult temporary cleaners and 209 permanent cleaners working in 4 governmental hospitals in Zagazig City, Sharqia Governorate, Egyp...

Early retirement among Danish female cleaners and shop assistants according to work environment characteristics and upper extremity complaints

DEFF Research Database (Denmark)

Jensen, Lone Donbæk; Bonde, Jens Peter Ellekilde; Christensen, Michael Victor

2016-01-01

-year cohort study with registry-based follow-up of 1430 female cleaners and 579 shop assistants. In subsequent analyses of female cleaners, disability pension and voluntary early retirement were modeled according to work characteristics and upper extremity complaints. RESULTS: The adjusted hazard rate...

Field Performance Test of an Air-Cleaner with Photocatalysis-Plasma Synergistic Reactors for Practical and Long-Term Use

Directory of Open Access Journals (Sweden)

Tsuyoshi Ochiai

2014-10-01

Full Text Available A practical and long-term usable air-cleaner based on the synergy of photocatalysis and plasma treatments has been developed. A field test of the air-cleaner was carried out in an office smoking room. The results were compared to previously reported laboratory test results. Even after a treatment of 12,000 cigarettes-worth of tobacco smoke, the air-cleaner maintained high-level air-purification activity (98.9% ± 0.1% and 88% ± 1% removal of the total suspended particulate (TSP and total volatile organic compound (TVOC concentrations, respectively at single-pass conditions. Although the removal ratio of TSP concentrations was 98.6% ± 0.2%, the ratio of TVOC concentrations was 43.8% after a treatment of 21,900 cigarettes-worth of tobacco smoke in the field test. These results indicate the importance of suitable maintenance of the reactors in the air-cleaner during field use.

Laser cleaner development for decontamination of the primary water cooling system at nuclear power plants

International Nuclear Information System (INIS)

Minehara, Eisuke

2010-01-01

We recently have performed the feasibility studies to develop laser cleaners utilizing several laser oscillator and amplifier systems like femto-second free-electron lasers, water-jet guided lasers, Q-switched YAG lasers, fiber lasers. Whenever we used to clean the RI-contaminated surface using the lasers, we should focus enough laser power in the surface to evaporate instantly without melting. Therefore, as the contaminated being deeply located into the surface could be removed using any one set of the lasers, we found that every trial of laser cleaning could remove very well the RI contamination being located deeply. Our cold decontamination test using a model sample being Cobalt plated successfully has been performed to show a very high decontamination factor. In order to develop an usable laser cleaner, we plan to develop the prototype laser cleaner next year. (author)

Life-History Traits and Population Structure of Pederson Cleaner Shrimps Ancylomenes pedersoni.

Science.gov (United States)

Gilpin, Jessica A; Chadwick, Nanette E

2017-12-01

Cleaner organisms perform key functional roles in reducing rates of parasitism in marine communities. Pederson cleaner shrimps Ancylomenes pedersoni are major cleaners of reef fishes in the tropical western Atlantic and form obligate symbioses with host sea anemones. Information about their life-history traits would contribute to understanding how symbiosis impacts life-history evolution in crustaceans, but little is known about patterns of growth and reproduction in this anemone shrimp. We quantified growth, sexual reproduction, senescence, and mortality in individuals of A. pedersoni under laboratory conditions and their abundance and population size structure on coral reefs in St. Thomas, U.S. Virgin Islands. Von Bertalanffy growth curves were fitted to the data to determine age-size relationships, and the Beverton-Holt model was used to estimate mortality rates and size at maximum yield. Individuals grew rapidly when young, then slowed their growth after reaching sexual maturity at ~6 months. Individuals were gonochoric, with males attaining significantly smaller body sizes and shorter life spans than did females. Prior to death at <2 years, members of both genders exhibited senescence during which they ceased reproducing, shrank (females only), and decreased their activity levels over ~1-4 weeks. Field populations were abundant and composed mostly of juveniles during both years examined. Populations appeared to be stable but highly dynamic in terms of individuals, reaching maximum yield at 4 months of age. We conclude that obligate symbiosis with large sea anemones and cleaner mutualism with reef fishes both contribute to explaining aspects of the life history of Pederson shrimps, especially their apparent mating system of pure-search polygynandry. This life-history information also provides a scientific basis for sustainable fishery management and aquaculture of this key coral reef organism.

Markov Chain Monte Carlo (MCMC) methods for parameter estimation of a novel hybrid redundant robot

International Nuclear Information System (INIS)

Wang Yongbo; Wu Huapeng; Handroos, Heikki

2011-01-01

This paper presents a statistical method for the calibration of a redundantly actuated hybrid serial-parallel robot IWR (Intersector Welding Robot). The robot under study will be used to carry out welding, machining, and remote handing for the assembly of vacuum vessel of International Thermonuclear Experimental Reactor (ITER). The robot has ten degrees of freedom (DOF), among which six DOF are contributed by the parallel mechanism and the rest are from the serial mechanism. In this paper, a kinematic error model which involves 54 unknown geometrical error parameters is developed for the proposed robot. Based on this error model, the mean values of the unknown parameters are statistically analyzed and estimated by means of Markov Chain Monte Carlo (MCMC) approach. The computer simulation is conducted by introducing random geometric errors and measurement poses which represent the corresponding real physical behaviors. The simulation results of the marginal posterior distributions of the estimated model parameters indicate that our method is reliable and robust.

Region specific changes in nonapeptide levels during client fish interactions with allopatric and sympatric cleaner fish.

Science.gov (United States)

Soares, Marta C; Cardoso, Sónia C; Mazzei, Renata; André, Gonçalo I; Morais, Marta; Gozdowska, Magdalena; Kalamarz-Kubiak, Hanna; Kulczykowska, Ewa

2017-01-01

Social relationships are crucially dependent on individual ability to learn and remember ecologically relevant cues. However, the way animals recognize cues before engaging in any social interaction and how their response is regulated by brain neuromodulators remains unclear. We examined the putative involvement of arginine vasotocin (AVT) and isotocin (IT), acting at different brain regions, during fish decision-making in the context of cooperation, by trying to identify how fish distinguish and recognize the value of other social partners or species. We hypothesized that the behavioural responses of cleaner fish clients to different social contexts would be underlain by changes in brain AVT and IT levels. We have found that changes in AVT at the level of forebrain and optic tectum are linked with a response to allopatric cleaners (novel or unfamiliar stimuli) while those at cerebellum are associated with the willingness to be cleaned (in response to sympatric cleaners). On the other hand, higher brain IT levels that were solely found in the diencephalon, also in response to allopatric cleaners. Our results are the first to implicate these nonapeptides, AVT in particular, in the assessment of social cues which enable fish to engage in mutualistic activities.

ISRU Soil Mechanics Vacuum Facility: Soil Bin Preparation and Simulant Strength Characterization

Science.gov (United States)

Kleinhenz, Julie; Wilkinson, Allen

2012-01-01

Testing in relevant environments is key to exploration mission hardware development. This is true on both the component level (in early development) and system level (in late development stages). During ISRU missions the hardware will interface with the soil (digging, roving, etc) in a vacuum environment. A relevant test environment will therefore involve a vacuum chamber with a controlled, conditioned simulant bed. However, in earth-based granular media, such as lunar soil simulant, gases trapped within the material pore structures and water adsorbed to all particle surfaces will release when exposed to vacuum. Early vacuum testing has shown that this gas release can occur violently, which loosens and weakens the simulant, altering the consolidation state. The Vacuum Facility #13, a mid-size chamber (3.66m tall, 1.5m inner diameter) at the NASA Glenn Research Center has been modified to create a soil mechanics test facility. A 0.64m deep by 0.914m square metric ton bed of lunar simulant was placed under vacuum using a variety of pumping techniques. Both GRC-3 and LHT-3M simulant types have been used. An electric cone penetrometer was used to measure simulant strength properties at vacuum including: cohesion, friction angle, bulk density and shear modulus. Simulant disruptions, caused by off gassing, affected the strength properties, but could be mitigated by reducing pump rate. No disruptions were observed at pressures below 2.5Torr, regardless of the pump rate. However, slow off gassing of the soil lead to long test times, a full week, to reach 10-5Torr. This work highlights the need for robotic machine-simulant hardware and operations in vacuum to expeditiously perform (sub-)systems tests.

Evaluation of room air cleaners for the reduction of exposure and dose to indoor radon progeny

International Nuclear Information System (INIS)

Hopke, P.K.; Jensen, B.; Wasiolek, P.

1994-01-01

Since the proximate source of dose to the cells of the bronchial epithelium is the deposited radon progeny, the exposure and resulting dose could be reduced if the radon decay products were effectively removed from the indoor atmosphere. Thus, room air cleaners could be effective in reducing the risks associated with indoor radon. However, because of the short half-life of 218 Po, it grows back quickly and in the altered aerosol conditions that are produced by the presence of an air cleaner, the exposure/dose conditions as well as the magnitude of the dose can be substantially changed. To examine the nature of the exposure of individuals in normally occupied homes and to determine the effect of various types of room air cleaners on the exposure to and dose from the indoor radon progeny, a series of measurements have been made using an automated graded screen array system. Two extended experiments were performed in homes in Arnprior, Ontario and Parishville, NY, in which filtration systems, a positive ion electrostatic precipitator, and ioniser/fan systems have been tested for their ability to remove both airborne radioactivity and particles. In both experiments, measurements were made over one week periods with an air cleaner operating and the distributions of exposure are compared with measurements of the background conditions when no cleaner is functioning. The doses to both basal and secretory cells of the bronchial epithelium in the first eight generations of the bronchus were calculated using the model developed by James and their distributions are compared among the various exposure conditions. In most cases the presence of the air cleaner reduced the exposure to radon progeny. However, the reductions in dose were generally substantially smaller than the reductions in exposure. In the intercomparisons of the two filtration units and the two identical ioniser/fan systems, the units generally behaved in a similar manner. The results of this substantial set of

The photon and the vacuum cleaner

International Nuclear Information System (INIS)

Walmsley, I.A.

2005-01-01

Quantum technologies based on optics often rely on photon bunching and measurement with feed forward to achieve an effective nonlinear interaction between otherwise transparent particles. The efficacy of this strategy for implementing nonlinear interactions requires pure state single photon wave packets. These, however, are not so easy to come by. In this talk I will discussed some methods and tools that enable the preparation of such state. (author)

En-Vac Robotic Wall Scabbler. Innovative Technology Summary Report

International Nuclear Information System (INIS)

2001-01-01

The U.S. Department of Energy (DOE) continually seeks safer and more cost-effective technologies for use in decontamination and decommissioning (D and D) of nuclear facilities. To this end, the Deactivation and Decommissioning Focus Area (DDFA) of the DOE's Office of Science and Technology (OST) sponsors Large-Scale Demonstration and Deployment Projects (LSDDP). At these LSDDPs, developers and vendors of improved or innovative technologies showcase products that are potentially beneficial to DOE's projects and to others in the D and D community. Benefits sought include decreased health and safety risks to personnel and the environment, increased productivity, and decreased cost of operation. The Idaho National Engineering and Environmental Laboratory (INEEL) LSDDP generated a list of statements defining specific needs or problems where improved technology could be incorporated into ongoing D and D tasks. One of the stated needs was for a Robotic Wall Scabbler that would reduce costs and shorten schedules in DOE's Decommissioning Project. This demonstration investigated the associated costs and time required to remove paint from the Test Area North (TAN-607) Decontamination Shop walls by comparing the En-vac Robotic Wall Scabbler against the baseline technology. The baseline technologies consist of the Pentek Vac Pac System with the Pentek Rotopeen and Needle Gun hand-held attachments. This system only removes paint from the surface of concrete. Innovative Technology The En-vac Robotic Wall Scabbler is a remote-controlled scabbling unit with individually motor-controlled wheels that moves horizontally and vertically along floors, walls, and ceilings, adhering to the surface with the help of a high-vacuum suction created at its base (see Figures 1 and 2). The complete En-vac Blasting System consists of the En-vac robot, a recycling unit, a filter, and a vacuum unit, and uses an abrasive, steel-grit blasting technology for the scabbling process. By comparison, this

Implementing Cleaner Technologies as a means of minimising waste production

DEFF Research Database (Denmark)

Wenzel, Henrik

2002-01-01

This article gives an overview of how Cleaner Production methods may contribute to minimising waste formation as well as showing energy and resource savings. It introduces the tools and procedures used when working in this field. It also illustrates the theoretical approach by using examples from...

Design and development of automatic sharia compliant wheelchair wheels cleaner

Science.gov (United States)

Shaari, Muhammad Farid; Rasli, Ibrahim Ismail Mohammad; Jamaludin, M. Z. Z. Wan; Isa, W. A. Mohamad; M., H.; Rashid, A. H. Abdul

2017-04-01

Sharia compliant wheelchair wheel cleaner was developed in order to assist the muslim Person with Disabilities (PWD) to pray in the mosque without leaving their wheelchair because of the filthy wheels. Though there are many wheelchair wheel cleaning system in the market, it is very rare to find sharia compliant cleaning system that applies sertu concept which is one of the cleaning and purification technique in Islamic practice. The sertu concept is based on 6:1 ratio that refers to the six times pipe water cleaning and one time soiled water cleaning. The development process consists of design stage, fabrication and system installation stage and followed by testing stage. During the design stage, the proposed prototype underwent design brainstorming, operation programming and structural simulation analysis. Once fabricated, the cleaner prototype underwent was tested. The results showed that the prototype can cater load up to 100kg with 1.31×10-6 mm shaft bending displacement. The water ejection timing varied approximately 3% compared to the program.

Syntetiske pyrethroider i private hjem

DEFF Research Database (Denmark)

Jensen, Karl-Martin Vagn; Fomsgaard, Inge S.; Kilpinen, Ole Østerlund

2015-01-01

A number of different methods are tested to elucidate the accumulation of synthetic pyrethroids in private homes. When the target pest is resistant, there is a potential risk that persistent synthetic pyrethroids accumulate because of repeated treatments. The highest residue found was 8260 µg lam...... lambda-cyhalothrin in a vacuum-cleaner sample (vacuumed for 10 minutes) and 1252 µg lambda-cyhalothrin in a “cotton sock dosimeter” sample. Similar data for deltamethrin was 805 µg in a vacuum-cleaner sample and 806 µg in a “cotton sock dosimeter” sample....

BOA II: Asbestos Pipe-Insulation Removal Robot System. Innovative Technology Summary Report

International Nuclear Information System (INIS)

None

2001-01-01

The objective of this task is to develop and demonstrate a mechanical, asbestos-removal system that can be remotely operated without a containment area. The technology, known as BOA, consists of a pipe-crawler removal head and a boom vehicle system with dual robots. BOA's removal head can be remotely placed on the outside of the pipe and can crawl along the pipe, removing lagging and insulation. The lagging and insulation is cut using a hybrid endmill water-jet cutter and then diced into 2-inch cube sections of ACM. These ACM sections are then removed from the pipe using a set of blasting fan- spray nozzles, vacuumed off through a vacuum hose, and bagged. Careful attention to vacuum and entrapment air flow ensures that the system can operate without a containment area while meeting local and federal standards for fiber count

Cleaner production technology for the NDT industry

International Nuclear Information System (INIS)

Relunia, Estrella D.; Mateo, Alejandro J.

2001-01-01

This paper discusses te wastes generated from the conduct of nondestructive testing (NDT) techniques and operations like NDT film processing and the systems to reduce water pollution and the film system quality control. Discussions on clean technology production concepts and philosophy is also discussed. A case study on cleaner production technology where a process and equipment modifications and a product substitution were implemented is presented. The equipment modification and product substitution eliminated the use of 1,1,1-trichloroethane in its cleaning operation. (Author)

EVALUATION AND ACTIONS OF CLEANER PRODUCTION IN GALVANIC INDUSTRY OF THE VILLA CLARA PROVINCE

Directory of Open Access Journals (Sweden)

Petra G. Velazco Pedroso

2015-10-01

Full Text Available In this paper, the assessment results accomplished in different processes of the galvanic industry are presented and it is taking into account the application of good practices and measures of Cleaner Production. The main critical points in the processes of metallic coating were identified; and the characterization of the effluents generated by the installation is done. A number of technological changes in the processes are proposed, as well as the introduction of cleaner production measures which contribute to increase the efficiency and safety of processes, reduce risks and improvements to internal operations. It provides advantages of economic, environmental and social nature for the galvanic industry due to the minimizing of the impacts on environment, because the sewage and its pollutant load are reduced. Besides, we can save water, energy and raw materials. The economic evaluation showed the feasibility of applying the Cleaner Production (PML measures proposed with a Net Present Value (NPV of $109 696.26, and an Internal Rate of Return (IRR of 64 % value and payback period lower than two years.

Determination of Ammonia in Household Cleaners: An Instrumental Analysis Experiment.

Science.gov (United States)

Graham, Richard C.; DePew, Steven

1983-01-01

Briefly discusses three techniques for assessing amount of ammonia present in household cleaners. Because of disadvantages with these methods, the thermometric titration technique is suggested in which students judge the best buy based on relative cost of ammonia present in samples. Laboratory procedures, typical results, and reactions involved…

Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

NARCIS (Netherlands)

Leenes, R.E.; Lucivero, F.

2015-01-01

Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

Evaluation of cleaner production options in dyeing and printing industry: Using combination weighting method

Science.gov (United States)

Kang, Hong; Zhang, Yun; Hou, Haochen; Sun, Xiaoyang; Qin, Chenglu

2018-03-01

The textile industry has a high environmental impact so that implementing cleaner production audit is an effective way to achieve energy conservation and emissions reduction. But the evaluation method in current cleaner production audit divided the evaluation of CPOs into two parts: environment and economy. The evaluation index system was constructed from three criteria of environment benefits, economy benefits and product performance; weights of five indicators were determined by combination weights of entropy method and factor weight sorting method. Then efficiencies were evaluated comprehensively. The results showed that the best alkali recovery option was the nanofiltration membrane method (S=0.80).

Mitigation of the effective dose of radon decay products through the use of an air cleaner in a dwelling in Okinawa, Japan

International Nuclear Information System (INIS)

Kranrod, Chutima; Tokonami, Shinji; Ishikawa, Tetsuo; Sorimachi, Atsuyuki; Janik, Miroslaw; Shingaki, Reina; Furukawa, Masahide; Chanyotha, Supitcha; Chankow, Nares

2009-01-01

Field measurements were conducted to assess the effects of an air cleaner on radon mitigation in a dwelling with a high radon concentration in Okinawa, Japan. The measurements included indoor radon concentration, individual radon progeny concentration, equilibrium equivalent concentration of radon (EECRn), unattached fraction, and size distribution of aerosol-attached radon progeny. These measurements were conducted in a 74 m 3 room with/without the use of an air cleaner. The results showed that the mean radon concentration during the measurement was quite high (301 Bq m -3 ). The operation of air cleaner decreased the radon progeny activity concentration, EECRn and equilibrium factor by 33%, 57% and 71%, respectively, whereas the unattached fraction increased by 174%. In addition, the activity concentration of attached radon progeny in the accumulation mode (50-2000 nm) was obviously deceased by 42%, when the air cleaner was operated. According to dosimetric calculations, the operation of air cleaner reduced the effective dose due to radon progeny by about 50%.

The use of automation and robotic systems to establish and maintain lunar base operations

Science.gov (United States)

Petrosky, Lyman J.

1992-01-01

Robotic systems provide a means of performing many of the operations required to establish and maintain a lunar base. They form a synergistic system when properly used in concert with human activities. This paper discusses the various areas where robotics and automation may be used to enhance lunar base operations. Robots are particularly well suited for surface operations (exterior to the base habitat modules) because they can be designed to operate in the extreme temperatures and vacuum conditions of the Moon (or Mars). In this environment, the capabilities of semi-autonomous robots would surpass that of humans in all but the most complex tasks. Robotic surface operations include such activities as long range geological and mineralogical surveys with sample return, materials movement in and around the base, construction of radiation barriers around habitats, transfer of materials over large distances, and construction of outposts. Most of the above operations could be performed with minor modifications to a single basic robotic rover. Within the lunar base habitats there are a few areas where robotic operations would be preferable to human operations. Such areas include routine inspections for leakage in the habitat and its systems, underground transfer of materials between habitats, and replacement of consumables. In these and many other activities, robotic systems will greatly enhance lunar base operations. The robotic systems described in this paper are based on what is realistically achievable with relatively near term technology. A lunar base can be built and maintained if we are willing.

Sustainability in pelletizing iron ore through the Industrial Ecology and Cleaner Production Program

Directory of Open Access Journals (Sweden)

Cristiano Farias Coelho

2013-06-01

Full Text Available This study aims to analyze the practices of a pelletizing iron ore industry with respect to adoption of pollution prevention measures, suggested by applying the concepts of Cleaner Production and Material Flow Analysis. The technical procedure adopted was the case study, the data collection was done through direct observation, with field research and literature review. The main results were obtained from analysis of company reports available to the public, but require a more detailed quantification of data. The study concludes that the identification of environmental opportunities is possible through the proposed implementation of Cleaner Production program, which provides better results when combined with the precepts of the industrial ecology tool, the Material Flow Analysis.

Diagnostics carried by a light multipurpose deployer for vacuum vessel interventions

Energy Technology Data Exchange (ETDEWEB)

Houry, M., E-mail: Michael.houry@cea.fr [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France); Gargiulo, L.; Balorin, C.; Bruno, V.; Keller, D.; Roche, H. [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France); Kammerer, N.; Measson, Y. [CEA, LIST, F-92265 Fontenay-aux-Roses (France); Carrel, F.; Schoepff, V. [CEA, LIST, F-91191 Gif-sur-Yvette (France)

2011-10-15

ITER will greatly rely on remote-handling operations to accomplish its scientific missions. Robotic systems will also be required to operate inside vacuum vessels in order to limit or replace human access, to intervene quickly between experimental sessions for in-vessel inspections and measurements, and to preserve the machine conditioning and thus improve machine availability. In this prospect, a multipurpose carrier prototype called Articulated Inspection Arm (AIA) was developed by CEA laboratories within the European work program. With an embedded camera, it successfully demonstrated close inspection feasibility inside Tore Supra tokamak. The AIA robot was designed for mini-invasive operations with interchangeable diagnostics to be plugged at its head. This covers various applications for the safety, the operation and the scientific mission (in-vessel inspection, plasma diagnostics calibrations or inner components analysis and treatments). This paper presents recent analysis and results obtain with diagnostics developed by CEA for in-vessel remote-handling intervention.

Diagnostics carried by a light multipurpose deployer for vacuum vessel interventions

International Nuclear Information System (INIS)

Houry, M.; Gargiulo, L.; Balorin, C.; Bruno, V.; Keller, D.; Roche, H.; Kammerer, N.; Measson, Y.; Carrel, F.; Schoepff, V.

2011-01-01

ITER will greatly rely on remote-handling operations to accomplish its scientific missions. Robotic systems will also be required to operate inside vacuum vessels in order to limit or replace human access, to intervene quickly between experimental sessions for in-vessel inspections and measurements, and to preserve the machine conditioning and thus improve machine availability. In this prospect, a multipurpose carrier prototype called Articulated Inspection Arm (AIA) was developed by CEA laboratories within the European work program. With an embedded camera, it successfully demonstrated close inspection feasibility inside Tore Supra tokamak. The AIA robot was designed for mini-invasive operations with interchangeable diagnostics to be plugged at its head. This covers various applications for the safety, the operation and the scientific mission (in-vessel inspection, plasma diagnostics calibrations or inner components analysis and treatments). This paper presents recent analysis and results obtain with diagnostics developed by CEA for in-vessel remote-handling intervention.

Cleaner Production Applied in a Small Furniture Industry in Brazil: Addressing Focused Changes in Design to Reduce Waste

Directory of Open Access Journals (Sweden)

Carlos Mario Gutiérrez Aguilar

2017-10-01

Full Text Available The wood industry is known for being among the biggest resource consumers, having a relatively low yield. The wood furniture industry as part of the wood industry also remains a big generator of residues and a big consumer of resources. Diverse solutions and technologies have been developed to deal with the residues generated, but those technologies are mostly applied at the end of the production chain with limited results. Cleaner production represents a program based on continuous strategies applied to a more sustainable use of materials and energy, minimizing waste and pollution. This paper presents a case study of a cleaner production program developed in a small furniture industry in Salvador de Bahia, Brazil, applying the concepts of cleaner production with parameters of ecodesign developed for the furniture industry. The object of study was the production of a wooden chair made from eucalyptus wood. The application of the cleaner production program and ecodesign parameters allowed a detailed characterization of the waste, resulting in opportunities for a reduction of the use of raw material by 30%, a reduction in waste by 49% and allowing a reduction in energy by 36% due to simplification of the productive process. Among the strategies applied were reshaping pieces, redesigning, and the substitution of materials. The results suggest that despite the existence of more complex environmental methods and approaches, the application of cleaner production plus ecodesign parameters could be more achievable for micro and small furniture industries.

Control and automatic alignment of the output mode cleaner of GEO 600

Energy Technology Data Exchange (ETDEWEB)

Prijatelj, M; Grote, H; Degallaix, J; Hewitson, M; Affeldt, C; Leong, J; Lueck, H; Strain, K A; Wittel, H; Willke, B; Danzmann, K [Max-Planck-Institut fuer Gravitationsphysik (Albert-Einstein-Institut) and Leibniz Universitaet Hannover, Callinstr. 38, 30167 Hannover (Germany); Hild, S; Freise, A, E-mail: mirko.prijatelj@aei.mpg.d [School of Physics and Astronomy, University of Birmingham, Edgbaston, Birmingham, B15 2TT (United Kingdom)

2010-05-01

The implementation of a mode cleaner at the output port of the GEO 600 gravitational wave detector will be part of the upcoming transition from GEO 600 to GEO-HF. Part of the transition will be the move from a heterodyne readout to a DC readout scheme. DC readout performance will be limited by higher order optical modes and control sidebands present at the output port. For optimum performance of DC readout an output mode cleaner (OMC) will clean the output beam of these contributions. Inclusion of an OMC will introduce new noise sources whose magnitudes needed to be estimated and for which new control systems will be needed. In this article we set requirements on the performance of these control systems and investigate the simulated performance of different designs.

Trochanteric Stress Fracture in a Female Window Cleaner

OpenAIRE

Lee, Bong-Jin; Song, Jyewon

2016-01-01

Stress fractures may occur at various sites in the femur including the head, neck, shaft, supracondylar and condylar regions. To the best of our knowledge, stress fracture occurring in the trochanteric region has not been previously reported. We report here a case of trochanteric stress fracture in a 53-year-old female window cleaner treated with hip nailing without adverse consequences. Careful consideration of this entity is needed when evaluating patients who have repetitive jumping up and...

Cultural Robotics: The Culture of Robotics and Robotics in Culture

Directory of Open Access Journals (Sweden)

Hooman Samani

2013-12-01

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

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

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

TNO moving forward ... to a safer, cleaner and more efficient mobility

NARCIS (Netherlands)

Bleijenberg, A.N.

2008-01-01

This book provides an impression of how we are contributing to cleaner, safer and more efficient mobility in Europe, helping our customers from concept to implementation and from engineering solutions to strategic advice. Our knowledge is derived to a significant extent from European research

Robot vision for nuclear advanced robot

International Nuclear Information System (INIS)

Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

1991-01-01

This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

Leybold vacuum handbook

CERN Document Server

Diels, K; Diels, Kurt

1966-01-01

Leybold Vacuum Handbook presents a collection of data sets that are essential for numerical calculation of vacuum plants and vacuum processes. The title first covers vacuum physics, which includes gas kinetics, flow phenomena, vacuum gauges, and vapor removal. Next, the selection presents data on vacuum, high vacuum process technology, and gas desorption and gettering. The text also deals with materials, vapor pressure, boiling and melting points, and gas permeability. The book will be of great interest to engineers and technicians that deals with vacuum related technologies.

Vacuum Technology

Energy Technology Data Exchange (ETDEWEB)

Biltoft, P J

2004-10-15

The environmental condition called vacuum is created any time the pressure of a gas is reduced compared to atmospheric pressure. On earth we typically create a vacuum by connecting a pump capable of moving gas to a relatively leak free vessel. Through operation of the gas pump the number of gas molecules per unit volume is decreased within the vessel. As soon as one creates a vacuum natural forces (in this case entropy) work to restore equilibrium pressure; the practical effect of this is that gas molecules attempt to enter the evacuated space by any means possible. It is useful to think of vacuum in terms of a gas at a pressure below atmospheric pressure. In even the best vacuum vessels ever created there are approximately 3,500,000 molecules of gas per cubic meter of volume remaining inside the vessel. The lowest pressure environment known is in interstellar space where there are approximately four molecules of gas per cubic meter. Researchers are currently developing vacuum technology components (pumps, gauges, valves, etc.) using micro electro mechanical systems (MEMS) technology. Miniature vacuum components and systems will open the possibility for significant savings in energy cost and will open the doors to advances in electronics, manufacturing and semiconductor fabrication. In conclusion, an understanding of the basic principles of vacuum technology as presented in this summary is essential for the successful execution of all projects that involve vacuum technology. Using the principles described above, a practitioner of vacuum technology can design a vacuum system that will achieve the project requirements.

Indian Vacuum Society: The Indian Vacuum Society

Science.gov (United States)

Saha, T. K.

2008-03-01

The Indian Vacuum Society (IVS) was established in 1970. It has over 800 members including many from Industry and R & D Institutions spread throughout India. The society has an active chapter at Kolkata. The society was formed with the main aim to promote, encourage and develop the growth of Vacuum Science, Techniques and Applications in India. In order to achieve this aim it has conducted a number of short term courses at graduate and technician levels on vacuum science and technology on topics ranging from low vacuum to ultrahigh vacuum So far it has conducted 39 such courses at different parts of the country and imparted training to more than 1200 persons in the field. Some of these courses were in-plant training courses conducted on the premises of the establishment and designed to take care of the special needs of the establishment. IVS also regularly conducts national and international seminars and symposia on vacuum science and technology with special emphasis on some theme related to applications of vacuum. A large number of delegates from all over India take part in the deliberations of such seminars and symposia and present their work. IVS also arranges technical visits to different industries and research institutes. The society also helped in the UNESCO sponsored post-graduate level courses in vacuum science, technology and applications conducted by Mumbai University. The society has also designed a certificate and diploma course for graduate level students studying vacuum science and technology and has submitted a syllabus to the academic council of the University of Mumbai for their approval, we hope that some colleges affiliated to the university will start this course from the coming academic year. IVS extended its support in standardizing many of the vacuum instruments and played a vital role in helping to set up a Regional Testing Centre along with BARC. As part of the development of vacuum education, the society arranges the participation of

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.

CASE STUDY: Nepal — A cleaner city and better health in Kathmandu

International Development Research Centre (IDRC) Digital Library (Canada)

2003-04-07

Apr 7, 2003 ... CASE STUDY: Nepal — A cleaner city and better health in Kathmandu .... Dr Joshi believes that blending science and a recognition of the social ... One example of where AMESH was applied was in analyzing why the ward ...

Visibility and Social Recognition as Psychosocial Work Environment Factors among Cleaners in A Multi-Ethnic Workplace Intervention

OpenAIRE

Hviid, Kirsten; Smith, Louise Hardman; Frydendall, Karen Bo; Flyvholm, Mari-Ann

2012-01-01

This article focuses on the psychosocial work environment of immigrant cleaners at a Danish workplace. Today, many cleaners working in Danish cleaning jobs are women from the established immigrant communities, but also labour migrants from the newer EU member states have found their way to the cleaning industry. Studies have drawn attention to immigrants low position in the cleaning industry and their increased risk of work injuries. This article is based on a case study of an intervention ca...

Accuracy improvement of a hybrid robot for ITER application using POE modeling method

International Nuclear Information System (INIS)

Wang, Yongbo; Wu, Huapeng; Handroos, Heikki

2013-01-01

Highlights: ► The product of exponential (POE) formula for error modeling of hybrid robot. ► Differential Evolution (DE) algorithm for parameter identification. ► Simulation results are given to verify the effectiveness of the method. -- Abstract: This paper focuses on the kinematic calibration of a 10 degree-of-freedom (DOF) redundant serial–parallel hybrid robot to improve its accuracy. The robot was designed to perform the assembling and repairing tasks of the vacuum vessel (VV) of the international thermonuclear experimental reactor (ITER). By employing the product of exponentials (POEs) formula, we extended the POE-based calibration method from serial robot to redundant serial–parallel hybrid robot. The proposed method combines the forward and inverse kinematics together to formulate a hybrid calibration method for serial–parallel hybrid robot. Because of the high nonlinear characteristics of the error model and too many error parameters need to be identified, the traditional iterative linear least-square algorithms cannot be used to identify the parameter errors. This paper employs a global optimization algorithm, Differential Evolution (DE), to identify parameter errors by solving the inverse kinematics of the hybrid robot. Furthermore, after the parameter errors were identified, the DE algorithm was adopted to numerically solve the forward kinematics of the hybrid robot to demonstrate the accuracy improvement of the end-effector. Numerical simulations were carried out by generating random parameter errors at the allowed tolerance limit and generating a number of configuration poses in the robot workspace. Simulation of the real experimental conditions shows that the accuracy of the end-effector can be improved to the same precision level of the given external measurement device

Accuracy improvement of a hybrid robot for ITER application using POE modeling method

Energy Technology Data Exchange (ETDEWEB)

Wang, Yongbo, E-mail: yongbo.wang@hotmail.com [Laboratory of Intelligent Machines, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland); Wu, Huapeng; Handroos, Heikki [Laboratory of Intelligent Machines, Lappeenranta University of Technology, FIN-53851 Lappeenranta (Finland)

2013-10-15

Highlights: ► The product of exponential (POE) formula for error modeling of hybrid robot. ► Differential Evolution (DE) algorithm for parameter identification. ► Simulation results are given to verify the effectiveness of the method. -- Abstract: This paper focuses on the kinematic calibration of a 10 degree-of-freedom (DOF) redundant serial–parallel hybrid robot to improve its accuracy. The robot was designed to perform the assembling and repairing tasks of the vacuum vessel (VV) of the international thermonuclear experimental reactor (ITER). By employing the product of exponentials (POEs) formula, we extended the POE-based calibration method from serial robot to redundant serial–parallel hybrid robot. The proposed method combines the forward and inverse kinematics together to formulate a hybrid calibration method for serial–parallel hybrid robot. Because of the high nonlinear characteristics of the error model and too many error parameters need to be identified, the traditional iterative linear least-square algorithms cannot be used to identify the parameter errors. This paper employs a global optimization algorithm, Differential Evolution (DE), to identify parameter errors by solving the inverse kinematics of the hybrid robot. Furthermore, after the parameter errors were identified, the DE algorithm was adopted to numerically solve the forward kinematics of the hybrid robot to demonstrate the accuracy improvement of the end-effector. Numerical simulations were carried out by generating random parameter errors at the allowed tolerance limit and generating a number of configuration poses in the robot workspace. Simulation of the real experimental conditions shows that the accuracy of the end-effector can be improved to the same precision level of the given external measurement device.

Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

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

2016-01-01

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

Incorporation of occupational health and safety in cleaner production projects in South Africa

DEFF Research Database (Denmark)

Hedlund, Frank Huess

2002-01-01

The purpose of this research is to reveal ways in which occupational health and safety can be integrated in environmental cleaner production projects. Of particular interest are those cleaner production projects that are run by the Danish government's environmental assistance agency, Danced......, in South Africa.The study explores two main avenues of integration. First, integrating through better planning, focussing at the tools and procedures in use by Danced for project management -- integrating occupational health and safety into the project specification, so to speak.Second, integrating...... occupational health and safety into the environmental activities that take place at company level. Two ways of doing so are explored, the main distinction being company size. For large companies, integration of management systems may be attractive. For small companies, integration into a less formal network...

Upper-limit on the Advanced Virgo output mode cleaner cavity length noise

Science.gov (United States)

Bonnand, R.; Ducrot, M.; Gouaty, R.; Marion, F.; Masserot, A.; Mours, B.; Pacaud, E.; Rolland, L.; Was, M.

2017-09-01

The Advanced Virgo detector uses two monolithic optical cavities at its output port to suppress higher order modes and radio frequency sidebands from the carrier light used for gravitational wave detection. These two cavities in series form the output mode cleaner. We present a measured upper limit on the length noise of these cavities that is consistent with the thermo-refractive noise prediction of 8×10-16~m~Hz-1/2 at 15 Hz. The cavity length is controlled using Peltier cells and piezo-electric actuators to maintain resonance on the incoming light. A length lock precision of 3.5×10-13 m is achieved. These two results are combined to demonstrate that the broadband length noise of the output mode cleaner in the 10-60 Hz band is at least a factor 10 below other expected noise sources in the Advanced Virgo detector design configuration.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

OpenAIRE

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

2013-01-01

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

Robot Actors, Robot Dramaturgies

DEFF Research Database (Denmark)

Jochum, Elizabeth

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

Using Pipe Cleaners to Bring the Tree of Life to Life

Science.gov (United States)

Halverson, Kristy L.

2010-01-01

Phylogenetic trees, such as the "Tree of Life," are commonly found in biology textbooks and are often used in teaching. Because students often struggle to understand these diagrams, I developed a simple, inexpensive classroom model. Made of pipe cleaners, it is easily manipulated to rotate branches, compare topologies, map complete lineages,…

Flexible Structural Design for Side-Sliding Force Reduction for a Caterpillar Climbing Robot

Directory of Open Access Journals (Sweden)

Weina Cui

2012-11-01

Full Text Available Due to sliding force arising from the closed chain mechanism among the adhering points of a climbing caterpillar robot (CCR, a sliding phenomenon will happen at the adhering points, e.g., the vacuum pads or claws holding the surface. This sliding force makes the attachment of the climbing robot unsteady and reducesthe motion efficiency. According to the new bionic research on the soft-body structure of caterpillars, some flexible structures made of natural rubber bars are applied in CCRs correspondingly as an improvement to the old rigid mechanical design of the robotic structure. This paper firstly establishes the static model of the sliding forces, the distortion of flexible bars and the driving torques of joints. Then, a method to reduce the sliding force by exerting a compensating angle to an active joint of the CCR is presented. The analyses and experimental results indicate that the flexible structure and the compensating angle method can reduce the sliding forces remarkably.

Cleaner production analysis in a company of the red ceramic segment

Directory of Open Access Journals (Sweden)

Dayanna dos Santos Costa Maciel

2013-11-01

Full Text Available The present study had as objective to analyze the productive process of a red ceramic segment industry in relation to the Cleaner Production (CP, based on the theoretical model proposed by National Center of Clean Technologies (CTNL, 2003b. As for the methodology, is classified as exploratory and descriptive, using the case study method. For this purpose, data was collected primary and secondary, the primers were obtained through semi-structured interviews with the owner and manager of production and a questionnaire administered to the owner. As for the secondary data, they were obtained through the company's environmental license, reports, documents, audits, standards and web searches, among others. As results were found in a waste around 10% of manufactured products (bricks, tiles and blocks;  Emission of pollutants such as ash and gases (CO2; High consumption of natural resources such as clay, water, electricity and firewood. This situation is being modified in the function of actions which are taken to obtain a cleaner production.

Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

NARCIS (Netherlands)

Coeckelbergh, Mark

2011-01-01

If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

Risk assessment of amorphous silicon dioxide nanoparticles in a glass cleaner formulation

Science.gov (United States)

Scheel, Julia; Karsten, Stefan; Stelter, Norbert; Wind, Thorsten

2013-01-01

Since nanomaterials are a heterogeneous group of substances used in various applications, risk assessment needs to be done on a case-by-case basis. Here the authors assess the risk (hazard and exposure) of a glass cleaner with synthetic amorphous silicon dioxide (SAS) nanoparticles during production and consumer use (spray application). As the colloidal material used is similar to previously investigated SAS, the hazard profile was considered to be comparable. Overall, SAS has a low toxicity. Worker exposure was analysed to be well controlled. The particle size distribution indicated that the aerosol droplets were in a size range not expected to reach the alveoli. Predictive modelling was used to approximate external exposure concentrations. Consumer and environmental exposure were estimated conservatively and were not of concern. It was concluded based on the available weight-of-evidence that the production and application of the glass cleaner is safe for humans and the environment under intended use conditions. PMID:22548260

Level of self-reported neck/shoulder pain and biomechanical workload in cleaners

DEFF Research Database (Denmark)

Madeleine, Pascal; Søgaard, Karen; Holtermann, Andreas

2012-01-01

The aim of the present study was to investigate the relation between self-reported pain, muscular activity and postural load during cleaning tasks. Eighteen cleaners performed usual cleaning tasks in both a laboratory and a lecture room. The level of perceived pain in the neck-shoulder region......-axial accelerometer package was mounted on the low back (L5-S1) to measure postural changes during cleaning tasks. The 10th, 50th and 90th percentiles of the angular distributions were computed to characterize postures and movements. Pain tended to play a significant role on RMS of left/right trapezius and left...... erector spinae muscles (P≤0.08). Cleaners with low pain level exhibited higher muscular activity during cleaning. Pain played or tended to play a significant role on PE of left and right erector spinae muscles (P≤0.08). Pain played a significant role on the 10th, 50th and 90th percentile (P...

Cleaner Coal in China [Chinese Version

Energy Technology Data Exchange (ETDEWEB)

NONE

2009-07-01

China’s rapid economic growth has aroused intense interest around the world. Policy makers, industrialists, investors, environmentalists, researchers and others want to better understand the issues that this populous nation faces as it further develops an already thriving economy largely fuelled by coal. This study sheds light on the Chinese coal supply and transformation sectors. China’s rapid economic growth has aroused intense interest around the world. Policy makers, industrialists, investors, environmentalists, researchers and others want to better understand the issues that this populous nation faces as it further develops an already thriving economy largely fuelled by coal. This study sheds light on the Chinese coal supply and transformation sectors. China’s coal, mined locally and available at a relatively low cost, has brought enormous benefits to energy consumers in China and to those outside the country who enjoy the products of its coal-based economy. Yet from another perspective, China’s coal use has a high cost. Despite progress, health and safety in the thousands of small coal mines lag far behind the standards achieved in China’s modern, large mines. Environmental degradation is a real and pressing problem at all stages of coal production, supply and use. Adding to these burdens, emissions of carbon dioxide are of concern to the Chinese government as it embarks on its own climate protection strategy. Technology solutions are already transforming the way coal is used in China and elsewhere. This study explores the context in which the development and deployment of these technologies can be accelerated. Providing a large amount of new data, it describes in detail the situation in China as well as the experiences of other countries in making coal cleaner. Above all, the report calls for much greater levels of collaboration – existing bi-lateral and multi-lateral co-operation with China on coal is found lacking. China’s growing openness

Energy access and transition to cleaner cooking fuels and technologies in Sri Lanka: Issues and policy limitations

International Nuclear Information System (INIS)

Wickramasinghe, Anoja

2011-01-01

Easy energy access is a trigger for human, social, and economic development. A research project was undertaken in Sri Lanka to broaden the understanding of human dimension of energy access and technologies. A questionnaire survey, covering 2269 households, gathered data on socio-economic contexts and issues influencing a transition towards clean cooking facilities. The findings reveal that the transition is impeded by four factors: the lack of motivation and the pressure for switching over to cleaner facilities, the lack of modern energy technology options, the financial risks, and the lack of financing and other support. The paper describes the delicate two-way interrelation between women earning wages and the transitions to cleaner cooking fuels and technologies. The findings suggest the need for a policy framework involving the stakeholders, financing and standardised technologies. To make a change it is proposed to introduce a national, integrated policy incorporating financing and energy governance. - Highlights: ► Households in Sri Lanka lack access to modern energy technology options for cooking. ► Cooking with fuel wood and residues is the norm in Sri Lanka, particularly in rural households. ► A survey of rural households revealed that most cannot afford to switch to cleaner cooking options. ► Most households have little awareness of the health impacts of biomass cooking. ► Women in regular formal employment are more likely to value cleaner cooking options that save time.

A MODULAR DESIGN OF A WALL-CLIMBING ROBOT AND ITS MECHATRONICS CONTROLLER

Directory of Open Access Journals (Sweden)

N.S. Tlale

2012-01-01

Full Text Available

ENGLISH ABSTRACT: The modular design of a wall-climbing robot, implementing two articulated legs per module (biped robotic modules, is presented in this paper. Modular design improves a wall-climbing robot’s manoeuvrability and flexibility during surface changes or while walking on uneven surfaces. The design of the articulated legs uses four motors to control the posture of the vacuum cups, achieving the best possible contact with the surface. Each leg can contain more than five sensors for effective feedback control, and additional sensors such as gyros, CCD sensors, etc, can be fitted on a module, depending on the robot’s application. As the number of modules used in the design of the robot is increased, the number of actuators and sensors increases exponentially. A distributed mechatronics controller of such systems is presented.

AFRIKAANSE OPSOMMING: Modulêre ontwerp van 'n muurklim-robot met twee geskarnierde bene per module (twee-benige robotmodules word in hierdie artikel weergegee. Modulêre ontwerp verbeter die muurklim-robot se beweeglikheid en aanpasbaarheid tydens veranderings in die loopvlak of terwyl dit loop op ongelyke oppervlaktes. Ontwerp van geskarnierde bene implementeer vier motors wat die oriëntasie van vakuumsuigdoppe beheer om die bes moontlike kontak met die loopvlak te handhaaf. Elke been kan meer as vyf sensors hê vir doeltreffende terugvoerbeheer, en bykomende sensors soos giroskope, CCD sensors, ens. kan by 'n module gevoeg word soos die toepassing van die robot dit mag vereis. Soos die aantal modules wat in die ontwerp van die robot gebruik word, toeneem, neem die aantal aktiveerders en sensors eksponensiëel toe. 'n Verdeelde megatroniese beheerder van sulke stelsels word aangebied.

Operation of an ITER relevant inspection robot on Tore Supra tokamak

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, Laurent [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Hatchressian, Jean-Claude; Hernandez, Caroline; Houry, Michael [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Keller, Delphine [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Martins, Jean-Pierre [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Measson, Yvan; Perrot, Yann [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Samaille, Frank [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)

2009-06-15

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R and D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements. The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel. Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration. In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10{sup -6} Pa and 120 deg. C) after a conditioning phase at 200 deg. C to avoid outgassing pollution of the chamber. This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.

Exploratorium: Robots.

Science.gov (United States)

Brand, Judith, Ed.

2002-01-01

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

The effects of crude oil and the effectiveness of cleaner application following oiling on US Gulf of Mexico coastal marsh plants.

Science.gov (United States)

Pezeshki, S R; DeLaune, R D; Jugsujinda, A

2001-01-01

Field studies were conducted in two different marsh habitats in Louisiana coastal wetlands to evaluate the effects of oiling (using South Louisiana Crude oil, SLC) and the effectiveness of a shoreline cleaner (COREXIT 9580) in removing oil from plant canopies. The study sites represented two major marsh habitats; the brackish marsh site was covered by Spartina patens and the freshwater marsh was covered by Sagittaria lancifolia. Field studies were conducted in each habitat using replicated 5.8 m2 plots that were subjected to three treatments; oiled only, oiled + cleaner (cleaner was used 2 days after oiling), and a control. Plant gas exchange responses, survival, growth, and biomass accumulation were measured. Results indicated that oiling led to rapid reductions in leaf gas exchange rates in both species. However, both species in 'oiled + cleaned' plots displayed improved leaf conductance and CO2 fixation rates. Twelve weeks after treatment initiation, photosynthetic carbon fixation in both species had recovered to normal levels. Over the short-term, S. patens showed more sensitivity to oiling with SLC than S. lancifolia as was evident from the data of the number of live shoots and above-ground biomass. Above-ground biomass remained significantly lower than control in S. patens under 'oiled' and 'oiled + cleaned' treatments while it was comparable to controls in S. lancifolia. These studies indicated that the cleaner removed oil from marsh grasses and alleviated the short-term impact of oil on gas exchange function of the study plants. However, use of cleaner had no detectable effects on above-ground biomass production or regeneration at the end of the first growing season in S. patens. Similarly, no beneficial effects of cleaner on carbon fixation and number of live shoots were apparent beyond 12 weeks in S. lancifolia.

Effects of 12 months aerobic exercise intervention on work ability, need for recovery, productivity and rating of exertion among cleaners

DEFF Research Database (Denmark)

Lidegaard, Mark; Søgaard, Karen; Krustrup, Peter

2018-01-01

PURPOSE: This study assessed the effects of a worksite aerobic exercise intervention among cleaners on: work ability, need for recovery, productivity, and rating of exertion. METHODS: In a monocentric randomised controlled trial in Denmark, 116, of 250 invited, cleaners were cluster-randomised (w......PURPOSE: This study assessed the effects of a worksite aerobic exercise intervention among cleaners on: work ability, need for recovery, productivity, and rating of exertion. METHODS: In a monocentric randomised controlled trial in Denmark, 116, of 250 invited, cleaners were cluster......-randomised (work location; sex; age; length of service) to aerobic exercise [N = 57, 44.9 years, 75.4% female, body mass index (BMI) 26.2], receiving 2 weekly aerobic exercise sessions during 12 months, or a reference group (N = 59, 45.7 years, 76.3% female, BMI 27.1), receiving health-promoting lectures. Self.......2) in the aerobic exercise group compared to the reference group. Productivity and rating of exertion were unaltered. Analysis stratified on age showed significant effects only among the participants aged ≤ 45 years. CONCLUSIONS: After 12 months work ability improved and need for recovery decreased. A period of 4...

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

Cleaner Technology in the Hard Disk Drive Manufacturing Industry: A Case Study

Science.gov (United States)

Moolla, Premchai; Chompu-inwai, Rungchat

2010-10-01

The objectives of this research are to improve raw material and energy consumption efficiency, as well as reduce defects and the use of chemicals in the arm coil assembly process of hard disk drive manufacturing in the case study company by applying the Cleaner Technology concepts. The four main sequential steps used in this research were: (1) pre-assessment, (2) assessment, (3) feasibility study, and (4) implementation. In the first step, raw data, such as process flows, raw material usage and defects data were collected. In the second step, the loss during production and causes of loss were analyzed. Opportunities to reduce raw material, chemical and energy wastage could then be recommended. The next step was to evaluate the feasibility and potential benefits of a particular Cleaner Technology opportunity. Finally, in the last step, after a thorough evaluation and implementation of the opportunities to apply Cleaner Technology, the results showed that arm coil defects could be reduced by improving the production process using the ECRS technique. ECRS stands for Eliminate, Combine, Rearrange and Simplify. This improvement reduced arm coil defect rates from 0.48% to 0.15%, thus saving approximately 139,638 Thai Baht per month. In addition, production stoppage decision made by workers was used to increase employee involvement in defect detection. Allowing workers to participate in such a decision was an effective way to reduce defect rate and could motivate workers to produce a better quality job. This resulted in arm coil defects reducing from 0.41% to 0.025%, with about 74,562 Thai Baht per month saving. Additionally, an increase in the efficiency of electricity consumption occurred, by increasing the speed of the infrared oven conveyor belt, improving average productivity from 533 pieces/hour to 560 pieces/hour, without adversely affecting product costs and quality, thus producing products of up to the value of 206,242 Thai Baht per month. Furthermore, the new

Sudden death involving inhalation of 1,1-difluoroethane (HFC-152a) with spray cleaner: three case reports.

Science.gov (United States)

Sakai, Kentaro; Maruyama-Maebashi, Kyoko; Takatsu, Akihiro; Fukui, Kenji; Nagai, Tomonori; Aoyagi, Miwako; Ochiai, Eriko; Iwadate, Kimiharu

2011-03-20

Spray cleaner is a cleaning product containing compressed 1,1-difluoroethane (HFC-152a) to blow dust off electric devices and other sensitive equipment; however, it is also inhaled to induce euphoria. This report describes three cases of death involving HFC-152a inhalation with spray cleaner under different circumstances. In case 1, death was during inhalation for euphoria with which led to having frostbite. In case 2, death may have been associated with suicidal intention. Case 3 was also considered an accidental autoerotic death. In all three cases, HFC-152a was detected at 99.2-136.2mg/l in blood samples, 94.5-191.9 mg/l in urine samples and 3.6-18.4 mg in the gastric contents according to gas chromatography with flame ionization detection. To prevent death associated with HFC-152a inhalation from spray cleaner, the danger of the sudden death should be announced to people, given the ready availability of commercial products containing HFC-152a. Copyright © 2010 Elsevier Ireland Ltd. All rights reserved.

Evaluating The Operation Of Three Air Cleaners Working Individually In A Clean Room

DEFF Research Database (Denmark)

Ardkapan, Siamak Rahimi; Afshari, Alireza; Bergsøe, Niels Christian

2011-01-01

The use of portable air cleaners is becoming increasingly popular in many countries including Denmark. Portable air cleaners are known for not only removing but also generating particles and gases. To clarify this, three air cleaning technologies were evaluated. They were nonthermal plasma......, photochemical air purifier and corona discharge ionizer. The concentrations of ultrafine particles, ozone and total volatile organic compounds were measured both in a duct and in a clean room. It was found that the studied air cleaning technologies increased the ozone level in the clean room and the duct....... The increase of ozone level in the clean room was more than that was measured in the duct. Additionally, it was found that the number of ultrafine particles in the room increased due to the generated ozone. The number of generated particles changed with the season. The study leads to the recommendation...

Applicability of a track-based multiprocess portable robot to some maintenance tasks in CANDU nuclear plants

International Nuclear Information System (INIS)

Hazel, B.; Fihey, J.-L.; Laroche, Y.

2000-01-01

Hydro-Quebec has developed a six-axis, track-based, multiprocess robot. This lightweight (30 kg) compact robot travels on a bent track with a radius of curvature ranging from 1 m to infinity (straight track). Standard and tandem wires GMAW, FCAW and Narrow gap TIG welding as well as plasma gouging and cutting, electrical and pneumatic rough and precision grinding, and profile measurement functionalities have been incorporated. A description of this technology an its newly developed functionalities is given in this paper. Since 1995, a number of industrial and R and D projects have been performed using this technology now called the Scompi technology. The main field of application is the in situ repair of hydraulic turbine runners. However some applications have been developed in the nuclear field. One particular development was funded by the International Thermonuclear Experimental Reactor (ITER) project. Scompi was selected by the ITER US Home Team for a demonstration of remote techniques for welding, cutting and rewelding the 30 m diameter, 17 m high, vacuum vessel. The demonstration involved all position robotic plasma cutting and NG-TIG welding of a 316L, 40 mm thick, double wall. In 1998, two Scompi robots working in tandem performed in York, Pa, the joint welding and cutting of a full scale portion of the vacuum vessel. In 1995, the applicability of the Scompi technology to the repair of the divider plates in the four steam generators at Gentilly-2 was evaluated based on a joint proposal by Ontario Hydro Technologies (now Ontario Power Technologies-OPT) and Hydro-Quebec. A MIG welding procedure was proposed for the horizontal and vertical divider plates welds. A complete simulation of the robot and primary head demonstrated the feasibility of the concept. However, based on cost and scheduling, it was decided to proceed with a manual repair. Nevertheless it is anticipated that this technology will find its niche in the maintenance of Candu reactors. (author)

Applicability of a track-based multiprocess portable robot to some maintenance tasks in CANDU nuclear plants

Energy Technology Data Exchange (ETDEWEB)

Hazel, B.; Fihey, J.-L.; Laroche, Y. [Hydro-Quebec, Varennes, Quebec (Canada)

2000-07-01

Hydro-Quebec has developed a six-axis, track-based, multiprocess robot. This lightweight (30 kg) compact robot travels on a bent track with a radius of curvature ranging from 1 m to infinity (straight track). Standard and tandem wires GMAW, FCAW and Narrow gap TIG welding as well as plasma gouging and cutting, electrical and pneumatic rough and precision grinding, and profile measurement functionalities have been incorporated. A description of this technology an its newly developed functionalities is given in this paper. Since 1995, a number of industrial and R and D projects have been performed using this technology now called the Scompi technology. The main field of application is the in situ repair of hydraulic turbine runners. However some applications have been developed in the nuclear field. One particular development was funded by the International Thermonuclear Experimental Reactor (ITER) project. Scompi was selected by the ITER US Home Team for a demonstration of remote techniques for welding, cutting and rewelding the 30 m diameter, 17 m high, vacuum vessel. The demonstration involved all position robotic plasma cutting and NG-TIG welding of a 316L, 40 mm thick, double wall. In 1998, two Scompi robots working in tandem performed in York, Pa, the joint welding and cutting of a full scale portion of the vacuum vessel. In 1995, the applicability of the Scompi technology to the repair of the divider plates in the four steam generators at Gentilly-2 was evaluated based on a joint proposal by Ontario Hydro Technologies (now Ontario Power Technologies-OPT) and Hydro-Quebec. A MIG welding procedure was proposed for the horizontal and vertical divider plates welds. A complete simulation of the robot and primary head demonstrated the feasibility of the concept. However, based on cost and scheduling, it was decided to proceed with a manual repair. Nevertheless it is anticipated that this technology will find its niche in the maintenance of Candu reactors. (author)

Analysis of the potentiality for implementing of the cleaner production and adopting a sustainable consumption in the Cuban entrepreneurial system

International Nuclear Information System (INIS)

Tortosa Ferrer, Barbara Ivette; Orue Valdes, Sonia; Mena Ulecia, Karel

2007-01-01

The world economic development has conduced to increase the worsening of the environment as result of the natural resources pollution. The tendency has been toward the unsustainable exploitation of natural resources, to increasing of the goods and services production, as well as, to elevated consumption. In this sense, many countries have planed environmental policies addressed to reducing of pollution introducing cleaner production practices and promoting the adoption of responsible consumption. This article shows the existing potentiality in a selected Cuban companies group for introducing and applying of the cleaner production, as well as, the adoption of a sustainable consumption start from analysis of the obtained results in short-term assessments (quick scans) carried out by the Cuban Environment Agency Focal Point of the National Cleaner Production Network in the period between 2004 and 2007

Towards Versatile Robots Through Open Heterogeneous Modular Robots

DEFF Research Database (Denmark)

Lyder, Andreas

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

Analysis and optimization on in-vessel inspection robotic system for EAST

International Nuclear Information System (INIS)

Zhang, Weijun; Zhou, Zeyu; Yuan, Jianjun; Du, Liang; Mao, Ziming

2015-01-01

Since China has successfully built her first Experimental Advanced Superconducting TOKAMAK (EAST) several years ago, great interest and demand have been increasing in robotic in-vessel inspection/operation systems, by which an observation of in-vessel physical phenomenon, collection of visual information, 3D mapping and localization, even maintenance are to be possible. However, it has been raising many challenges to implement a practical and robust robotic system, due to a lot of complex constraints and expectations, e.g., high remanent working temperature (100 °C) and vacuum (10"−"3 pa) environment even in the rest interval between plasma discharge experiments, close-up and precise inspection, operation efficiency, besides a general kinematic requirement of D shape irregular vessel. In this paper we propose an upgraded robotic system with redundant degrees of freedom (DOF) manipulator combined with a binocular vision system at the tip and a virtual reality system. A comprehensive comparison and discussion are given on the necessity and main function of the binocular vision system, path planning for inspection, fast localization, inspection efficiency and success rate in time, optimization of kinematic configuration, and the possibility of underactuated mechanism. A detailed design, implementation, and experiments of the binocular vision system together with the recent development progress of the whole robotic system are reported in the later part of the paper, while, future work and expectation are described in the end.

MEA vacuum system

International Nuclear Information System (INIS)

Stroo, R.; Schwebke, H.; Heine, E.

1984-01-01

This report describes construction and operation of the MEA vacuum system of NIKHEF (Netherlands). First, the klystron vacuum system, beam transport system, diode pump and a triode pump are described. Next, the isolation valve and the fast valves of the vacuum system are considered. Measuring instruments, vacuum system commands and messages of failures are treated in the last chapter. (G.J.P.)

Insulation vacuum and beam vacuum overpressure release

CERN Document Server

Parma, V

2009-01-01

There is evidence that the incident of 19th September caused a high pressure build-up inside the cryostat insulation vacuum which the existing overpressure devices could not contain. As a result, high longitudinal forces acting on the insulation vacuum barriers developed and broke the floor and the floor fixations of the SSS with vacuum barriers. The consequent large longitudinal displacements of the SSS damaged chains of adjacent dipole cryo-magnets. Estimates of the helium mass flow and the pressure build- up experienced in the incident are presented together with the pressure build-up for an even more hazardous event, the Maximum Credible Incident (MCI). The strategy of limiting the maximum pressure by the installation of addition pressure relieve devices is presented and discussed. Both beam vacuum lines were ruptured during the incident in sector 3-4 giving rise to both mechanical damage and pollution of the system. The sequence, causes and effects of this damage will be briefly reviewed. We will then an...

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

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

CERN Vacuum-System Activities during the Long Shutdown 1: The LHC’s Injector Chain

CERN Document Server

Ferreira, J A

2014-01-01

During the long shutdown 1 (LS1), several maintenance, consolidation and upgrade activities have been carried out in LHC’s injector chain. Each machine has specific vacuum requirements and different history, which determine the present status of the vacuum components, their maintenance and consolidation needs. The present work presents the priorities agreed at the beginning of the LS1 period and their implementation. Of particular relevance are the interventions in radioactive controlled areas where several leaks due to stress corrosions stopped the operations in the past years. The strategy to reduce the collective dose is presented, in particular the use of remote controlled robots. An important part of the work performed during this period involves supporting other teams (acceptance tests, new equipment installation, etc.). Finally, as a result of the LS1 experience, a medium to long term strategy is depicted, focusing on the preparation of the next shutdown (LS2) and the integration of LINAC4 in the in...

Effects of Friction Reduction on Fiber Damage in a Saw-Type Lint Cleaner

Science.gov (United States)

U.S. cotton is at a competitive disadvantage from a fiber-quality standpoint, because lint cleaning is required for mechanically harvested cotton, and lint cleaning causes fiber damage. Lint-cleaning research has focused mainly on modifying saw-type lint cleaners, but the work reported here focuses...

Too tired for exercise? The work and leisure of female cleaners in Denmark

DEFF Research Database (Denmark)

Lenneis, Verena; Pfister, Gertrud Ursula

2017-01-01

on the relevant literature on women’s work–life balance and (migrant) women’s participation in LTPA, we approached their work and leisure from an intersectionality perspective and explored if and how female cleaners engaged in LTPA and which constraints impeded their involvement. The interviewees’ narratives...

Workshop on Indian Chemical Industry: perspectives on safety, cleaner production and environment production

NARCIS (Netherlands)

Ham, J.M.

1996-01-01

A Workshop on "Indian Chemical Industry: Perspectives on Safety, Cleaner Production and Environmental Protection" was held on 3, 4 and 5 January 1996, in Bombay, India. The main objective of the workshop, which was organised jointly by the Government of India, UNIDO/UNDP and the Indian Chemical

Playing after work? Opportunities and challenges of a physical activity programme for female cleaners

DEFF Research Database (Denmark)

Lenneis, Verena; Pfister, Gertrud Ursula

2016-01-01

The workplace is regarded as an ideal setting for health promotion, not least because large sections of the population, including “high risk groups”, can be reached. One group which is reportedly in great demand of health promotion is that of female (migrant) cleaners – the participants in our...... factors constrained and which supported participation. The interviews revealed a high degree of appreciation for the training but also pointed to a number of constraints which were embedded into the participants’ biographies and everyday lives as migrant cleaners in Denmark. Most women had no previous...... experience with sport and exercise and struggled with the high demands at work and a “second shift” at home. As a consequence, most participants found the training too time- and energy-consuming. We conclude that exercise programmes should preferably be conducted at the workplace and during working hours....

Advanced light source vacuum policy and vacuum guidelines for beamlines and experiment endstations

International Nuclear Information System (INIS)

Hussain, Z.

1995-08-01

The purpose of this document is to: (1) Explain the ALS vacuum policy and specifications for beamlines and experiment endstations. (2) Provide guidelines related to ALS vacuum policy to assist in designing beamlines which are in accordance with ALS vacuum policy. This document supersedes LSBL-116. The Advanced Light Source is a third generation synchrotron radiation source whose beam lifetime depends on the quality of the vacuum in the storage ring and the connecting beamlines. The storage ring and most of the beamlines share a common vacuum and are operated under ultra-high-vacuum (UHV) conditions. All endstations and beamline equipment must be operated so as to avoid contamination of beamline components, and must include proper safeguards to protect the storage ring vacuum from an accidental break in the beamline or endstation vacuum systems. The primary gas load during operation is due to thermal desorption and electron/photon induced desorption of contaminants from the interior of the vacuum vessel and its components. The desorption rates are considerably higher for hydrocarbon contamination, thus considerable emphasis is placed on eliminating these sources of contaminants. All vacuum components in a beamline and endstation must meet the ALS vacuum specifications. The vacuum design of both beamlines and endstations must be approved by the ALS Beamline Review Committee (BRC) before vacuum connections to the storage ring are made. The vacuum design is first checked during the Beamline Design Review (BDR) held before construction of the beamline equipment begins. Any deviation from the ALS vacuum specifications must be approved by the BRC prior to installation of the equipment on the ALS floor. Any modification that is incorporated into a vacuum assembly without the written approval of the BRC is done at the user's risk and may lead to rejection of the whole assembly

Robot engineering

Energy Technology Data Exchange (ETDEWEB)

Jung, Seul

2006-02-15

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

Robot engineering

International Nuclear Information System (INIS)

Jung, Seul

2006-02-01

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

Transition to an intelligent use of cleaner biomass stoves

DEFF Research Database (Denmark)

Luis Teles de Carvalho, Ricardo; Jensen, Ole Michael; Vicent, Estela D.

2016-01-01

are relevant issues to save energy and avoid greenhouse gas (CO2e) emissions. This work compares the operating performance of 3 types of biomass stoves used in Europe in their interaction with dwellings. Field studies were conducted in 24 houses in Portugal and Denmark to analyse wood-burning behaviours......In Europe, inappropriate user behaviours in the operation of wood-burning stoves (WBSs) results in substantial energy losses where fireplaces and conventional stoves are major contributors to undue emissions of health damaging fine particulate matter (PM2.5). The design and adoption of cleaner WBSs...

The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-Rotors

Science.gov (United States)

Scott, Rollin L.

2014-01-01

During the course of the Kennedy Space Center Summer Internship, two main experiments were performed: The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-copters. The objectives of the Vacuum-Compacted Regolith Gripping Mechanism, often abbreviated as the Granular Gripper, are to exhibit Space Technology, such as a soft robotic hand, lift different apparatuses used to excavate regolith, and conserve energy while executing its intended task. The project is being conducted to test how much weight the Granular Gripper can hold. With the use of an Animatronic Robotic Hand, Arduino Uno, and other components, the system was calibrated before actually conducting the intended weight test. The maximum weight each finger could hold with the servos running, in the order of pinky, ring, middle, and index fingers, are as follows: 1.340N, 1.456 N, 0.9579 N, and 1.358 N. Using the small vacuum pump system, the maximum weight each finger could hold, in the same order, was: 4.076 N, 6.159 N, 5.454 N, and 4.052 N. The maximum torques on each of the fingers when the servos were running, in the same respective order, was: 0.0777 Nm, 0.0533 Nm, 0.0648 Nm, and 0.0532 Nm. The maximum torques on the individual fingers, when the small vacuum pump was in effect, in the same order as above, was: 0.2318 Nm, 0.3032 Nm, 0.2741 Nm, and 0.1618 Nm. In testing all the fingers with the servos running, the total weight was 5.112 N and the maximum torque on the all the fingers was 0.2515 Nm. However, when the small vacuum pump system was used, the total weight was 19.741 N and the maximum torque on the all the fingers was 0.9713 Nm. The conclusion that was drawn stated that using the small vacuum pump system proved nearly 4 times more effective when testing how much weigh the hand could hold. The resistance provided by the compacted sand in the glove allowed more weight to be held by the hand and glove. Also, when the servos turned off and the hand still retaining its

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

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

Field evaluation and health assessment of air cleaners in removing radon decay products in domestic environments

International Nuclear Information System (INIS)

Li, Chih-Shan.

1990-01-01

In this study, field evaluations of two types of air cleaners were conducted in three single-family houses. The measurements included radon concentration, particle number concentration, and concentration and size distribution of radon decay products. The influence on the behavior of radon decay products by various indoor particles both with and without the air cleaning systems was investigated. A room model was used to calculate the changes in the aerosol parameters caused by the operation of the air cleaners. Using the James dosimetric models (1989 and 1990), the changes in the hourly bronchial dose rate per Bq m -3 radon for men, women, and children can be estimated for various domestic environments. 94 refs., 60 figs., 28 tabs

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

OpenAIRE

Cheng, Frank Shaopeng

2008-01-01

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

Acute effect on ambulatory blood pressure from aerobic exercise: a randomised cross-over study among female cleaners.

Science.gov (United States)

Lund Rasmussen, Charlotte; Nielsen, Line; Linander Henriksen, Marie; Søgaard, Karen; Krustrup, Peter; Holtermann, Andreas; Korshøj, Mette

2018-02-01

High occupational physical activity (OPA) is shown to increase the risk for elevated blood pressure, cardiovascular diseases and mortality. Conversely, aerobic exercise acutely lowers the blood pressure up to 25 h post exercise. However, it is unknown if this beneficial effect also apply for workers exposed to high levels of OPA. Cleaners constitute a relevant occupational group for this investigation because of a high prevalence of OPA and cardiovascular disease. Accordingly, the objective was to investigate the acute effects on ambulatory blood pressure from a single aerobic exercise session among female cleaners. Twenty-two female cleaners were randomised to a cross-over study with a reference and an aerobic exercise session. Differences in 24-h, work hours, leisure time, and sleep ambulatory blood pressure (ABP) were evaluated using repeated measure 2 × 2 mixed-models. After the aerobic exercise session, the 24-h systolic ambulatory blood pressure was significantly lowered by 2.4 mmHg (p ABP was unaltered. During work hours, a lowered systolic ABP of 2.2 mmHg (p = 0.02) and a higher diastolic ABP of 1.5 mmHg (p = 0.03) were found after the aerobic exercise session. During leisure time, the systolic ABP was lowered by 1.7 mmHg (p = 0.04) and the diastolic ABP was unaltered. During sleep, the systolic and diastolic ABP was unaltered. A single aerobic exercise session lowered 24-h systolic ABP of 2.4 mmHg. Thus, an aerobic exercise session seems to be beneficial for lowering the risk of hypertension among cleaners.

Applying real options analysis to assess cleaner energy development strategies

International Nuclear Information System (INIS)

Cheng, Ching-Tsung; Lo, Shang-Lien; Lin, Tyrone T.

2011-01-01

The energy industry, accounts for the largest portion of CO 2 emissions, is facing the issue of compliance with the national clean energy policy. The methodology for evaluating the energy mix policy is crucial because of the characteristics of lead time embedded with the power generation facilities investment and the uncertainty of future electricity demand. In this paper, a modified binomial model based on sequential compound options, which may account for the lead time and uncertainty as a whole is established, and a numerical example on evaluating the optional strategies and the strategic value of the cleaner energy policy is also presented. It is found that the optimal decision at some nodes in the binomial tree is path dependent, which is different from the standard sequential compound option model with lead time or time lag concept. The proposed modified binomial sequential compound real options model can be generalized and extensively applied to solve the general decision problems that deal with the long lead time of many government policies as well as capital intensive investments. - Highlights: → Introducing a flexible strategic management approach for government policy making. → Developing a modified binomial real options model based on sequential compound options. → Proposing an innovative model for managing the long term policy with lead time. → Applying to evaluate the options of various scenarios of cleaner energy strategies.

Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

International Nuclear Information System (INIS)

Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

2014-01-01

Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

2014-10-15

Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

Generic robot architecture

Science.gov (United States)

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

2010-09-21

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

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

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

2017-01-01

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

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Directory of Open Access Journals (Sweden)

Farshad Arvin

2014-07-01

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

ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot

International Nuclear Information System (INIS)

Arhur, D.; Perrot, Y.; Bidard, C.; Friconneau, J.P.; Palmer, J.D.; Semeraro, L.

2005-01-01

This paper is part of the Remote Handling (RH) activities for the future fusion reactor ITER. Specifically it relates to the possibility to carry out close inspection tasks of the Vacuum Vessel first wall using a long reach robot called the 'Articulated Inspection Arm' (AIA). Early studies for this device identified the need of improving the accuracy of the end-effector position in such robot structures. Therefore, the aim of this R and D program performed under the European Fusion Development Agreement (EFDA) work program is to develop a flexible parametric model with localised compliances of an AIA-like system, in order to compensate for its flexibilities. The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1 m, in some configurations, to a final accuracy of a few centimetres

Taxation on vehicle fuels: its impacts on switching to cleaner fuels

International Nuclear Information System (INIS)

Hung, W.-T.

2006-01-01

Vehicular consumption of fossil fuel contributes over 90% of air pollution in Hong Kong. A key strategy to improve Hong Kong's air quality is to discourage dirty fuels (e.g., leaded petrol and high-sulphur diesel) and to promote the use of clean fuels (e.g., low-sulphur diesel and liquefied petroleum gas (LPG)). This paper presents the empirical evidence on the effectiveness of the Government's clean fuel programs that offer tax subsidy to lower the consumption cost of such fuels. For the cases of unleaded petrol and ultra-low-sulphur diesel, lower fuel duties were offered so that the prices of these fuels were below those of leaded petrol and conventional diesel. Conventional petrol and diesel were phased out. In order to decide on the level of fuel duty concessions required to introduce LPG for taxis and bio-diesel for other vehicles, various Government-run trial programs were introduced to obtain cost estimates of using these alternative cleaner fuels. LPG using vehicles were subsequently exempted from the fuel duty in order to attract taxi and light bus operators to switch to LPG. It is apparent that the higher the subsidy, the faster is the rate at which switching to cleaner fuels takes place

Analysis and optimization on in-vessel inspection robotic system for EAST

Energy Technology Data Exchange (ETDEWEB)

Zhang, Weijun, E-mail: zhangweijun@sjtu.edu.cn; Zhou, Zeyu; Yuan, Jianjun; Du, Liang; Mao, Ziming

2015-12-15

Since China has successfully built her first Experimental Advanced Superconducting TOKAMAK (EAST) several years ago, great interest and demand have been increasing in robotic in-vessel inspection/operation systems, by which an observation of in-vessel physical phenomenon, collection of visual information, 3D mapping and localization, even maintenance are to be possible. However, it has been raising many challenges to implement a practical and robust robotic system, due to a lot of complex constraints and expectations, e.g., high remanent working temperature (100 °C) and vacuum (10{sup −3} pa) environment even in the rest interval between plasma discharge experiments, close-up and precise inspection, operation efficiency, besides a general kinematic requirement of D shape irregular vessel. In this paper we propose an upgraded robotic system with redundant degrees of freedom (DOF) manipulator combined with a binocular vision system at the tip and a virtual reality system. A comprehensive comparison and discussion are given on the necessity and main function of the binocular vision system, path planning for inspection, fast localization, inspection efficiency and success rate in time, optimization of kinematic configuration, and the possibility of underactuated mechanism. A detailed design, implementation, and experiments of the binocular vision system together with the recent development progress of the whole robotic system are reported in the later part of the paper, while, future work and expectation are described in the end.

BOA: Asbestos pipe insulation removal robot system. Phase 1

Energy Technology Data Exchange (ETDEWEB)

Schempf, H.; Bares, J.E.

1995-02-01

The project described in this report targets the development of a mechanized system for safe, cost-efficient and automated abatement of asbestos containing materials used as pipe insulation. Based on several key design criteria and site visits, a proof-of-concept prototype robot system, dubbed BOA, was designed and built, which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure -- restrictions to be alleviated through continued development. BOA removed asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. The containment and vacuum system on BOA was able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/ 8-hr. shift. This program consists of two phases. The first phase was completed and a demonstration was given to a review panel, consisting of DOE headquarters and site representatives as well as commercial abatement industry representatives. Based on the technical and programmatic recommendations drafted, presented and discussed during the review meeting, a new plan for the Phase II effort of this project was developed. Phase 11 will consist of a 26-month effort, with an up-front 4-month site-, market-, cost/benefit and regulatory study before the next BOA robot (14 months) is built, and then deployed and demonstrated (3 months) at a DOE site (such as Fernald or Oak Ridge) by the beginning of FY`97.

Water resources protection today: end-of-pipe technology and cleaner production. Case study of the Czech Odra River watershed.

Science.gov (United States)

Chour, V

2001-01-01

This paper reports on integrated watershed-based protection and sustainable use of water resources to increase the effectiveness of water pollution abatement. The approach includes improvements in end-of-pipe waste-water treatment technologies and implementation of Cleaner Production (CP) principles and policies within the watershed. An example of the general effectiveness of this approach is illustrated by the Czech Odra River Cleaner Production Project where reductions in pollution were achieved with improved industrial production. The CP theme is worth considering as an important challenge for the IWA.

What drives successful implementation of pollution prevention and cleaner technology strategy? The role of innovative capability.

Science.gov (United States)

Bhupendra, Kumar Verma; Sangle, Shirish

2015-05-15

Firms that are dynamic and prepared to implement environmental strategies have a potential competitive advantage over their industry counterparts. Therefore, it is important to understand, what capabilities are required to implement proactive environmental strategies. The paper discusses the attributes of innovative capability required by firms in order to adopt pollution prevention and cleaner technology strategies. Empirical results show that process and behavioral innovativeness are required by firms to implement a pollution prevention strategy. In addition to process and behavioral innovativeness, firms need a top management with high risk-taking ability as well as market, product, and strategic innovativeness to implement a cleaner technology strategy. The paper proposes some important managerial implications on the basis of the above research findings. Copyright © 2015 Elsevier Ltd. All rights reserved.

Micro intelligence robot

International Nuclear Information System (INIS)

Jeon, Yon Ho

1991-07-01

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

Magnetically induced vacuum decay

International Nuclear Information System (INIS)

Xue Shesheng

2003-01-01

We study the fermionic vacuum energy of vacua with and without application of an external magnetic field. The energetic difference of two vacua leads to the vacuum decaying and the vacuum energy being released. In the context of quantum field theories, we discuss why and how the vacuum energy can be released by spontaneous photon emission and/or paramagnetically screening the external magnetic field. In addition, we quantitatively compute the vacuum energy released, the paramagnetic screening effect, and the rate and spectrum of spontaneous photon emission. The possibilities of experimentally detecting such an effect of vacuum-energy release and that this effect accounts for the anomalous x-ray pulsar are discussed

Modelling of industrial robot in LabView Robotics

Science.gov (United States)

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

2017-08-01

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

R&D ERL: Vacuum

Energy Technology Data Exchange (ETDEWEB)

Mapes, M.; Smart, L.; Weiss, D.; Steszyn, A.; Todd, R.

2010-01-01

The ERL Vacuum systems are depicted in a figure. ERL has eight vacuum volumes with various sets of requirements. A summary of vacuum related requirements is provided in a table. Five of the eight volumes comprise the electron beamline. They are the 5-cell Superconducting RF Cavity, Superconducting e-gun, injection, loop and beam dump. Two vacuum regions are the individual cryostats insulating the 5-cell Superconducting RF Cavity and the Superconducting e-gun structures. The last ERL vacuum volume not shown in the schematic is the laser transport line. The beamline vacuum regions are separated by electropneumatic gate valves. The beam dump is common with loop beamline but is considered a separate volume due to geometry and requirements. Vacuum in the 5-cell SRF cavity is maintained in the {approx}10{sup -9} torr range at room temperature by two 20 l/s ion pumps and in the e-gun SRF cavity by one 60 l/s ion pump. Vacuum in the SRF cavities operated at 2{sup o}K is reduced to low 10{sup -11} torr via cryopumping of the cavity walls. The cathode of the e-gun must be protected from poisoning, which can occur if vacuum adjacent to the e-gun in the injection line exceeds 10-11 torr range in the injection warm beamline near the e-gun exit. The vacuum requirements for beam operation in the loop and beam dump are 10-9 torr range. The beamlines are evacuated from atmospheric pressure to high vacuum level with a particulate free, oil free turbomolecular pumping cart. 25 l/s shielded ion pumps distributed throughout the beamlines maintain the vacuum requirement. Due to the more demanding vacuum requirement of the injection beamline proximate to the e-gun, a vacuum bakeout of the injection beamline is required. In addition, two 200 l/s diode ion pumps and supplemental pumping provided by titanium sublimation pumps are installed in the injection line just beyond the exit of the e-gun. Due to expected gas load a similar pumping arrangement is planned for the beam dump. The

Electroweak vacuum instability and renormalized Higgs field vacuum fluctuations in the inflationary universe

Energy Technology Data Exchange (ETDEWEB)

Kohri, Kazunori [Institute of Particle and Nuclear Studies, KEK, 1-1 Oho, Tsukuba 305-0801 (Japan); Matsui, Hiroki, E-mail: kohri@post.kek.jp, E-mail: matshiro@post.kek.jp [The Graduate University for Advanced Studies (SOKENDAI), 1-1 Oho, Tsukuba 305-0801 (Japan)

2017-08-01

In this work, we investigated the electroweak vacuum instability during or after inflation. In the inflationary Universe, i.e., de Sitter space, the vacuum field fluctuations < δ φ {sup 2} > enlarge in proportion to the Hubble scale H {sup 2}. Therefore, the large inflationary vacuum fluctuations of the Higgs field < δ φ {sup 2} > are potentially catastrophic to trigger the vacuum transition to the negative-energy Planck-scale vacuum state and cause an immediate collapse of the Universe. However, the vacuum field fluctuations < δ φ {sup 2} >, i.e., the vacuum expectation values have an ultraviolet divergence, and therefore a renormalization is necessary to estimate the physical effects of the vacuum transition. Thus, in this paper, we revisit the electroweak vacuum instability from the perspective of quantum field theory (QFT) in curved space-time, and discuss the dynamical behavior of the homogeneous Higgs field φ determined by the effective potential V {sub eff}( φ ) in curved space-time and the renormalized vacuum fluctuations < δ φ {sup 2} >{sub ren} via adiabatic regularization and point-splitting regularization. We simply suppose that the Higgs field only couples the gravity via the non-minimal Higgs-gravity coupling ξ(μ). In this scenario, the electroweak vacuum stability is inevitably threatened by the dynamical behavior of the homogeneous Higgs field φ, or the formations of AdS domains or bubbles unless the Hubble scale is small enough H < Λ {sub I} .

Towards Sociable Robots

DEFF Research Database (Denmark)

Ngo, Trung Dung

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

Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

Energy Technology Data Exchange (ETDEWEB)

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

2009-09-15

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

Robot Futures

DEFF Research Database (Denmark)

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

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

Soft Robotics Week

CERN Document Server

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

2017-01-01

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

Vacuum system for ISABELLE

International Nuclear Information System (INIS)

Hobson, J.P.

1975-01-01

An analysis is presented of the proposed vacuum system for the planned ISABELLE storage rings with respect to acceptability and practicality from the vacuum viewport. A comparison is made between the proposed vacuum system and the vacuum system at the CERN ISR, and some comments on various design and operational parameters are made

Towards Versatile Robots Through Open Heterogeneous Modular Robots

OpenAIRE

Lyder, Andreas

2010-01-01

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

China and Cleaner Coal. A marriage of necessity destined for failure?

International Nuclear Information System (INIS)

Seaman, John

2012-04-01

For China, coal is a crucial source of abundant, indigenous and affordable energy and is a pillar of economic and social stability. From a logic of energy security, and because the industry itself maintains a formidable political presence through the sheer fact of its history and size, this resource will continue to play a central role in the country's energy mix. But in order to respond to the growing need to reduce the burden of coal use on the environment and the Chinese population, and to prevent catastrophic climate change, both Chinese leaders and the industry itself have faced a certain reality - coal must become cleaner. This has led to a tenuous compromise between those in China advocating for the use of coal as a matter of economic necessity and social stability (security of supply, reliable and cheap electricity, and indigenous energy technologies) and those who strive for more environmentally sustainable growth (and thus emphasize 'clean' coal). The convergence of these two concepts has spurred a major shift towards newer, more efficient, though still highly polluting technologies - notably larger scale, hotter burning supercritical and ultra-supercritical coal-fired plants. But it has also spawned a number of demonstration-scale projects in various cutting-edge technologies to include coal gasification and carbon capture and storage (CCS), which promise vast improvements in CO_2 and other, toxic emissions if widely adopted. Indeed, mitigating climate change while continuing to rely heavily on coal will only be possible if carbon can successfully be captured and stored on a broad scale. The push to develop new coal technologies opens doors for both foreign and Chinese businesses to work together, potentially creating new market opportunities at home and abroad. Chinese companies can receive much-needed capital and expertise, while foreign companies and researchers are given the chance to test and develop technologies at a level of speed and scale that

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...

Cleaner drive - Obstacles in the way of a market for a new generation of vehicles; Cleaner Drive. Hindernisse fuer die Markteinfuehrung von neuen Fahrzeug-Generationen. Bericht ueber die Beteiligung von e'mobile am EU-Projekt

Energy Technology Data Exchange (ETDEWEB)

Schwegler, U. [e' mobile, der Schweizerische Verband fuer elektrische und effiziente Strassenfahrzeuge, Berne (Switzerland); Domeniconi, R. [AssoVEL2, Mendrisio (Switzerland); Kaufmann, J. [Kaufmann Consulting, Berne (Switzerland); Werfeli, A. [Verband der Schweizerischen Gasindustrie, Zuerich (Switzerland)

2004-07-01

This final report for the Association of Swiss Traffic Engineers describes work done within the framework of the fifth European Research Framework Programme involving the development of tools to speed up the introduction of a new generations of vehicles. This report lists the work done by the Swiss e'mobil organisation and discusses the limitations placed on the work by its international framework. The report presents the 'Cleaner Drive' environmental evaluation methods used for vehicles. This considers greenhouse-gas emissions and external costs. Factors not considered, noise and bio-fuels, are mentioned. A data-base based decision-support tool is introduced. The development of the 'Cleaner Drive' web site is described. A further chapter takes a look at efforts being made in the area of filling stations for gaseous fuels.

BOA: Asbestos pipe-insulation removal robot system. Phase I. Topical report, November 1993--December 1994

International Nuclear Information System (INIS)

Schempf, H.; Bares, J.E.

1995-01-01

Based on several key design criteria and site visits, we developed a Robot design and built a system which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure. Experimental results indicated that the current robotic abatement process is sound yet needs to be further expanded and modified. One of the main discoveries was that a longitudinal cut to fully allow the paddles to dig in and compress the insulation off the pipe is essential. Furthermore, a different cutting method might be explored to alleviate the need for a deeper cut and to enable a combination of certain functions such as compression and cutting. Unfortunately due to a damaged mechanism caused by extensive testing, we were unable to perform vertical piping abatement experiments, but foresee no trouble in implementing them in the next proposed Phase. Other encouraging results have BOA removing asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. However, we feel confident that we can double the asbestos removal rate by improving cutting speed, and increasing the length of the BOA robot. The containment and vacuum system on BOA is able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/8-hr. shift. Currently, BOA weighs about 117 pounds which is more than a human is permitted to lift overhead under OSHA requirements (i.e., 25 pounds). We are considering designing the robot into two components (i.e., locomotor section and cutter/removal section) to aid human installation as well as incorporating composite materials. A more detailed list of all the technical modifications is given in this topical report

BOA: Asbestos pipe-insulation removal robot system. Phase I. Topical report, November 1993--December 1994

Energy Technology Data Exchange (ETDEWEB)

Schempf, H.; Bares, J.E.

1995-01-01

Based on several key design criteria and site visits, we developed a Robot design and built a system which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure. Experimental results indicated that the current robotic abatement process is sound yet needs to be further expanded and modified. One of the main discoveries was that a longitudinal cut to fully allow the paddles to dig in and compress the insulation off the pipe is essential. Furthermore, a different cutting method might be explored to alleviate the need for a deeper cut and to enable a combination of certain functions such as compression and cutting. Unfortunately due to a damaged mechanism caused by extensive testing, we were unable to perform vertical piping abatement experiments, but foresee no trouble in implementing them in the next proposed Phase. Other encouraging results have BOA removing asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. However, we feel confident that we can double the asbestos removal rate by improving cutting speed, and increasing the length of the BOA robot. The containment and vacuum system on BOA is able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/8-hr. shift. Currently, BOA weighs about 117 pounds which is more than a human is permitted to lift overhead under OSHA requirements (i.e., 25 pounds). We are considering designing the robot into two components (i.e., locomotor section and cutter/removal section) to aid human installation as well as incorporating composite materials. A more detailed list of all the technical modifications is given in this topical report.

Integrated Hydrologic Science and Environmental Engineering Observatory: CLEANER's Vision for the WATERS Network

Science.gov (United States)

Montgomery, J. L.; Minsker, B. S.; Schnoor, J.; Haas, C.; Bonner, J.; Driscoll, C.; Eschenbach, E.; Finholt, T.; Glass, J.; Harmon, T.; Johnson, J.; Krupnik, A.; Reible, D.; Sanderson, A.; Small, M.; van Briesen, J.

2006-05-01

With increasing population and urban development, societies grow more and more concerned over balancing the need to maintain adequate water supplies with that of ensuring the quality of surface and groundwater resources. For example, multiple stressors such as overfishing, runoff of nutrients from agricultural fields and confined animal feeding lots, and pathogens in urban stormwater can often overwhelm a single water body. Mitigating just one of these problems often depends on understanding how it relates to others and how stressors can vary in temporal and spatial scales. Researchers are now in a position to answer questions about multiscale, spatiotemporally distributed hydrologic and environmental phenomena through the use of remote and embedded networked sensing technologies. It is now possible for data streaming from sensor networks to be integrated by a rich cyberinfrastructure encompassing the innovative computing, visualization, and information archiving strategies needed to cope with the anticipated onslaught of data, and to turn that data around in the form of real-time water quantity and quality forecasting. Recognizing this potential, NSF awarded $2 million to a coalition of 12 institutions in July 2005 to establish the CLEANER Project Office (Collaborative Large-Scale Engineering Analysis Network for Environmental Research; http://cleaner.ncsa.uiuc.edu). Over the next two years the project office, in coordination with CUAHSI (Consortium of Universities for the Advancement of Hydrologic Science, Inc.; http://www.cuahsi.org), will work together to develop a plan for a WATer and Environmental Research Systems Network (WATERS Network), which is envisioned to be a collaborative scientific exploration and engineering analysis network, using high performance tools and infrastructure, to transform our scientific understanding of how water quantity, quality, and related earth system processes are affected by natural and human-induced changes to the environment

Vacuum extraction

DEFF Research Database (Denmark)

Maagaard, Mathilde; Oestergaard, Jeanett; Johansen, Marianne

2012-01-01

Objectives. To develop and validate an Objective Structured Assessment of Technical Skills (OSATS) scale for vacuum extraction. Design. Two-part study design: Primarily, development of a procedure-specific checklist for vacuum extraction. Hereafter, validation of the developed OSATS scale for vac...

Soft Robotics.

Science.gov (United States)

Whitesides, George M

2018-04-09

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

IMPACT OF COSOLVENT FLUSHING ON SUBSURFACE MICROBIAL ECOLOGY AT THE FORMER SAGE'S DRY CLEANER SITE

Science.gov (United States)

The Solvent Extraction Residual Biotreatment (SERB) technology was evaluated at the former Sage's Dry Cleaner site in Jacksonville, FL where an area of tetrachloroethylene (PCE) contamination was identified. The SERB technology is a treatment train approach to complete site rest...

Exploiting Child-Robot Aesthetic Interaction for a Social Robot

OpenAIRE

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

2012-01-01

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

The Infraordinary as Spatial Discourse: Tongue of the Dry Cleaner

DEFF Research Database (Denmark)

Lunde Nielsen, Espen

2014-01-01

Most of us pass along kiosks, pubs, dry cleaners, turn street corners, rise up stairways on a daily basis, in a sort of spatial anaesthesia. These spaces that facilitates our everyday existence are ‘worn half-invisible by use’, thereby not given due attention. Through his occupation with the infra...... and people of the neighbourhood coexist through events in real-time and depositions over time. The infra-ordinary as a spatial discourse interrogates and acknowledges the latent qualities of the common and seemingly banal, yet vitally important, spatial materiality of everyday life, as an alternative...

Evolutionary robotics

Indian Academy of Sciences (India)

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

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

Science.gov (United States)

Fong, Terry

2017-01-01

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

Cosmic vacuum

International Nuclear Information System (INIS)

Chernin, Artur D

2001-01-01

Recent observational studies of distant supernovae have suggested the existence of cosmic vacuum whose energy density exceeds the total density of all the other energy components in the Universe. The vacuum produces the field of antigravity that causes the cosmological expansion to accelerate. It is this accelerated expansion that has been discovered in the observations. The discovery of cosmic vacuum radically changes our current understanding of the present state of the Universe. It also poses new challenges to both cosmology and fundamental physics. Why is the density of vacuum what it is? Why do the densities of the cosmic energy components differ in exact value but agree in order of magnitude? On the other hand, the discovery made at large cosmological distances of hundreds and thousands Mpc provides new insights into the dynamics of the nearby Universe, the motions of galaxies in the local volume of 10 - 20 Mpc where the cosmological expansion was originally discovered. (reviews of topical problems)

Cosmic vacuum

Energy Technology Data Exchange (ETDEWEB)

Chernin, Artur D [P.K. Shternberg State Astronomical Institute at the M.V. Lomonosov Moscow State University, Moscow (Russian Federation)

2001-11-30

Recent observational studies of distant supernovae have suggested the existence of cosmic vacuum whose energy density exceeds the total density of all the other energy components in the Universe. The vacuum produces the field of antigravity that causes the cosmological expansion to accelerate. It is this accelerated expansion that has been discovered in the observations. The discovery of cosmic vacuum radically changes our current understanding of the present state of the Universe. It also poses new challenges to both cosmology and fundamental physics. Why is the density of vacuum what it is? Why do the densities of the cosmic energy components differ in exact value but agree in order of magnitude? On the other hand, the discovery made at large cosmological distances of hundreds and thousands Mpc provides new insights into the dynamics of the nearby Universe, the motions of galaxies in the local volume of 10 - 20 Mpc where the cosmological expansion was originally discovered. (reviews of topical problems)

General wisdom concerning the factors affecting the adoption of cleaner technologies: a survey 1990-2007

NARCIS (Netherlands)

Montalvo Corral, C.

2008-01-01

Cleaner technologies (CT) have recently received much attention in diverse media and policy agendas. This comes out of the clear role they play in environmental protection and sustainability and the large potential to contribute to economic growth and competitiveness. The realization of both

Vacuum level effects on gait characteristics for unilateral transtibial amputees with elevated vacuum suspension.

Science.gov (United States)

Xu, Hang; Greenland, Kasey; Bloswick, Donald; Zhao, Jie; Merryweather, Andrew

2017-03-01

The elevated vacuum suspension system has demonstrated unique health benefits for amputees, but the effect of vacuum pressure values on gait characteristics is still unclear. The purpose of this study was to investigate the effects of elevated vacuum levels on temporal parameters, kinematics and kinetics for unilateral transtibial amputees. Three-dimensional gait analysis was conducted in 9 unilateral transtibial amputees walking at a controlled speed with five vacuum levels ranging from 0 to 20inHg, and also in 9 able-bodied subjects walking at self-preferred speed. Repeated ANOVA and Dunnett's t-test were performed to determine the effect of vacuum level and limb for within subject and between groups. The effect of vacuum level significantly affected peak hip external rotation and external knee adduction moment. Maximum braking and propulsive ground reaction forces generally increased for the residual limb and decreased for the intact limb with increasing vacuum. Additionally, the intact limb experienced an increased loading due to gait asymmetry for several variables. There was no systematic vacuum level effect on gait. Higher vacuum levels, such as 15 and 20inHg, were more comfortable and provided some relief to the intact limb, but may also increase the risk of osteoarthritis of the residual limb due to the increased peak external hip and knee adduction moments. Very low vacuum should be avoided because of the negative effects on gait symmetry. A moderate vacuum level at 15inHg is suggested for unilateral transtibial amputees with elevated vacuum suspension. Copyright © 2017 Elsevier Ltd. All rights reserved.

ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

Directory of Open Access Journals (Sweden)

Hidetsugu Suto

2013-12-01

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

Robotic buildings(s)

NARCIS (Netherlands)

Bier, H.H.

2014-01-01

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

Reactive adsorption: A cleaner technology in nuclear power plants

International Nuclear Information System (INIS)

Marton, G.; Szanya, T.; Hanak, L.

1996-01-01

Cleaner technology prefers work with minimal loss and the wastes cause the less environmental damages. In the spirit of the previous sentence in the present paper reactive adsorption is investigated for the removal of radioactive nuclides from nuclear power plant decontamination solutions. During alkaline, oxidative decontamination of nuclear power plant equipment a radioactive solution is produced. Owing to the storing difficulties of radioactive solutions it is necessary to develop a method for the in situ treatment of radioactive, alkaline, oxidative decontamination solutions, and for the concentration of radioactive components. Reactive adsorption seems to be promising for this purpose. 3 refs., 8 figs., 1 tab

Equal-sign lepton pairs: a cleaner W-signal in panti p collisions

International Nuclear Information System (INIS)

Abud, M.; Gatto, R.; Savoy, C.A.

1978-01-01

It is pointed out that the observation of the energetic equal-sign dileptons in high-energy panti p colliding beams may provide for a cleaner way of detecting the W. It is assumed that the most energetic dileptons come from the semileptonic decays of the t- and b-quarks. The authors calculate the dilepton signal from weak interaction and compare it with the strong interaction background as predicted by QCD. (Auth.)

Introduction to vacuum technology: supplementary study material developed for IVS sponsored vacuum courses

International Nuclear Information System (INIS)

Bhusan, K.G.

2008-01-01

Vacuum technology has advanced to a large extent mainly from the demands of experimental research scientists who have more than ever understood the need for clean very low pressure environments. This need only seems to increase as the lowest pressures achievable in a laboratory setup are dropping down by the decade. What is not usually said is that conventional techniques of producing ultrahigh vacuum have also undergone a metamorphosis in order to cater to the multitude of restrictions in modern day scientific research. This book aims to give that practical approach to vacuum technology. The basics are given in the first chapter with more of a definition oriented approach - which is practically useful. The second chapter deals with the production of vacuum and ultrahigh vacuum with an emphasis on the working principles of several pumps and their working pressure ranges. Measurement of low pressures, both total and partial is presented in the third chapter with a note on leak detection and mass spectrometric techniques. Chapter 4 gives an overview of the materials that are vacuum compatible and their material properties. Chapter 5 gives the necessary methods to be followed for cleaning of vacuum components especially critical if ultrahigh vacuum environment is required. The practical use of a ultrahigh vacuum environment is demonstrated in Chapter 6 for production of high quality thin films through vapour deposition

Cloud Robotics Platforms

Directory of Open Access Journals (Sweden)

Busra Koken

2015-01-01

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

Distributed Robotics Education

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2011-01-01

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

Erectile dysfunction in robotic radical prostatectomy: Outcomes and management

Directory of Open Access Journals (Sweden)

Patrick Whelan

2014-01-01

Full Text Available Robot-assisted laparoscopic prostatectomy (RALP has emerged as the most common treatment for localized prostate cancer. With improved surgical precision, RALP has produced hope of improved potency rates, especially with the advent of nerve-sparing and other modified techniques. However, erectile dysfunction (ED remains a significant problem for many men regardless of surgical technique. To identify the functional outcomes of robotic versus open and laparoscopic techniques, new robotic surgical techniques and current treatment options of ED following RALP. A Medline search was performed in March 2014 to identify studies comparing RALP with open retropubic radical prostatectomy (RRP and laparoscopic radical prostatectomy, modified RALP techniques and treatment options and management for ED following radical prostatectomy. RALP demonstrates adequate potency rates without compromising oncologic benefit, with observed benefit for potency rates compared with RRP. Additionally, specific surgical technical modifications appear to provide benefit over traditional RALP. Phosphodiesterase-5 inhibitors (PDE5I demonstrate benefit for ED treatment compared with placebo. However, long-term benefit is often lost after use. Other therapies have been less extensively studied. Additionally, correct patient identification is important for greatest clinical benefit. RALP appears to provide beneficial potency rates compared with RRP; however, these effects are most pronounced at high-volume centers with experienced surgeons. No optimal rehabilitation program with PDE5Is has been identified based on current data. Additionally, vacuum erection devices, intracavernosal injections and other techniques have not been well validated for post RALP ED treatment.

Robot Mechanisms

CERN Document Server

Lenarcic, Jadran; Stanišić, Michael M

2013-01-01

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

Robots de servicio

Directory of Open Access Journals (Sweden)

Rafael Aracil

2008-04-01

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

Filigree Robotics

DEFF Research Database (Denmark)

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

2016-01-01

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

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

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

1999-05-15

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

Robotics education

International Nuclear Information System (INIS)

Benton, O.

1984-01-01

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

The performance of cleaner wrasse, Labroides dimidiatus, in a reversal learning task varies across experimental paradigms.

Science.gov (United States)

Gingins, Simon; Marcadier, Fanny; Wismer, Sharon; Krattinger, Océane; Quattrini, Fausto; Bshary, Redouan; Binning, Sandra A

2018-01-01

Testing performance in controlled laboratory experiments is a powerful tool for understanding the extent and evolution of cognitive abilities in non-human animals. However, cognitive testing is prone to a number of potential biases, which, if unnoticed or unaccounted for, may affect the conclusions drawn. We examined whether slight modifications to the experimental procedure and apparatus used in a spatial task and reversal learning task affected performance outcomes in the bluestreak cleaner wrasse, Labroides dimidiatus (hereafter "cleaners"). Using two-alternative forced-choice tests, fish had to learn to associate a food reward with a side (left or right) in their holding aquarium. Individuals were tested in one of four experimental treatments that differed slightly in procedure and/or physical set-up. Cleaners from all four treatment groups were equally able to solve the initial spatial task. However, groups differed in their ability to solve the reversal learning task: no individuals solved the reversal task when tested in small tanks with a transparent partition separating the two options, whereas over 50% of individuals solved the task when performed in a larger tank, or with an opaque partition. These results clearly show that seemingly insignificant details to the experimental set-up matter when testing performance in a spatial task and might significantly influence the outcome of experiments. These results echo previous calls for researchers to exercise caution when designing methodologies for cognition tasks to avoid misinterpretations.

Vacuum fluctuations in an ancestor vacuum: A possible dark energy candidate

Science.gov (United States)

Aoki, Hajime; Iso, Satoshi; Lee, Da-Shin; Sekino, Yasuhiro; Yeh, Chen-Pin

2018-02-01

We consider an open universe created by bubble nucleation, and study possible effects of our "ancestor vacuum," a de Sitter space in which bubble nucleation occurred, on the present universe. We compute vacuum expectation values of the energy-momentum tensor for a minimally coupled scalar field, carefully taking into account the effect of the ancestor vacuum by the Euclidean prescription. We pay particular attention to the so-called supercurvature mode, a non-normalizable mode on a spatial slice of the open universe, which has been known to exist for sufficiently light fields. This mode decays in time most slowly, and may leave residual effects of the ancestor vacuum, potentially observable in the present universe. We point out that the vacuum energy of the quantum field can be regarded as dark energy if mass of the field is of order the present Hubble parameter or smaller. We obtain preliminary results for the dark energy equation of state w (z ) as a function of the redshift.

Robot Aesthetics

DEFF Research Database (Denmark)

Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

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

International Nuclear Information System (INIS)

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

1989-01-01

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

Robots Social Embodiment in Autonomous Mobile Robotics

Directory of Open Access Journals (Sweden)

Brian Duffy

2008-11-01

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

Robotic intelligence kernel

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID

2009-11-17

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

Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

Directory of Open Access Journals (Sweden)

Peihua Chen

2014-01-01

Full Text Available Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV, a planar articulated arm (PAA, and an articulated teleoperated manipulator (ATM. The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM. The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

An Intelligent Robot Programing

Energy Technology Data Exchange (ETDEWEB)

Hong, Seong Yong

2012-01-15

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

An Intelligent Robot Programing

International Nuclear Information System (INIS)

Hong, Seong Yong

2012-01-01

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

Neuro-robotics from brain machine interfaces to rehabilitation robotics

CERN Document Server

Artemiadis

2014-01-01

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

Overview of CMS robotic silicon module assembly hardware based on Aerotech Gantry Positioning system.

CERN Multimedia

Honma, Alan

1999-01-01

The goal of the robotic silicon module assembly pilot project is to fully automate the gluing and pick and placement of silicon sensors and front-end hybrid onto a carbon-fibre frame. The basis for thesystem is the Aerotech Gantry Positioning System (AGS10000) machineshown in the centre of the picture. To the left is the PC which contains the controller card and runs the user interface. To the rightis the rack of associated electronics which interfaces with the CERNbuilt tooling and vacuum chuck system.

Effort-reward imbalance at work and self-rated health of Las Vegas hotel room cleaners.

Science.gov (United States)

Krause, Niklas; Rugulies, Reiner; Maslach, Christina

2010-04-01

This study investigates the relationship between effort-reward-imbalance (ERI) at work and self-rated health (SF-36) among 941 Las Vegas hotel room cleaners (99% female, 84% immigrant). Logistic regression models adjust for age, health behaviors, physical workload and other potential confounders. 50% reported ERI and 60% poor or fair general health. Significant associations were found between ERI and all SF-36 health measures. Workers in the upper quartile of the efforts/rewards ratio were 2-5 times more likely to experience poor or fair general health, low physical function, high levels of pain, fatigue, and role limitations due to physical and mental health problems. The cross-sectional design limits causal interpretation of these associations. However, the development of interventions to reduce ERI and to improve general health among room cleaners deserves high priority considering that both high ERI and low self-rated health have predicted chronic diseases and mortality in prospective studies. (c) 2009 Wiley-Liss, Inc.

Strategies to overcome barriers for cleaner generation technologies in small developing power systems: Sri Lanka case study

International Nuclear Information System (INIS)

Wijayatunga, Priyantha D.C.; Siriwardena, Kanchana; Fernando, W.J.L.S.; Shrestha, Ram M.; Attalage, Rahula A.

2006-01-01

The penetration of cleaner and energy efficient technologies in small power systems such as the one in Sri Lanka has encountered many problems. This has caused major concerns among the policy makers, mainly in the context of the growing need to reduce harmful emissions in the electricity supply industry from the point of view of both local environmental pollution as well as the global warming concerns. This paper presents the outcome of a study involved in identifying and ranking the barriers to the promotion of cleaner and energy efficient technologies and strategies to overcome these barriers in Sri Lanka. Barriers for renewable energy based systems such as wind and wood fuel fired plants (dendro thermal power) and cleaner technologies such as liquefied natural gas (LNG) fired combined cycle and IGCC (coal) were identified based on a survey. A direct assessment multi-criteria decision making method called Analytic Hierarchy Process (AHP) was used to rank the barriers. The most effective strategies are proposed to address the three major barriers for each of these technologies based on extensive discussions with all the stakeholders in the electricity industry. It was found that lack of financing instruments, high initial cost and lack of assurance of resource supply or availability are the main barriers for renewable technologies. As for cleaner fuel and technology options associated with conventional generation systems, the lack of a clear government policy, uncertainty of fuel supplies and their prices and the reliability of the technologies themselves are the major barriers. Strategies are identified to overcome the above barriers. Establishment of a proper feed in tariff, geographical diversification of installations and capacity building in commercial banks are suggested for wind power. Investment incentives, streamlining of wood production and research on site identification are proposed for wood fuel fired plants. Also the study suggests delayed

The importance of integrated system design for the effectiveness of portable air cleaners in airborne infection

CSIR Research Space (South Africa)

Van Reenen, T

2013-12-01

Full Text Available The results of the recent study into the effectiveness of portable air cleaners (PACs), as an infection control measure against TB, delivered unexpectedly low results. That finding initiated a further study to understand the contribution of system...

Cloud Robotics Model

OpenAIRE

Mester, Gyula

2015-01-01

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

Space Robotics Challenge

Data.gov (United States)

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

Are Sex Robots as Bad as Killing Robots

OpenAIRE

Richardson, Kathleen

2016-01-01

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

Multi-robot control interface

Science.gov (United States)

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

2011-12-06

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

Overview of cleaner production as a result of clean technology research in Vietnam

Energy Technology Data Exchange (ETDEWEB)

Sam, D.V.; Nhan, T.V.; Lan, N.N. [Hanoi Univ. of Technology (Viet Nam)

1996-12-31

Vietnam is beginning its industrialization process, and it currently lacks the capital necessary for expensive pollution control and treatment systems. Pollution strategies are critical for the country. This study evaluates the present status of industry and the pollution problems associated with industrial development in Vietnam. The purpose of the study is to identify sectors that may have potential for promoting cleaner production practices. 4 refs.

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.

The Rediscovery of Teaching: On Robot Vacuum Cleaners, Non-Egological Education and the Limits of the Hermeneutical World View

Science.gov (United States)

Biesta, Gert

2016-01-01

In this article, I seek to reclaim a place for teaching in face of the contemporary critique of so-called traditional teaching. While I agree with this critique to the extent to which it is levelled at an authoritarian conception of teaching as control, a conception in which the student can only exist as an object of the interventions of the…

Influence of Gap Distance on Vacuum Arc Characteristics of Cup Type AMF Electrode in Vacuum Interrupters

International Nuclear Information System (INIS)

Cheng Shaoyong; Xiu Shixin; Wang Jimei; Shen Zhengchao

2006-01-01

The greenhouse effect of SF 6 is a great concern today. The development of high voltage vacuum circuit breakers becomes more important. The vacuum circuit breaker has minimum pollution to the environment. The vacuum interrupter is the key part of a vacuum circuit breaker. The interrupting characteristics in vacuum and arc-controlling technique are the main problems to be solved for a longer gap distance in developing high voltage vacuum interrupters. To understand the vacuum arc characteristics and provide effective technique to control vacuum arc in a long gap distance, the arc mode transition of a cup-type axial magnetic field electrode is observed by a high-speed charge coupled device (CCD) video camera under different gap distances while the arc voltage and arc current are recorded. The controlling ability of the axial magnetic field on vacuum arc obviously decreases when the gap distance is longer than 40 mm. The noise components and mean value of the arc voltage significantly increase. The effective method for controlling the vacuum arc characteristics is provided by long gap distances based on the test results. The test results can be used as a reference to develop high voltage and large capacity vacuum interrupters

Vacuum-assisted delivery

Science.gov (United States)

... medlineplus.gov/ency/patientinstructions/000514.htm Vacuum-assisted delivery To use the sharing features on this page, ... through the birth canal. When is Vacuum-assisted Delivery Needed? Even after your cervix is fully dilated ( ...

Lipophilic Super-Absorbent Swelling Gels as Cleaners for Use on Weapons Systems and Platforms

Science.gov (United States)

2014-02-01

Tetrahydrofuran (THF), isopropa- nol, acetonitrile, and dichloromethane were obtained from Acros Organics (Morris Plains, NJ). Dimethylsulfoxide ( DMSO ) and 1...1. In the following solvents , swelling degree did not change in both heating and cooling processes: water, DMSO , methanol, ethanol, isopropanol...available alkylstyrene copolymer (imbiber beads). The cleaning ability of the gels was compared with the standard solvent cleaner trichloroethylene

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

Directory of Open Access Journals (Sweden)

Tole Sutikno

2011-12-01

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

Radiation technology helps China’s industries make water cleaner

International Nuclear Information System (INIS)

Jawerth, Nicole

2015-01-01

China is pursuing the use of radiation technology as part of its wastewater treatment methods to further efforts to manage industrial waste in an environmentally friendly way. “Treating the water that comes from our industries is very important, so we have been doing this for a long time. Now we want to become better at making our water cleaner,” said Jianlong Wang, Vice-President of the Institute of Nuclear and New Energy Technology (INET) at Tsinghua University in Beijing. “We are receiving a lot of support from the IAEA to use electron beam based technologies to help us get rid of various water pollutants that the other methods cannot do on their own.”

The ecological significance of juvenile Diplodus sargus as ectoparasite fish cleaners in the north-eastern Atlantic

Directory of Open Access Journals (Sweden)

José Neto

2015-11-01

Full Text Available Cleaning behaviour was recently described for the omnivorous species Diplodus sargus. Although previous studies have reported the existence of ectoparasites in the stomach contents of some individuals this commercially important fish was never considered a cleaner species. Here we make the first characterization of this behaviour based on field observations. This behaviour was exclusively performed by juvenile D. sargus and, until now, was only observed in confined or semi-confined areas such as coastal lagoons or harbours. Unexpectedly, cleaning rates and the number of individuals performing this behaviour largely exceeds the ones described for a sympatric cleaner fish (13.98 cleaning events/individual/hour compared to 5.08 in Centrolabrus exoletus. Clients belong to several fish families (e.g. Mugilidae, Sparidae and Labridae that include some of the most common species in coastal habitats. Frequently, clients request cleaning by tilting their body or remaining motionless near the surface while being cleaned (40% however, in most cases, the interaction ends because clients flee (46%. This could mean that D. sargus is also feeding on mucus and/or living tissue. These shifts between exploitation and cooperation have been frequently described for tropical reef species. Our results support cooperative behaviour, with a clear correlation between the number of nips per cleaning event or the number of nips to which the client reacted positively and cleaning event duration (n=552; Spearman correlation r=0.79, p<0.001; r=0.76, p<0.001, respectively. Furthermore, no correlation was detected between the number of jolts by the client fish and the cleaning event duration (n=552; Spearman correlation r=0.07, p=0.105 meaning that jolting does not increase with increased interaction time. In the future, the evaluation of the ecological importance of D. sargus as a cleaner species in the North-Eastern Atlantic, should proceed with field observations in

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

Directory of Open Access Journals (Sweden)

Fernando Gonzalez

2017-12-01

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

R and D ERL: Vacuum

International Nuclear Information System (INIS)

Mapes, M.; Smart, L.; Weiss, D.; Steszyn, A.; Todd, R.

2010-01-01

The ERL Vacuum systems are depicted in a figure. ERL has eight vacuum volumes with various sets of requirements. A summary of vacuum related requirements is provided in a table. Five of the eight volumes comprise the electron beamline. They are the 5-cell Superconducting RF Cavity, Superconducting e-gun, injection, loop and beam dump. Two vacuum regions are the individual cryostats insulating the 5-cell Superconducting RF Cavity and the Superconducting e-gun structures. The last ERL vacuum volume not shown in the schematic is the laser transport line. The beamline vacuum regions are separated by electropneumatic gate valves. The beam dump is common with loop beamline but is considered a separate volume due to geometry and requirements. Vacuum in the 5-cell SRF cavity is maintained in the ∼10 -9 torr range at room temperature by two 20 l/s ion pumps and in the e-gun SRF cavity by one 60 l/s ion pump. Vacuum in the SRF cavities operated at 2 o K is reduced to low 10 -11 torr via cryopumping of the cavity walls. The cathode of the e-gun must be protected from poisoning, which can occur if vacuum adjacent to the e-gun in the injection line exceeds 10-11 torr range in the injection warm beamline near the e-gun exit. The vacuum requirements for beam operation in the loop and beam dump are 10-9 torr range. The beamlines are evacuated from atmospheric pressure to high vacuum level with a particulate free, oil free turbomolecular pumping cart. 25 l/s shielded ion pumps distributed throughout the beamlines maintain the vacuum requirement. Due to the more demanding vacuum requirement of the injection beamline proximate to the e-gun, a vacuum bakeout of the injection beamline is required. In addition, two 200 l/s diode ion pumps and supplemental pumping provided by titanium sublimation pumps are installed in the injection line just beyond the exit of the e-gun. Due to expected gas load a similar pumping arrangement is planned for the beam dump. The cryostat vacuum thermally

Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

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

2017-01-01

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

Separate and unsanitary: African American women railroad car cleaners and the Women's Service Section, 1918-1920.

Science.gov (United States)

Muhammad, Robin Dearmon

2011-01-01

The Women's Service Section (WSS) investigated federally controlled railroad stations and yards at the end of World War I. Few women worked in car cleaning before the war, and railroad management preferred to block women workers, especially African Americans, from gaining any kind of foothold in railroad work. African American women were the single largest group of railroad car cleaners during this period but they were routinely denied adequate facilities, including toilets, locker rooms, and dining facilities throughout the railroad system. By raising the issues of facilities, workers' rights, and public health, these women shaped federal policy and widened the agenda of the WSS to include a direct attack on segregated workplaces. This article argues that African American women car cleaners launched an industrial campaign that wove together concerns about racism, sexism, and health issues, and successfully removed barriers to women working in a predominately male industry.

End-of-life resource recovery from emerging electronic products

DEFF Research Database (Denmark)

Parajuly, Keshav; Habib, Komal; Cimpan, Ciprian

2016-01-01

Integrating product design with appropriate end-of-life (EoL) processing is widely recognized to have huge potentials in improving resource recovery from electronic products. In this study, we investigate both the product characteristics and EoL processing of robotic vacuum cleaner (RVC), as a case...... of emerging electronic product, in order to understand the recovery fate of different materials and its linkage to product design. Ten different brands of RVC were dismantled and their material composition and design profiles were studied. Another 125 RVCs (349 kg) were used for an experimental trial...... at a conventional ‘shred-and-separate’ type preprocessing plant in Denmark. A detailed material flow analysis was performed throughout the recycling chain. The results show a mismatch between product design and EoL processing, and the lack of practical implementation of ‘Design for EoL’ thinking. In the best...

Robotics Potential Fields

Directory of Open Access Journals (Sweden)

Jordi Lucero

2009-01-01

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

Ocean cleaning stations under a changing climate: biological responses of tropical and temperate fish-cleaner shrimp to global warming.

Science.gov (United States)

Rosa, Rui; Lopes, Ana Rita; Pimentel, Marta; Faleiro, Filipa; Baptista, Miguel; Trübenbach, Katja; Narciso, Luis; Dionísio, Gisela; Pegado, Maria Rita; Repolho, Tiago; Calado, Ricardo; Diniz, Mário

2014-10-01

Cleaning symbioses play an important role in the health of certain coastal marine communities. These interspecific associations often occur at specific sites (cleaning stations) where a cleaner organism (commonly a fish or shrimp) removes ectoparasites/damaged tissue from a 'client' (a larger cooperating fish). At present, the potential impact of climate change on the fitness of cleaner organisms remains unknown. This study investigated the physiological and biochemical responses of tropical (Lysmata amboinensis) and temperate (L. seticaudata) cleaner shrimp to global warming. Specifically, thermal limits (CTMax), metabolic rates, thermal sensitivity, heat shock response (HSR), lipid peroxidation [malondialdehyde (MDA) concentration], lactate levels, antioxidant (GST, SOD and catalase) and digestive enzyme activities (trypsin and alkaline phosphatase) at current and warming (+3 °C) temperature conditions. In contrast to the temperate species, CTMax values decreased significantly from current (24-27 °C) to warming temperature conditions (30 °C) for the tropical shrimp, where metabolic thermal sensitivity was affected and the HSR was significantly reduced. MDA levels in tropical shrimp increased dramatically, indicating extreme cellular lipid peroxidation, which was not observed in the temperate shrimp. Lactate levels, GST and SOD activities were significantly enhanced within the muscle tissue of the tropical species. Digestive enzyme activities in the hepatopancreas of both species were significantly decreased by warmer temperatures. Our data suggest that the tropical cleaner shrimp will be more vulnerable to global warming than the temperate Lysmata seticaudata; the latter evolved in a relatively unstable environment with seasonal thermal variations that may have conferred greater adaptive plasticity. Thus, tropical cleaning symbioses may be challenged at a greater degree by warming-related anthropogenic forcing, with potential cascading effects on the health

Study on demetalization of sewage sludge by sequential extraction before liquefaction for the production of cleaner bio-oil and bio-char.

Science.gov (United States)

Leng, Lijian; Yuan, Xingzhong; Shao, Jianguang; Huang, Huajun; Wang, Hou; Li, Hui; Chen, Xiaohong; Zeng, Guangming

2016-01-01

Demetalization of sewage sludge (SS) by sequential extraction before liquefaction was implemented to produce cleaner bio-char and bio-oil. Demetalization steps 1 and 2 did not cause much organic matter loss on SS, and thus the bio-oil and bio-char yields and the compositions of bio-oils were also not affected significantly. However, the demetalization procedures resulted in the production of cleaner bio-chars and bio-oils. The total concentrations and the acid soluble/exchangeable fraction (F1 fraction, the most toxic heavy metal fraction) of heavy metals (Cu, Cr, Pb, Zn, and Cd) in these products were significantly reduced and the environmental risks of these products were also relived considerably compared with those produced from raw SS, respectively. Additionally, these bio-oils had less heavy fractions. Demetalization processes with removal of F1 and F2 fractions of heavy metals would benefit the production of cleaner bio-char and bio-oil by liquefaction of heavy metal abundant biomass like SS. Copyright © 2015 Elsevier Ltd. All rights reserved.

Healthcare Robotics

OpenAIRE

Riek, Laurel D.

2017-01-01

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

Cleaner metallurgical industry in Serbia: a road to the sustainable development

Directory of Open Access Journals (Sweden)

D. Panias

2009-01-01

Full Text Available Since the sustainable development has been a global and fundamental objecttive, a metallurgical industrial sector faces some of the most difficult sustainability challenges of any industrial sector. On the other hand, the metallurgical production in Serbia is a very important part of the economy. Due to present facilities and technologies, metallurgical companies face a great challenge to fulfill the requirements introduced by legislature referring to the cleaner production and sustainable development. The state of art in the production, facilities, pollution with some answers to imposed challenges is presented.

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

International Nuclear Information System (INIS)

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

1990-01-01

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

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

Science.gov (United States)

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

2017-01-01

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

Recent advances in robotics

International Nuclear Information System (INIS)

Beni, G.; Hackwood, S.

1984-01-01

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

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

Science.gov (United States)

Kazakoff, Elizabeth R.; Bers, Marina Umaschi

2014-01-01

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

Bacterial and fungal aerosols in the work environment of cleaners

Directory of Open Access Journals (Sweden)

Małgorzata Gołofit-Szymczak

2015-12-01

Full Text Available Background: Cleaning services are carried out in almost all sectors and branches of industry. Due to the above, cleaners are exposed to various harmful biological agents, depending on the tasks performed and the commercial sector involved. The aim of this study was to assess the exposure of cleaning workers to biological agents based on quantitative and qualitative characteristics of airborne microflora. Material and methods: A six-stage Andersen sampler was used to collect bioaerosols during the cleaning activities in different workplaces, including schools, offices, car services, healthy services and shops. Standard Petri dishes filled with blood trypticase soy agar and malt extract agar were used for bacterial and fungal sampling, respectively. Results: The bioaerosol concentration values obtained during testing of selected workposts of cleaners were lower than the Polish recommended threshold limit values for microorganisms concentrations in public service. The most prevalent bacterial species in studied places were Gram-positive cocci (mainly of genera Micrococcus, Staphylococcus and endospore-forming Gram-positive rods (mainly of genera Bacillus. Among the most common fungal species were those from genera Penicillium and Aspergillus. The size distribution analysis revealed that bioaerosols present in the air of workposts at shops, schools and car services may be responsible for nose and eye mucosa irritation and allergic reactions in the form of asthma or allergic inflammation in the cleaning workers. Conclusions: The study shows that occupational activities of cleaning workers are associated with exposure to airborne biological agents classified into risk groups, 1. and 2., according to their level of infection risk, posing respiratory hazard. Med Pr 2015;66(6:779–791

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

Directory of Open Access Journals (Sweden)

Mazen Ghandour

2017-06-01

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

Robots and lattice automata

CERN Document Server

Adamatzky, Andrew

2015-01-01

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

Robot vision

International Nuclear Information System (INIS)

Hall, E.L.

1984-01-01

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

Vacuum considerations: summary

International Nuclear Information System (INIS)

Blechschmidt, D.; Halama, H.J.

1978-01-01

A summary is given of the efforts of a vacuum systems study group of the workshop on a Heavy Ion Demonstration Experiment (HIDE) for heavy ion fusion. An inadequate knowledge of cross-sections prevents a more concrete vacuum system design. Experiments leading to trustworthy numbers for charge exchange, stripping and capture cross-sections are badly needed and should start as soon as possible. In linacs, beam loss will be almost directly proportional to the pressure inside the tanks. The tanks should, therefore, be built in such a way that they can be baked-out in situ to improve their vacuum, especially if the cross-sections turn out to be higher than anticipated. Using standard UHV techniques and existing pumps, an even lower pressure can be achieved. The vacuum system design for circular machines will be very difficult, and in some cases, beyond the present state-of-the-art

Cleaner production at pharmaceutical industry: first steps assessment

Directory of Open Access Journals (Sweden)

Edilaine Conceição Rezende

2015-12-01

Full Text Available The Cleaner Production (CP is an environmental management system effective to comply the environmental obligations and promote sustainable development of enterprises. In this study, the implementing possibilities of CP practices were evaluated to pharmaceutical industry, through prior identification procedures for Pharmaceutical Manufacturing Practices. The study was conducted in a scientific and health care institution, which produces pharmaceutical drugs and makes assistance for public health. The production process was evaluated and made a survey of the main points of waste and sewage generations in each stage, in order to diagnose the measures of CP established and propose new actions. Thus, by using this tool, it was possible to demonstrate the reduction of environmental impacts associated with pharmaceutical production. The Pharmaceutical Manufacturing Practices also contributed to the implementation of measures CP, preserving the final product quality, and generating environmental and economic benefits.

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...

Research into Noise Generated by Domestic Appliances in the Anechoic Chamber

Directory of Open Access Journals (Sweden)

Agnė Žukauskienė

2012-12-01

Full Text Available Loud noise has a negative impact on the entire body, especially on listening. We can hear daily noise everywhere – in the street, at work or at home. The Department of Environmental Protection of Vilnius Gediminas Technical University has adjusted an anechoic chamber adapted for suppressing sound. Under the above introduced conditions, 15 appliances (5 vacuum cleaners, 5 hair dryers and 5 shaving machines have been tested. Equivalent sound pressure level of the vacuum cleaner has varied from 66 dBA to 83 dBA, that of the hair dryer has made from 64 dBA to 70 dBA and for the shaving machine – from 39 to 56 dBA.Article in Lithuanian

Robot Wars: US Empire and geopolitics in the robotic age

Science.gov (United States)

Shaw, Ian GR

2017-01-01

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

CHARACTERIZATION OF OZONE EMISSIONS FROM AIR CLEANERS EQUIPPED WITH OZONE GENERATORS AND SENSOR AND FEEDBACK CONTROL CIRCUITRY

Science.gov (United States)

The paper give results of a characterization of ozone emissions from air cleaners equipped with ozone generators and sensor and feedback control circuitry. Ozone emission rates of several consumer appliances, marketed as indoor air treatment or air purification systems, were det...

Modern vacuum physics

CERN Document Server

Chambers, Austin

2005-01-01

Modern Vacuum Physics presents the principles and practices of vacuum science and technology along with a number of applications in research and industrial production. The first half of the book builds a foundation in gases and vapors under rarefied conditions, The second half presents examples of the analysis of representative systems and describes some of the exciting developments in which vacuum plays an important role. The final chapter addresses practical matters, such as materials, components, and leak detection. Throughout the book, the author''s explanations are presented in terms of first principles and basic physics, augmented by illustrative worked examples and numerous figures.

Gravitation and vacuum field

International Nuclear Information System (INIS)

Tevikyan, R.V.

1986-01-01

This paper presents equations that describe particles with spins s = 0, 1/2, 1 completely and which also describe 2s + 2 limiting fields as E → ∞. It is shown that the ordinary Hilbert-Einstein action for the gravitation field must be augmented by the action for the Bose vacuum field. This means that one must introduce in the gravitational equations a cosmological term proportional to the square of the strength of the Bose vacuum field. It is shown that the theory of gravitation describes three realities: matter, field, and vacuum field. A new form of matter--the vacuum field--is introduced into field theory

Surge-damping vacuum valve

International Nuclear Information System (INIS)

Bullock, J.C.; Kelley, B.E.

1977-01-01

A valve for damping out flow surges in a vacuum system is described. The surge-damping mechanism consists of a slotted, spring-loaded disk adjacent to the valve's vacuum port (the flow passage to the vacuum roughing pump). Under flow surge conditions, the differential pressure forces the disk into a sealing engagement with the vacuum port, thereby restricting the gas flow path to narrow slots in the disk's periphery. The increased flow damps out the flow surge. When pressure is equalized on both sides of the valve, the spring load moves the disk away from the port to restore full flow conductance through the valve

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

Directory of Open Access Journals (Sweden)

Guanghua Zong

2008-11-01

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

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

Directory of Open Access Journals (Sweden)

Houxiang Zhang

2006-06-01

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

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

Directory of Open Access Journals (Sweden)

Kang Sangseung

2016-01-01

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

Modular Robotic Wearable

DEFF Research Database (Denmark)

Lund, Henrik Hautop; Pagliarini, Luigi

2009-01-01

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

Marine Robot Autonomy

CERN Document Server

2013-01-01

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

Industrial Robots.

Science.gov (United States)

Reed, Dean; Harden, Thomas K.

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

Comparison of vacuum rise time, vacuum limit accuracy, and occlusion break surge of 3 new phacoemulsification systems.

Science.gov (United States)

Han, Young Keun; Miller, Kevin M

2009-08-01

To compare vacuum rise time, vacuum limit accuracy, and occlusion break surge of 3 new phacoemulsification machines. Jules Stein Eye Institute and Department of Ophthalmology, David Geffen School of Medicine at UCLA, Los Angeles, California, USA. The vacuum rise time under normal and enhanced aspiration modes, vacuum limit accuracy, and occlusion break surge of the Infiniti Vision System, Stellaris Vision Enhancement System, and WhiteStar Signature Phacoemulsification System were tested. Vacuum rise time and limit accuracy were measured at limit settings of 400 mm Hg and 600 mm Hg. Surge area was recorded at vacuum limit settings of 200 mm Hg, 300 mm Hg, 400 mm Hg, and 500 mm Hg. The Infiniti had the fastest vacuum rise times under normal and enhanced aspiration modes. At 4 seconds, the vacuum limit accuracy was greatest with the Infiniti at the 400 mm Hg limit and the Signature at the 600 mm Hg limit. The Stellaris did not reach either vacuum target. The Infiniti performed better than the other 2 machines during testing of occlusion break surge at all vacuum limit settings above 200 mm Hg. Under controlled laboratory test conditions, the Infiniti had the fastest vacuum rise time, greatest vacuum limit accuracy at 400 mm Hg, and least occlusion break surge. These results can be explained by the lower compliance of the Infiniti system.

Social Robots

DEFF Research Database (Denmark)

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

Non-manufacturing applications of robotics

International Nuclear Information System (INIS)

Dauchez, P.

2000-12-01

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

Vacuum type D initial data

Science.gov (United States)

García-Parrado Gómez-Lobo, Alfonso

2016-09-01

A vacuum type D initial data set is a vacuum initial data set of the Einstein field equations whose data development contains a region where the space–time is of Petrov type D. In this paper we give a systematic characterisation of a vacuum type D initial data set. By systematic we mean that the only quantities involved are those appearing in the vacuum constraints, namely the first fundamental form (Riemannian metric) and the second fundamental form. Our characterisation is a set of conditions consisting of the vacuum constraints and some additional differential equations for the first and second fundamental forms These conditions can be regarded as a system of partial differential equations on a Riemannian manifold and the solutions of the system contain all possible regular vacuum type D initial data sets. As an application we particularise our conditions for the case of vacuum data whose data development is a subset of the Kerr solution. This has applications in the formulation of the nonlinear stability problem of the Kerr black hole.

Vacuum pumping concepts for ETF

International Nuclear Information System (INIS)

Homeyer, W.G.

1980-09-01

The Engineering Test Facility (ETF) poses unique vacuum pumping requirements due to its large size and long burn characteristics. These requirements include torus vacuum pumping initially and between burns and pumping of neutralized gas from divertor collector chambers. It was found that the requirements could be met by compound cryopumps in which molecular sieve 5A is used as the cryosorbent. The pumps, ducts, and vacuum valves required are large but fit with other ETF components and do not require major advances in vacuum pumping technology. Several additional design, analytical, and experimental studies were identified as needed to optimize designs and provide better design definition for the ETF vacuum pumping systems

Advanced robot locomotion.

Energy Technology Data Exchange (ETDEWEB)

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

2007-01-01

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

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

Science.gov (United States)

2010-04-01

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

Structure of Nonlocal quark vacuum condensate in non-perturbative QCD vacuum

International Nuclear Information System (INIS)

Xiang Qianfei; Ma Weixing; Zhou Lijuan; Jiang Weizhou

2014-01-01

Based on the Dyson-Schwinger Equations (DSEs) with the rainbow truncation, and Operator Product Expansion, the structure of nonlocal quark vacuum condensate in QCD, described by quark self-energy functions A_f and B_f given usually by the solutions of the DSEs of quark propagator, is predicted numerically. We also calculate the local quark vacuum condensate, quark-gluon mixed local vacuum condensate, and quark virtuality. The self-energy functions A_f and B_f are given by the parameterized quark propagator functions σ_v"f (p"2) and σ_s"f (p"2) of Roberts and Williams, instead of the numerical solutions of the DSEs. Our calculated results are in reasonable agreement with those of QCD sum rules, Lattice QCD calculations, and instanton model predictions, although the resulting local quark vacuum condensate for light quarks, u, d, s, are a little bit larger than those of the above theoretical predictions. We think the differences are caused by model dependence. The larger of strange quark vacuum condensate than u, d quark is due to the s quark mass which is more larger than u, d quark masses. Of course, the Roberts-Williams parameterized quark propagator is an empirical formulism, which approximately describes quark propagation. (authors)

Human-Robot Interaction

Science.gov (United States)

Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

2015-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

YEAR-ROUND HOUSEDUST MITE LEVELS ON THE HIGHVELD

African Journals Online (AJOL)

electricity. Where possible dust was collected from the main bedroom, using the Rainbow Vacuum Cleaner. Bed linen was removed and the mattress was sampled. An area of 1 m' on the mattress was vacuumed for 2 minutes. The dust sampled was placed in a plastic bag, sealed and labelled. Thereafter the carpet next to.

Next generation light robotic

DEFF Research Database (Denmark)

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

2017-01-01

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

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

Directory of Open Access Journals (Sweden)

Kristel Knaepen

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

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

Science.gov (United States)

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

2015-01-01

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

Roles and Self-Reconfigurable Robots

DEFF Research Database (Denmark)

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

2007-01-01

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

Robot Teachers

DEFF Research Database (Denmark)

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

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

Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

NARCIS (Netherlands)

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

2007-01-01

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

Shiva and Argus target diagnostics vacuum systems

International Nuclear Information System (INIS)

Glaros, S.S.; Mayo, S.E.; Campbell, D.; Holeman, D.

1978-09-01

The normal operation of LLL's Argus and Shiva laser irradiation facilities demand a main vacuum system for the target chamber and a separate local vacuum system for each of the larger appendage dianostics. This paper will describe the Argus and Shiva main vacuum systems, their respective auxiliary vacuum systems and the individual diagnostics with their respective special vacuum requirements and subsequent vacuum systems. Our latest approach to automatic computer-controlled vacuum systems will be presented

CERN Vacuum-System Activities during the Long Shutdown 1: The LHC Beam Vacuum

CERN Document Server

Baglin, V; Chiggiato, P; Jimenez, JM; Lanza, G

2014-01-01

After the Long Shutdown 1 (LS1) and the consolidation of the magnet bus bars, the CERN Large Hadron Collider (LHC) will operate with nominal beam parameters. Larger beam energy, beam intensities and luminosity are expected. Despite the very good performance of the beam vacuum system during the 2010-12 physics run (Run 1), some particular areas require attention for repair, consolidation and upgrade. Among the main activities, a large campaign aiming at the repair of the RF bridges of some vacuum modules is conducted. Moreover, consolidation of the cryogenic beam vacuum systems with burst disk for safety reasons is implemented. In addition, NEG cartridges, NEG coated inserts and new instruments for the vacuum system upgrade are installed. Besides these activities, repair, consolidation and upgrades of other beam equipment such as collimators, kickers and beam instrumentations are carried out. In this paper, the motivation and the description for such activities, together with the expected beam vacuum performa...

Micro Robotics Lab

Data.gov (United States)

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

The AGS Booster vacuum systems

International Nuclear Information System (INIS)

Hseuh, H.C.

1989-01-01

The AGS Booster is a synchrotron for the acceleration of both protons and heavy ions. The design pressure of low 10 -11 mbar is required to minimize beam loss of the partially stripped heavy ions. To remove contaminants and to reduce outgassing, the vacuum chambers and the components located in them will be chemically cleaned, vacuum fired, baked then treated with nitric oxide. The vacuum sector will be insitu baked to a minimum of 200 degree C and pumped by the combination of sputter ion pumps and titanium sublimation pumps. This paper describes the design and the processing of this ultra high vacuum system, and the performance of some half-cell vacuum chambers. 9 refs., 7 figs

Robot fish bio-inspired fishlike underwater robots

CERN Document Server

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

2015-01-01

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

Robotics in endoscopy.

Science.gov (United States)

Klibansky, David; Rothstein, Richard I

2012-09-01

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

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

Directory of Open Access Journals (Sweden)

Addythia Saphala

2015-10-01

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

The symmetries of the vacuum

International Nuclear Information System (INIS)

Fleming, H.

1985-01-01

The vacuum equation of state required by cosmological inflation is taken seriously as a general property of the cosmological vacuum. This correctly restricts the class of theories which admit inflation. A model of such a vacuum is presented that leads naturally to the cosmological principle. (Author) [pt

Presentation robot Advee

Czech Academy of Sciences Publication Activity Database

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

2012-01-01

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

Robotic surgery update.

Science.gov (United States)

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

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

Robot-laser system

International Nuclear Information System (INIS)

Akeel, H.A.

1987-01-01

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

Regulating vacuum pump speed with feedback control

International Nuclear Information System (INIS)

Ludington, D.C.; Aneshansley, D.J.; Pellerin, R.; Guo, F.

1992-01-01

Considerable energy is wasted by the vacuum pump/motor on dairy farms. The output capacity (m 3 /min or cfm) of the vacuum pump always exceeds the capacity needed to milk cows and wash pipelines. Vacuum pumps run at full speed and load regardless of actual need for air. Excess air is admitted through a controller. Energy can be saved from electrical demand reduced by regulating vacuum pump speed according to air based on air usage. An adjustable speed drive (ASD) on the motor and controlled based upon air usage, can reduce the energy used by the vacuum pump. However, the ASD unit tested could not maintain vacuum levels within generally accepted guidelines when air usage changed. Adding a high vacuum reserve and a dual vacuum controller between the vacuum pump and the milking pipeline brought vacuum stability within guidelines. The ASD/dual vacuum system can reduce energy consumption and demand by at least 50 percent during milking and provide better vacuum stability than conventional systems. Tests were not run during washing cycles. Using 1990 costs and only the energy saved during milking, the simple payback on investment in new equipment for a 5 hp motor, speed controller and vacuum regulator would be about 5 years

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

Directory of Open Access Journals (Sweden)

Aimi S. Ghazali

2018-06-01

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

Robotic seeding

DEFF Research Database (Denmark)

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

2017-01-01

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

The Source of the Quantum Vacuum

Directory of Open Access Journals (Sweden)

Daywitt W. C.

2009-01-01

Full Text Available The quantum vacuum consists of virtual particles randomly appearing and disappearing in free space. Ordinarily the wavenumber (or frequency spectrum of the zero-point fields for these virtual particles is assumed to be unbounded. The unbounded nature of the spectrum leads in turn to an infinite energy density for the quantum vacuum and an infinite renormalization mass for the free particle. This paper argues that there is a more fundamental vacuum state, the Planck vacuum, from which the quantum vacuum emerges and that the “graininess” of this more fundamental vacuum state truncates the wavenumber spectrum and leads to a finite energy density and a finite renormalization mass.

The Source of the Quantum Vacuum

Directory of Open Access Journals (Sweden)

Daywitt W. C.

2009-01-01

Full Text Available The quantum vacuum consists of virtual particles randomly appearing and disappearing in free space. Ordinarily the wavenumber (or frequency spectrum of the zero-point fields for these virtual particles is assumed to be unbounded. The unbounded nature of the spectrum leads in turn to an infinite energy density for the quantum vacuum and an infinite renormalization mass for the free particle. This paper argues that there is a more fundamental vacuum state, the Planck vacuum, from which the quantum vacuum emerges and that the "graininess" of this more fundamental vacuum state truncates the wavenumber spectrum and leads to a finite energy density and a finite renormalization mass.

An Adaptive Robot Game

DEFF Research Database (Denmark)

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

2010-01-01

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

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

DEFF Research Database (Denmark)

Andersen, Rasmus Skovgaard

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

Scroll vacuum pump

Energy Technology Data Exchange (ETDEWEB)

Morishita, Etsuo; Suganami, Takuya; Nishida, Mitsuhiro; Kitora, Yoshihisa; Yamamoto, Sakuei; Fujii, Kosaburo

1988-02-25

An effort is made to apply a scroll machine to development of a vacuum pump. In view of mechanical simplification and load patterns, the vacuum pump uses a rotating mechanism to produce paired vortices rotating around each center. Chip seal and atmospheric pressure are utilized for axial gap sealing while a spring and atmospheric pressure for the radial gap sealing. In both gaps, the sealing direction is stationary relative to the environment during rotation, making it much easier to achieve effective sealing as compared to oscillating pumps. Since the compression ratio is high in vacuum pumps, a zero top clearance form is adopted for the central portion of vortices and an gas release valve is installed in the rotating axis. A compact Oldham coupling with a small inertia force is installed behind the vortices to maintain the required phase relations between the vortices. These improvements result in a vacuum of 1 Pa for dry operation and 10/sup -2/ Pa for oil flooded operation of a single-stage scroll machine at 1800 rpm. (5 figs, 1 tab, 4 refs)

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

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

Cosmology with decaying vacuum energy

International Nuclear Information System (INIS)

Freese, K.; Adams, F.; Frieman, J.; Mottola, E.

1987-09-01

Motivated by recent attempts to solve the cosmological constant problem, we examine the observational consequences of a vacuum energy density which decays in time. For all times later than t ∼ 1 sec, the ratio of the vacuum to the total energy density of the universe must be small. Although the vacuum cannot provide the ''missing mass'' required to close the universe today, its presence earlier in the history of the universe could have important consequences. We discuss restrictions on the vacuum energy arising from primordial nucleosynthesis, the microwave and gamma ray background spectra, and galaxy formation. A small vacuum component at the era of nucleosynthesis, 0.01 5, but in some cases would severely distort the microwave spectrum. 9 refs., 3 figs

Advanced mechanics in robotic systems

CERN Document Server

Nava Rodríguez, Nestor Eduardo

2011-01-01

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

Design and Implementation of Fire Extinguisher Robot with Robotic Arm

Directory of Open Access Journals (Sweden)

Memon Abdul Waris

2018-01-01

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

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

Science.gov (United States)

Arnold, Thomas; Scheutz, Matthias

2017-06-01

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

某精细化工企业清洁生产审核实践研究%Cleaner Production Audit on A Fine Chemical Company

Institute of Scientific and Technical Information of China (English)

冯俊丽; 张时佳

2016-01-01

This paper takes the cleaner production of a company as example to expound the necessity and practical signifi-cance of carrying out cleaner production audit in fine chemical industry. According to eight existing issues of this company, the study provides practical low and high cost clean production project, totally 28 items. After calculating the economic, environmen-tal and social benefit of each project,the practical values of cleaner production audit to a company were pointed out, giving direc-tion of energy-saving emission reduction and low carbon development. This audit discusses the specific practice of cleaner pro-duction in fine chemical industry and it has guiding significance of practicing cleaner production in this domain.%以某企业的清洁生产审核为例,阐述分析精细化工行业开展清洁生产审核的必要性及实践意义.针对该企业存在的八方面问题,提出切实可行的无低费及中高费清洁生产方案共计28项,经核算各方案的经济、环境、社会效益,指出企业开展清洁生产审核的实际价值,为企业节能减排、低碳发展指明方向.本次审核初步探讨了清洁生产在精细化工行业的具体实践,对该行业清洁生产的践行具有一定的指导意义.

Approximated calculation of the vacuum wave function and vacuum energy of the LGT with RPA method

International Nuclear Information System (INIS)

Hui Ping

2004-01-01

The coupled cluster method is improved with the random phase approximation (RPA) to calculate vacuum wave function and vacuum energy of 2 + 1 - D SU(2) lattice gauge theory. In this calculating, the trial wave function composes of single-hollow graphs. The calculated results of vacuum wave functions show very good scaling behaviors at weak coupling region l/g 2 >1.2 from the third order to the sixth order, and the vacuum energy obtained with RPA method is lower than the vacuum energy obtained without RPA method, which means that this method is a more efficient one

Robot-assisted general surgery.

Science.gov (United States)

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

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

Cold Vacuum Drying (CVD) Facility Vacuum Purge System Chilled Water System Design Description. System 47-4

International Nuclear Information System (INIS)

IRWIN, J.J.

2000-01-01

This system design description (SDD) addresses the Vacuum Purge System Chilled Water (VPSCHW) system. The discussion that follows is limited to the VPSCHW system and its interfaces with associated systems. The reader's attention is directed to Drawings H-1-82162, Cold Vacuum Drying Facility Process Equipment Skid PandID Vacuum System, and H-1-82224, Cold Vacuum Drying Facility Mechanical Utilities Process Chilled Water PandID. Figure 1-1 shows the location and equipment arrangement for the VPSCHW system. The VPSCHW system provides chilled water to the Vacuum Purge System (VPS). The chilled water provides the ability to condense water from the multi-canister overpack (MCO) outlet gases during the MCO vacuum and purge cycles. By condensing water from the MCO purge gas, the VPS can assist in drying the contents of the MCO

Grasping in Robotics

CERN Document Server

2013-01-01

Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

Designing Emotionally Expressive Robots

DEFF Research Database (Denmark)

Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

2017-01-01

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

Vacuum leak detector and method

Science.gov (United States)

Edwards, Jr., David

1983-01-01

Apparatus and method for detecting leakage in a vacuum system involves a moisture trap chamber connected to the vacuum system and to a pressure gauge. Moisture in the trap chamber is captured by freezing or by a moisture adsorbent to reduce the residual water vapor pressure therein to a negligible amount. The pressure gauge is then read to determine whether the vacuum system is leaky. By directing a stream of carbon dioxide or helium at potentially leaky parts of the vacuum system, the apparatus can be used with supplemental means to locate leaks.

Behavioral Modeling Based on Probabilistic Finite Automata: An Empirical Study.

Science.gov (United States)

Tîrnăucă, Cristina; Montaña, José L; Ontañón, Santiago; González, Avelino J; Pardo, Luis M

2016-06-24

Imagine an agent that performs tasks according to different strategies. The goal of Behavioral Recognition (BR) is to identify which of the available strategies is the one being used by the agent, by simply observing the agent's actions and the environmental conditions during a certain period of time. The goal of Behavioral Cloning (BC) is more ambitious. In this last case, the learner must be able to build a model of the behavior of the agent. In both settings, the only assumption is that the learner has access to a training set that contains instances of observed behavioral traces for each available strategy. This paper studies a machine learning approach based on Probabilistic Finite Automata (PFAs), capable of achieving both the recognition and cloning tasks. We evaluate the performance of PFAs in the context of a simulated learning environment (in this case, a virtual Roomba vacuum cleaner robot), and compare it with a collection of other machine learning approaches.

Advanced cutting, welding and inspection methods for vacuum vessel assembly and maintenance

Energy Technology Data Exchange (ETDEWEB)

Jones, L. E-mail: jonesl@ipp.mgg.de; Alfile, J.-P.; Aubert, Ph.; Punshon, C.; Daenner, W.; Kujanpaeae, V.; Maisonnier, D.; Serre, M.; Schreck, G.; Wykes, M

2000-11-01

ITER requires a 316 l stainless steel, double-skinned vacuum vessel (VV), each shell being 60 mm thick. EFDA (European Fusion Development Agreement) is investigating methods to be used for performing welding and NDT during VV assembly and also cutting and re-welding for remote sector replacement, including the development of an Intersector Welding Robot (IWR) [Jones et al. This conference]. To reduce the welding time, distortions and residual stresses of conventional welding, previous work concentrated on CO{sub 2} laser welding and cutting processes [Jones et al. Proc. Symp. Fusion Technol., Marseilles, 1998]. NdYAG laser now provides the focus for welding of the rearside root and for completing the weld for overhead positions with multipass filling. Electron beam (E-beam) welding with local vacuum offers a single-pass for most of the weld depth except for overhead positions. Plasma cutting has shown the capability to contain the backside dross and preliminary work with NdYAG laser cutting has shown good results. Automated ultrasonic inspection of assembly welds will be improved by the use of a phased array probe system that can focus the beam for accurate flaw location and sizing. This paper describes the recent results of process investigations in this R and D programme, involving five European sites and forming part of the overall VV/blanket research effort [W. Daenner et al. This conference].

Airborne exposures associated with the typical use of an aerosol brake cleaner during vehicle repair work.

Science.gov (United States)

Fries, Michael; Williams, Pamela R D; Ovesen, Jerald; Maier, Andrew

2018-04-19

Many petroleum-based products are used for degreasing and cleaning purposes during vehicle maintenance and repairs. Although prior studies have evaluated chemical exposures associated with this type of work, most of these have focused on gasoline and exhaust emissions, with few samples collected solely during the use of an aerosol cleaning product. In this case study, we assess the type of airborne exposures that would be expected from the typical use of an aerosol brake cleaner during vehicle repair work. Eight exposure scenarios were evaluated over a two-day study in which the benzene content of the brake cleaner and potential for dilution ventilation and air flow varied. Both short-term (15 min) and task-based (≥1 hr) charcoal tube samples were collected in the breathing zone and adjacent work area and analyzed for total hydrocarbons (THCs), toluene, and benzene. The majority of personal (N = 48) and area (N = 47) samples had detectable levels of THC and toluene, but no detections of benzene were found. For the personal short-term samples, average airborne concentrations ranged from 3.1 - 61.5 ppm (13.8-217.5 mg/m 3 ) for THC and 2.2 - 44.0 ppm (8.2-162.5 mg/m 3 ) for toluene, depending on the scenario. Compared to the personal short-term samples, average concentrations were generally 2 to 3 times lower for the personal task-based samples and 2 to 5 times lower for the area short-term samples. The highest exposures occurred when the garage bay doors were closed, floor fan was turned off, or greatest amount of brake cleaner was used. These findings add to the limited dataset on this topic and can be used to bound or approximate worker or consumer exposures from use of aerosol cleaning products with similar compositions and use patterns.

Fundamentals of soft robot locomotion.

Science.gov (United States)

Calisti, M; Picardi, G; Laschi, C

2017-05-01

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

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

Science.gov (United States)

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

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

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

Science.gov (United States)

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

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

Vocational training courses as an intervention on change of work practice among immigrant cleaners.

Science.gov (United States)

Jensen, Flemming W; Frydendall, Karen B; Flyvholm, Mari-Ann

2011-11-01

The aim of the study was to examine how knowledge and skills from vocational training courses on working techniques modified for immigrant cleaners are applied in practice and to identify factors that influence the implementation. The modifications of the standard course included language support with possibilities for translation and an extension of the duration of the course. The study is a prospective intervention study based on qualitative data. Data were collected as structured interviews and observations were carried out at the workplaces before and after the course. The study population included 31 immigrant cleaners from five different workplaces. Changes were observed in the use of working techniques (i.e., positioning of hands when using the floor mop). In some cases the use of the taught techniques was incorrect, partial, or only used part of the time. Interactions between individual factors (i.e., knowledge, awareness, capability, or work orientation) and environmental factors (i.e., equipment, time, workload, or physical surroundings) influenced the use of the techniques in practice. The course provided the participants with new working techniques through which some were able to reduce work related pain. However, with regard to incorrect and partial use of the working techniques, follow-up and post-training support is recommended. Copyright © 2011 Wiley Periodicals, Inc.

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

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

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

Technical specification for vacuum systems

International Nuclear Information System (INIS)

Khaw, J.

1987-01-01

The vacuum systems at the Stanford Linear Accelerator Center (SLAC) are primarily of all-metal construction and operate at pressures from 10 -5 to 10 -11 Torr. The primary gas loads during operation result from thermal desorption and beam-induced desorption from the vacuum chamber walls. These desorption rates can be extremely high in the case of hydrocarbons and other contaminants. These specifications place a major emphasis on eliminating contamination sources. The specifications and procedures have been written to insure the cleanliness and vacuum integrity of all SLAC vacuum systems, and to assist personnel involved with SLAC vacuum systems in choosing and designing components that are compatible with existing systems and meet the quality and reliability of SLAC vacuum standards. The specification includes requirements on design, procurement, fabrication, chemical cleaning, clean room practices, welding and brazing, helium leak testing, residual gas analyzer testing, bakeout, venting, and pumpdown. Also appended are specifications regarding acceptable vendors, isopropyl alcohol, bakeable valve cleaning procedure, mechanical engineering safety inspection, notes on synchrotron radiation, and specifications of numerous individual components

Evaporation under vacuum condition

International Nuclear Information System (INIS)

Mizuta, Satoshi; Shibata, Yuki; Yuki, Kazuhisa; Hashizume, Hidetoshi; Toda, Saburo; Takase, Kazuyuki; Akimoto, Hajime

2000-01-01

In nuclear fusion reactor design, an event of water coolant ingress into its vacuum vessel is now being considered as one of the most probable accidents. In this report, the evaporation under vacuum condition is evaluated by using the evaporation model we have developed. The results show that shock-wave by the evaporation occurs whose behavior strongly depends on the initial conditions of vacuum. And in the case of lower initial pressure and temperature, the surface temp finally becomes higher than other conditions. (author)

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

Science.gov (United States)

Marras, Stefano; Porfiri, Maurizio

2012-08-07

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

Micro robot bible

International Nuclear Information System (INIS)

Yoon, Jin Yeong

2000-08-01

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