WorldWideScience

Sample records for robotics final progress

  1. Final Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    Josef Michl

    2011-10-31

    In this project we have established guidelines for the design on organic chromophores suitable for producing high triplet yields via singlet fission. We have proven their utility by identifying a chromophore of a structural class that had never been examined for singlet fission before, 1,3-diphenylisobenzofuran, and demonstrating in two independent ways that a thin layer of this material produces a triplet yield of 200% within experimental error. We have also designed a second chromophore of a very different type, again of a structural class that had not been examined for singlet fission before, and found that in a thin layer it produces a 70% triplet yield. Finally, we have enhanced the theoretical understanding of the quantum mechanical nature of the singlet fission process.

  2. Final Performance Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    Houldin, Joseph [Delaware Valley Industrial Resource Center, Philadelphia, PA (United States); Saboor, Veronica [Delaware Valley Industrial Resource Center, Philadelphia, PA (United States)

    2016-03-30

    about assessing a company’s technical assets, broadening our view of the business to go beyond what they make or what NAICS code they have…to better understand their capacity, capability, and expertise, and to learn more about THEIR customers. Knowing more about the markets they serve can often provide insight into their level of technical knowledge and sophistication. Finally, in the spirit of realizing the intent of the Accelerator we strove to align and integrate the work and activities supported by the five funding agencies to leverage each effort. To that end, we include in the Integrated Work Plan a graphic that illustrates that integration. What follows is our summary report of the project, aggregated from prior reports.

  3. Microscale soft robotics motivations, progress, and outlook

    CERN Document Server

    Kim, Jaeyoun (Jay)

    2017-01-01

    This book presents the technological basics and applications of small-scale (mm to sub-mm in length-scales) soft robots and devices, written for researchers in both academia and industry. Author Jaeyoun Kim presents technological motivations, enabling factors, and examples in an inter-linked fashion, making it easy for readers to understand and explore how microscale soft robots are a solution to researchers in search of technological platforms for safe, human-friendly biomedical devices. A compact and timely introduction, this book summarizes not only the enabling factors for soft robots and MEMS devices, but also provides a survey of progress in the field and looks to the future in terms of the material, design, and application aspects this new technology demonstrates.

  4. Progress in automation, robotics and measuring techniques

    CERN Document Server

    Zieliński, Cezary; Kaliczyńska, Małgorzata

    2015-01-01

    This book presents recent progresses in control, automation, robotics, and measuring techniques. It includes contributions of top experts in the fields, focused on both theory and industrial practice. The particular chapters present a deep analysis of a specific technical problem which is in general followed by a numerical analysis and simulation, and results of an implementation for the solution of a real world problem. The presented theoretical results, practical solutions and guidelines will be useful for both researchers working in the area of engineering sciences and for practitioners solving industrial problems.    .

  5. DOE Robotics Project. Summary of progress for 1991

    Energy Technology Data Exchange (ETDEWEB)

    1991-01-01

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

  6. Health Care Robotics: A Progress Report

    Science.gov (United States)

    Fiorini, Paolo; Ali, Khaled; Seraji, Homayoun

    1997-01-01

    This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The main emphasis of the first phase of the project is on the development on a multi-modal operator interface and its evaluation by health care professionals and users. This paper describes the architecture of the system, the evaluation method used, and some preliminary results of the user evaluation.

  7. Health Cars Robotics: A Progress Report

    Science.gov (United States)

    Fiorini, P.; Ali, K.; Seraji, H.

    1997-01-01

    This paper describes the approach followed in the design of a service robot for health care applications. This paper describes the architecture of the subsystem, the features of the manipulator arm, and the operator interface.

  8. Progress toward EAP actuators for biomimetic social robots

    Science.gov (United States)

    Hanson, D.

    2013-04-01

    Social robotics and artificial intelligence have progressed steadily in recent years, appearing in a variety of useful applications and products as well as breakthrough research. However, limitations in conventional motors continue to limit the possibilities of bio-inspired robotics. Such motors are needed for locomotion, grasping and manipulation, and social expressions and gestures. EAP actuators, being more like biological muscle in key regards, could revolutionize the hardware for such robots, if made robust, powerful, and manufacturable at reasonable prices. The author presents a survey of the progress and opportunities for EAP actuators in these fields, and discusses the latest work of his team in developing and manufacturing social robots that could benefit from EAP actuators.

  9. IRIS Final Technical Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    M. D. Carelli

    2003-11-03

    OAK-B135 This NERI project, originally started as the Secure Transportable Autonomous Light Water Reactor (STAR-LW) and currently known as the International Reactor Innovative and Secure (IRIS) project, had the objective of investigating a novel type of water-cooled reactor to satisfy the Generation IV goals: fuel cycle sustainability, enhanced reliability and safety, and improved economics. The research objectives over the three-year (1999-2002) program were as follows: First year: Assess various design alternatives and establish main characteristics of a point design; Second year: Perform feasibility and engineering assessment of the selected design solutions; Third year: Complete reactor design and performance evaluation, including cost assessment These objectives were fully attained and actually they served to launch IRIS as a full fledged project for eventual commercial deployment. The program did not terminate in 2002 at the end of the NERI program, and has just entered in its fifth year. This has been made possible by the IRIS project participants which have grown from the original four member, two-countries team to the current twenty members, nine countries consortium. All the consortium members work under their own funding and it is estimated that the value of their in-kind contributions over the life of the project has been of the order of $30M. Currently, approximately 100 people worldwide are involved in the project. A very important constituency of the IRIS project is the academia: 7 universities from four countries are members of the consortium and five more US universities are associated via parallel NERI programs. To date, 97 students have worked or are working on IRIS; 59 IRIS-related graduate theses have been prepared or are in preparation, and 41 of these students have already graduated with M.S. (33) or Ph.D. (8) degrees. This ''final'' report (final only as far as the NERI program is concerned) summarizes the work performed

  10. Research Progress on Robotics%机器人技术研究进展

    Institute of Scientific and Technical Information of China (English)

    谭民; 王硕

    2013-01-01

    The researches of robot technology are moving from the traditional industry to medical service,education and entertainment,exploration and exploitation,bio-engineering,rescue,etc.,and the related technology develops rapidly.In this paper,some important progresses in industrial robots,mobile robots,medical and rehabilitation robots and biomimetic robots are introduced in brief,and some important issues of robot technology are summarized by means of analysis and classification.Finally,the trends in robot technology are discussed.%机器人技术的研究已从传统的工业领域扩展到医疗服务、教育娱乐、勘探勘测、生物工程、救灾救援等新领域,并快速发展.本文简要介绍了工业机器人、移动机器人、医疗与康复机器人和仿生机器人研究中的部分主要进展,并通过分析和梳理,归纳了机器人技术发展中的一些重要问题,探讨机器人技术的发展趋势.

  11. Progress in EEG-Based Brain Robot Interaction Systems

    Directory of Open Access Journals (Sweden)

    Xiaoqian Mao

    2017-01-01

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

  12. Progress in EEG-Based Brain Robot Interaction Systems

    Science.gov (United States)

    Li, Mengfan; Niu, Linwei; Xian, Bin; Zeng, Ming; Chen, Genshe

    2017-01-01

    The most popular noninvasive Brain Robot Interaction (BRI) technology uses the electroencephalogram- (EEG-) based Brain Computer Interface (BCI), to serve as an additional communication channel, for robot control via brainwaves. This technology is promising for elderly or disabled patient assistance with daily life. The key issue of a BRI system is to identify human mental activities, by decoding brainwaves, acquired with an EEG device. Compared with other BCI applications, such as word speller, the development of these applications may be more challenging since control of robot systems via brainwaves must consider surrounding environment feedback in real-time, robot mechanical kinematics, and dynamics, as well as robot control architecture and behavior. This article reviews the major techniques needed for developing BRI systems. In this review article, we first briefly introduce the background and development of mind-controlled robot technologies. Second, we discuss the EEG-based brain signal models with respect to generating principles, evoking mechanisms, and experimental paradigms. Subsequently, we review in detail commonly used methods for decoding brain signals, namely, preprocessing, feature extraction, and feature classification, and summarize several typical application examples. Next, we describe a few BRI applications, including wheelchairs, manipulators, drones, and humanoid robots with respect to synchronous and asynchronous BCI-based techniques. Finally, we address some existing problems and challenges with future BRI techniques. PMID:28484488

  13. 1995 PVUSA progress report. Final report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-03-01

    Photovoltaics for Utility Scale Applications (PVUSA) is a national public-private partnership that is assessing and demonstrating the viability of utility-scale (US) photovoltaic (PV) electric generation systems and recent developments in PV module technology. This report updates the project`s progress, reviews the status and performance of the various PV installations during 1995, summarizes key accomplishments and conclusions, and serves as the final report under Pacific Gas and Electric Company`s project management.

  14. Final Technical Progress Report NANOSTRUCTURED MAGNETIC MATERIALS

    Energy Technology Data Exchange (ETDEWEB)

    Charles M. Falco

    2012-09-13

    This report describes progress made during the final phase of our DOE-funded program on Nanostructured Magnetic Materials. This period was quite productive, resulting in the submission of three papers and presentation of three talks at international conferences and three seminars at research institutions. Our DOE-funded research efforts were directed toward studies of magnetism at surfaces and interfaces in high-quality, well-characterized materials prepared by Molecular Beam Epitaxy (MBE) and sputtering. We have an exceptionally well-equipped laboratory for these studies, with: Thin film preparation equipment; Characterization equipment; Equipment to study magnetic properties of surfaces and ultra-thin magnetic films and interfaces in multi-layers and superlattices.

  15. University of Florida, University research program in robotics. Annual technical progress report

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1994-05-01

    Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development.

  16. precision deburring using NC and robot equipment. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Gillespie, L.K.

    1980-05-01

    Deburring precision miniature components is often time consuming and inconsistent. Although robots are available for deburring parts, they are not precise enough for precision miniature parts. Numerical control (NC) machining can provide edge break consistencies to meet requirements such as 76.2-..mu..m maximum edge break (chamfer). Although NC machining has a number of technical limitations which prohibits its use on many geometries, it can be an effective approach to features that are particularly difficult to deburr.

  17. 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.

  18. Research in Progress in Robotics at Stanford University

    OpenAIRE

    Binford, Tom; McCarthy, John

    1981-01-01

    The Robotics Project (the "Hand-Eye Project") evolved within the Stanford Artificial Intelligence Laboratory under the guidance of John McCarthy, Les Earnest, Jerry Feldman, and Tom Binford. Major efforts have been undertaken to isolate and solve fundamental problems in computer vision, manipulation, and autonomous vehicles. Generalized cones were introduced for modeling the geometry of 3-dimensional objects, and programs were constructed which learned structural descriptions of objects from ...

  19. Research progress in gecko locomotion and biomimetic gecko-robots

    Institute of Scientific and Technical Information of China (English)

    DAI Zhendong; SUN Jiurong

    2007-01-01

    Geckos are known for their excellent ability to climb walls and mn on ceilings. Previous studies of the gecko's locomotive and adhesive mechanisms, its neuro-sensory and neuro-modulatory systems, its fabrication of artificial setae array, and other related developments, have inspired further research on gecko-based and gecko-like robots. Key resesrch findings in this area are reviewed in the present paper.

  20. Final Report, University Research Program in Robotics (URPR), Nuclear Facilities Clean-up

    Energy Technology Data Exchange (ETDEWEB)

    Tesar, Delbert; Kapoor, Chetan; Pryor, Mitch

    2005-03-31

    This final report describes the research activity at the University of Texas at Austin with application to EM needs at DOE. This research activity is divided in to two major thrusts and contributes to the overall University Research Program in Robotics (URPR) thrust by providing mechanically oriented robotic solutions based on modularity and generalized software. These thrusts are also the core strengths of the UTA program that has a 40-year history in machine development, 30 years specifically devoted to robotics. Since 1975, much of this effort has been to establish the general analytical and design infrastructure for an open (modular) architecture of systems with many degrees of freedom that are able to satisfy a broad range of applications for future production machines. This work has coalesced from two principal areas: standardized actuators and generalized software.

  1. Recent progress of the Robotic Telescope System "MITSuME"

    Science.gov (United States)

    Yatsu, Y.; Kawai, N.; Fujiwara, T.; Tachibana, Y.; Yoshii, T.; Harita, S.; Muraki, Y.; Ohuchi, H.; Kuroda, D.; Yanagisawa, K.; Hanayama, H.

    2016-12-01

    The MITSuME robotic telescope system for optical/IR follow-up observations of Gamma-ray bursts is presented. To detect the optical flashes, precursors, jet-breakouts and the other intriguing phenomena related to GRBs, the telescope system is completely automated. To minimize the delay time of starting the observation, we had finely turned the control sequence. Currently the MITSuME can start an observation within a few tens of seconds after receiving GCN alert. In addition, we installed the "tiling observation mode" in the control system for the transient events discovered by Fermi and MAXI with low positional accuracy. We also summarize the highlight of the recent observations.

  2. [Robotics].

    Science.gov (United States)

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  3. Effects of Robot Assisted Gait Training in Progressive Supranuclear Palsy (PSP: a preliminary report.

    Directory of Open Access Journals (Sweden)

    Patrizio eSale

    2014-04-01

    Full Text Available Background and Purpose: Progressive supranuclear palsy (PSP is a rare neurodegenerative disease clinically characterized by prominent axial extrapyramidal motor symptoms with frequent falls. Over the last years the introduction of robotic technologies to recover lower limb function has been greatly employed in the rehabilitative practice. This observational trial is aimed at investigating the feasibility, the effectiveness and the efficacy of end-effector robot training in people with PSP.Method: Pilot observational trial.Participants: Five cognitively intact participants with PSP and gait disorders.Interventions: Patients were submitted to a rehabilitative program of robot-assisted walking sessions for 45 minutes, 5 times a week for 4 weeks.Main outcome measures: The spatiotemporal parameters at the beginning (T0 and at the end of treatment (T1 were recorded by a gait analysis laboratory.Results: Robot training was feasible, acceptable and safe and all participants completed the prescribed training sessions. All patients showed an improvement in the gait index (Mean velocity, Cadence, Step length and Step width (T0 versus T1.Conclusions: Robot training is a feasible and safe form of rehabilitation for cognitively intact people with PSP. This innovative approach can contribute to improve lower limb motor recovery. The focus on gait recovery is another quality that makes this research important for clinical practice. On the whole, the simplicity of treatment, the lack of side effects and the positive results in the patients support the recommendation to extend the trials of this treatment. Further investigation regarding the effectiveness of robot training in time is necessary.Trial registration: ClinicalTrials.gov NCT01668407.

  4. Grid Integration of Robotic Telescopes

    CERN Document Server

    Breitling, F; Enke, H

    2008-01-01

    Robotic telescopes and grid technology have made significant progress in recent years. Both innovations offer important advantages over conventional technologies, particularly in combination with one another. Here, we introduce robotic telescopes used by the Astrophysical Institute Potsdam as ideal instruments for building a robotic telescope network. We also discuss the grid architecture and protocols facilitating the network integration that is being developed by the German AstroGrid-D project. Finally, we present three user interfaces employed for this purpose.

  5. Polymer based flapping-wing robotic insect: Progress in design, fabrication, and characterization

    Science.gov (United States)

    Bontemps, A.; Vanneste, T.; Soyer, C.; Paquet, J. B.; Grondel, S.; Cattan, E.

    2014-03-01

    In the last decade, many researchers pursued the development of tiny flying robots inspired by natural flyers destined for the exploration of confined spaces, for example. Within this context, our main objective is to devise a flying robot bioinspired from insect in terms of size and wing kinematics using MEMS technologies. For this purpose, an original design has been developed around resonant thorax and wings by the way of an indirect actuation and a concise transmission whereas the all-polymer prototypes are obtained using a micromachining SU-8 photoresist process. This paper reports our recent progress on the design of a flapping-wing robotic insect as well as on the characterization of its performance. Prototypes with a wingspan of 3 cm and a mass of 22 mg are achieved. Due to the introduction of an innovative compliant link, large and symmetrical bending angles of 70° are obtained at a flapping frequency of 30 Hz along with passive wing torsion while minimizing its energy expenditure. Furthermore, it leads to a mean lift force representing up to 75 % of the prototype weight as measured by an in-house force sensor. Different improvements are currently underway to increase the power-to-weight ratio of the prototype and to obtain an airborne prototype.

  6. Robots

    Institute of Scientific and Technical Information of China (English)

    驷萍

    1997-01-01

    一篇介绍机器人的文章写得如此耐读,如此清新! 首先.我们弄清了robot一词的来历: It was used first in 1920 in a play by Czcchoslovak writer Karel Capek.The wordrobot comes from the Czech word for slave. 上句提供了一个时间:1920。文章接着便抓住这个时间做文章: 且The word robot.and robots themselves are less than 100 years old.But humanshave been dreaming of real and imaginary copies of themselves for thousands of years. 文章就这样写出了波澜,1920年和 thousands of years自然而然构成了强烈对比。1954年和1960s是两个谈及机器人时不得不一提的时间: In 1954,the world’s first robot was produced in the United States. During the 1960s,the first industrial robots appeared beside human workers infactories.下面这句让我们体味到 the Czech word for slave中的 slave不仅言之有理,而且影视和小说里的机器人“造反”,进而 killed the humans who made them的情节也“事出有因”: What do today’s robots do?Robots do work.Work that human consideruninteresting or dangerous.…do many jobs that people consider tiring. 本文将机器人的“功过”放在一起写,笔

  7. Development of Monitoring and Diagnostic Methods for Robots Used In Remediation of Waste Sites - Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Martin, M.

    2000-04-01

    This project is the first evaluation of model-based diagnostics to hydraulic robot systems. A greater understanding of fault detection for hydraulic robots has been gained, and a new theoretical fault detection model developed and evaluated.

  8. Robotics in Industrial Arts. Final Narrative Report for the Exemplary Project.

    Science.gov (United States)

    Ascension Parish School Board, Donaldsonville, LA.

    To introduce students to the world of robotics and industrial automation, robotics was introduced to students enrolled in electronics classes in the industrial arts program at St. Amant High School (Louisiana). Three robots, three host microcomputers, and necessary software were purchased. The electronics instructor installed the three robots…

  9. The HAAPI (Home Arm Assistance Progression Initiative) Trial: - A Novel Robotics Delivery Approach in Stroke Rehabilitation

    Science.gov (United States)

    Wolf, Steven L.; Sahu, Komal; Bay, R. Curtis; Buchanan, Sharon; Reiss, Aimee; Linder, Susan; Rosenfeldt, Anson; Alberts, Jay

    2015-01-01

    Background Geographical location, socioeconomic status and logistics surrounding transportation impede access of post-stroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing for the remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP), was incorporated within a home exercise program (HEP) to improve upper extremity functional capabilities post-stroke. Objective To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months post-stroke and characterized as underserved. Methods In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to upper extremity rehabilitation were randomized to the: 1) experimental group which received combined HEP and HMP for 3 hrs/day x 5 days x 8 weeks; or 2) control group which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl Meyer Assessment (upper extremity) were primary and secondary outcome measures respectively, undertaken before and after the interventions. Results Both groups demonstrated improvement across all upper extremity outcomes. Conclusions Robotic+HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time, additional research is necessary to determine appropriate dosage of HMP and HEP. PMID:25782693

  10. The HAAPI (Home Arm Assistance Progression Initiative) Trial: A Novel Robotics Delivery Approach in Stroke Rehabilitation.

    Science.gov (United States)

    Wolf, Steven L; Sahu, Komal; Bay, R Curtis; Buchanan, Sharon; Reiss, Aimee; Linder, Susan; Rosenfeldt, Anson; Alberts, Jay

    2015-01-01

    Geographical location, socioeconomic status, and logistics surrounding transportation impede access of poststroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP) was incorporated within a home exercise program (HEP) to improve upper-extremity (UE) functional capabilities poststroke. To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months poststroke and characterized as underserved. In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to UE rehabilitation were randomized to either (1) the experimental group, which received combined HEP and HMP for 3 h/d ×5 days ×8 weeks, or (2) the control group, which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl-Meyer Assessment (UE) were primary and secondary outcome measures, respectively, undertaken before and after the interventions. Both groups demonstrated improvement across all UE outcomes. Robotic + HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time. Additional research is necessary to determine the appropriate dosage of HMP and HEP. © The Author(s) 2015.

  11. The effects of robot-assisted gait training in progressive multiple sclerosis: A randomized controlled trial.

    Science.gov (United States)

    Straudi, Sofia; Fanciullacci, Chiara; Martinuzzi, Carlotta; Pavarelli, Claudia; Rossi, Bruno; Chisari, Carmelo; Basaglia, Nino

    2016-03-01

    Gait and mobility impairments are common in progressive multiple sclerosis (MS), leading to reduced quality of life (QoL). In this randomized controlled study, we tested the effects of robot-assisted gait training (RAGT) and compared it to conventional physiotherapy, measuring walking ability, depression, fatigue, and QoL in patients with progressive MS and severe gait disability. Fifty-two participants (Expanded Disability Status Scale score 6-7) completed the study protocol. They received two sessions/week over 6 weeks of RAGT or conventional walking therapy. Outcome measures were Six-Minute Walk Test, Ten-Meter Walk Test, Timed Up and Go Test, Berg Balance Scale, Fatigue Severity Scale, Patient Health Questionnaire, and Short Form 36. They were performed pre-treatment, post-treatment, and at 3 months. Walking endurance (p QoL increased. No significant effects on fatigue were found. RAGT is a treatment option in progressive MS patients with severe gait impairments to induce short-lasting effects on mobility and QoL. © The Author(s), 2015.

  12. Nuclear Physics Laboratory, University of Colorado, Final Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    Kinney, E.R., ed.

    2004-05-12

    OAK-B135 The results and progress of research funded by DOE grant number DOE-FG03-95ER40913 at the University of Colorado at Boulder is described. Includes work performed at the HERMES experiment at DESY to study the quark structure of the nucleon and the hadronization process in nuclei, as well as hadronic reactions studied at LAMPF, KEK, and Fermilab.

  13. Enhanced control and sensing for the REMOTEC ANDROS Mk VI robot. CRADA final report

    Energy Technology Data Exchange (ETDEWEB)

    Spelt, P.F. [Oak Ridge National Lab., TN (United States); Harvey, H.W. [REMOTEC, Inc., Oak Ridge, TN (United States)

    1998-08-01

    This Cooperative Research and Development Agreement (CRADA) between Lockheed Martin Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mk VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.

  14. Enhanced control & sensing for the REMOTEC ANDROS Mk VI robot. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Spelt, P.F.; Harvey, H.W.

    1997-08-01

    This Cooperative Research and Development Agreement (CRADA) between Lockheed Marietta Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mk VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.

  15. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  16. Wheelchair-mounted robotic arm to hold and move a communication device - final design.

    Science.gov (United States)

    Barrett, Graham; Kurley, Kyle; Brauchie, Casey; Morton, Scott; Barrett, Steven

    2015-01-01

    At the 51st Rocky Mountain Bioengineering Symposium we presented a preliminary design for a robotic arm to assist an individual living within an assistive technology smart home. The individual controls much of their environment with a Dynavox Maestro communication device. However, the device obstructs the individual’s line of site when navigating about the smart home. A robotic arm was developed to move the communication device in and out of the user’s field of view as desired. The robotic arm is controlled by a conveniently mounted jelly switch. The jelly switch sends control signals to a four state (up, off, down, off) single-axis robotic arm interfaced to a DC motor by high power electronic relays. This paper describes the system, control circuitry, and multiple safety features. The arm will be delivered for use later in 2015.

  17. 1993 annual final progress report: July 1992 through June 1993

    Energy Technology Data Exchange (ETDEWEB)

    Rohatgi, A.; Crotty, G.; Chen, Z.; Sana, P.; Salami, J.; Doolittle, A.; Pang, A.; Pham, T. [Georgia Inst. of Tech., Atlanta, GA (United States). School of Electrical and Computer Engineering

    1994-11-01

    This is the first annual report since the Inauguration of the University Center of Excellence for Photovoltaics Research and Development (UCEP) at Georgia Tech. The essential objective of the Center is to improve the fundamental understanding of the science and technology of advanced PV devices and materials, to provide training and enrich the educational experience of students in the field, and to increase US competitiveness by providing guidelines to industry and DOE for achieving cost-effective and high efficiency PV devices. These objectives are to be accomplished through a combination of research and education. This report summarizes the technical accomplishments, including modeling, processing, and characterization of cast multicrystalline silicon solar cells; use of modeling and PCD measurements to develop a road map for progressing toward 20% multicrystalline and 25% single crystalline cells; the development of a novel PECVD SiN/SiO{sub 2} AR coating that also provides good surface passivation; PECVD deposited SiO{sub 2} films with record low S and D{sub it} at the SiO{sub 2}/Si interface; and educational activities and accomplishments.

  18. 1993 annual final progress report: July 1992 through June 1993

    Energy Technology Data Exchange (ETDEWEB)

    Rohatgi, A.; Crotty, G.; Chen, Z.; Sana, P.; Salami, J.; Doolittle, A.; Pang, A.; Pham, T. [Georgia Inst. of Tech., Atlanta, GA (United States). School of Electrical and Computer Engineering

    1994-11-01

    This is the first annual report since the Inauguration of the University Center of Excellence for Photovoltaics Research and Development (UCEP) at Georgia Tech. The essential objective of the Center is to improve the fundamental understanding of the science and technology of advanced PV devices and materials, to provide training and enrich the educational experience of students in the field, and to increase US competitiveness by providing guidelines to industry and DOE for achieving cost-effective and high efficiency PV devices. These objectives are to be accomplished through a combination of research and education. This report summarizes the technical accomplishments, including modeling, processing, and characterization of cast multicrystalline silicon solar cells; use of modeling and PCD measurements to develop a road map for progressing toward 20% multicrystalline and 25% single crystalline cells; the development of a novel PECVD SiN/SiO{sub 2} AR coating that also provides good surface passivation; PECVD deposited SiO{sub 2} films with record low S and D{sub it} at the SiO{sub 2}/Si interface; and educational activities and accomplishments.

  19. Soft robotics: a review and progress towards faster and higher torque actuators (presentation video)

    Science.gov (United States)

    Shepherd, Robert

    2014-03-01

    Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.

  20. Verification of Steelmaking Slags Iron Content Final Technical Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    J.Y. Hwang

    2006-10-04

    The steel industry in the United States generates about 30 million tons of by-products each year, including 6 million tons of desulfurization and BOF/BOP slag. The recycling of BF (blast furnace) slag has made significant progress in past years with much of the material being utilized as construction aggregate and in cementitious applications. However, the recycling of desulfurization and BOF/BOP slags still faces many technical, economic, and environmental challenges. Previous efforts have focused on in-plant recycling of the by-products, achieving only limited success. As a result, large amounts of by-products of various qualities have been stockpiled at steel mills or disposed into landfills. After more than 50 years of stockpiling and landfilling, available mill site space has diminished and environmental constraints have increased. The prospect of conventionally landfilling of the material is a high cost option, a waste of true national resources, and an eternal material liability issue. The research effort has demonstrated that major inroads have been made in establishing the viability of recycling and reuse of the steelmaking slags. The research identified key components in the slags, developed technologies to separate the iron units and produce marketable products from the separation processes. Three products are generated from the technology developed in this research, including a high grade iron product containing about 90%Fe, a medium grade iron product containing about 60% Fe, and a low grade iron product containing less than 10% Fe. The high grade iron product contains primarily metallic iron and can be marketed as a replacement of pig iron or DRI (Direct Reduced Iron) for steel mills. The medium grade iron product contains both iron oxide and metallic iron and can be utilized as a substitute for the iron ore in the blast furnace. The low grade iron product is rich in calcium, magnesium and iron oxides and silicates. It has a sufficient lime value and

  1. Verification of Steelmaking Slags Iron Content Final Technical Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    J.Y. Hwang

    2006-10-04

    The steel industry in the United States generates about 30 million tons of by-products each year, including 6 million tons of desulfurization and BOF/BOP slag. The recycling of BF (blast furnace) slag has made significant progress in past years with much of the material being utilized as construction aggregate and in cementitious applications. However, the recycling of desulfurization and BOF/BOP slags still faces many technical, economic, and environmental challenges. Previous efforts have focused on in-plant recycling of the by-products, achieving only limited success. As a result, large amounts of by-products of various qualities have been stockpiled at steel mills or disposed into landfills. After more than 50 years of stockpiling and landfilling, available mill site space has diminished and environmental constraints have increased. The prospect of conventionally landfilling of the material is a high cost option, a waste of true national resources, and an eternal material liability issue. The research effort has demonstrated that major inroads have been made in establishing the viability of recycling and reuse of the steelmaking slags. The research identified key components in the slags, developed technologies to separate the iron units and produce marketable products from the separation processes. Three products are generated from the technology developed in this research, including a high grade iron product containing about 90%Fe, a medium grade iron product containing about 60% Fe, and a low grade iron product containing less than 10% Fe. The high grade iron product contains primarily metallic iron and can be marketed as a replacement of pig iron or DRI (Direct Reduced Iron) for steel mills. The medium grade iron product contains both iron oxide and metallic iron and can be utilized as a substitute for the iron ore in the blast furnace. The low grade iron product is rich in calcium, magnesium and iron oxides and silicates. It has a sufficient lime value and

  2. Final Progress Report for Ionospheric Dusty Plasma In the Laboratory [Smokey Plasma

    Energy Technology Data Exchange (ETDEWEB)

    Robertson, Scott [Univ. of Colorado, Boulder, CO (United States)

    2010-07-31

    “Ionospheric Dusty Plasma in the Laboratory” is a research project with the purpose of finding and reproducing the characteristics of plasma in the polar mesosphere that is unusually cold (down to 140 K) and contains nanometer-sized dust particles. This final progress report summarizes results from four years of effort that include a final year with a no-cost extension.

  3. A Prototype Robotic Arm for Use by Severely Orthopedically Handicapped Students. Final Report.

    Science.gov (United States)

    Howell, Richard

    This 18-month pilot project, which ran from October 1, 1987 to March 31, 1989, developed a prototype robotic arm for educational use by students with severe orthopedic disabilities in the Columbus (Ohio) Public Schools. The developmental effort was intended first, to provide direct access to currently available instructional materials and, second,…

  4. An Integrated Assessment of Progress in Robotic Perception and Semantic Navigation

    Science.gov (United States)

    2015-09-01

    can work. This requires the integration of fundamental and applied research in perception, artificial intelligence , and human-robot interaction. In...Proceedings of the 29th AAAI Conference on Artificial Intelligence ; 2015 Jan 25–30; Austin, TX. Palo Alto (CA): Association for the Advancement of Artificial ...Prescribed by ANSI Std. Z39.18 iii Contents List of Figures iv List of Tables v 1. Introduction 1 2. The Integrated System 2 2.1 Robotic

  5. Final report for LDRD project 11-0783 : directed robots for increased military manpower effectiveness.

    Energy Technology Data Exchange (ETDEWEB)

    Rohrer, Brandon Robinson; Rothganger, Fredrick H.; Wagner, John S.; Xavier, Patrick Gordon; Morrow, James Dan

    2011-09-01

    The purpose of this LDRD is to develop technology allowing warfighters to provide high-level commands to their unmanned assets, freeing them to command a group of them or commit the bulk of their attention elsewhere. To this end, a brain-emulating cognition and control architecture (BECCA) was developed, incorporating novel and uniquely capable feature creation and reinforcement learning algorithms. BECCA was demonstrated on both a mobile manipulator platform and on a seven degree of freedom serial link robot arm. Existing military ground robots are almost universally teleoperated and occupy the complete attention of an operator. They may remove a soldier from harm's way, but they do not necessarily reduce manpower requirements. Current research efforts to solve the problem of autonomous operation in an unstructured, dynamic environment fall short of the desired performance. In order to increase the effectiveness of unmanned vehicle (UV) operators, we proposed to develop robots that can be 'directed' rather than remote-controlled. They are instructed and trained by human operators, rather than driven. The technical approach is modeled closely on psychological and neuroscientific models of human learning. Two Sandia-developed models are utilized in this effort: the Sandia Cognitive Framework (SCF), a cognitive psychology-based model of human processes, and BECCA, a psychophysical-based model of learning, motor control, and conceptualization. Together, these models span the functional space from perceptuo-motor abilities, to high-level motivational and attentional processes.

  6. Work in progress: Robotics mapping of landmine and UXO contaminated areas

    DEFF Research Database (Denmark)

    Jensen, Kjeld; Jørgensen, Rasmus Nyholm; Bøgild, Anders

    the knowledge and experience from the agricultural plant nursing robotics domain to demining applications. The aim is to have a reliable, efficient and user-friendly autonomous robot capable of mapping as well as visually marking detected landmines and UXO within a bounded area. The operator specifies the area...... platform design with ample room for a mine detection im- plement is almost finished and will form the base for further experiments. The area coverage algorithm is being improved to handle static and dynamical obstacles as well as slopes. Detection of obstacles will be performed using a 3D laser range scan...

  7. Coordinating robot motion, sensing, and control in plans. LDRD project final report

    Energy Technology Data Exchange (ETDEWEB)

    Xavier, P.G.; Brown, R.G.; Watterberg, P.A. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

    1997-08-01

    The goal of this project was to develop a framework for robotic planning and execution that provides a continuum of adaptability with respect to model incompleteness, model error, and sensing error. For example, dividing robot motion into gross-motion planning, fine-motion planning, and sensor-augmented control had yielded productive research and solutions to individual problems. Unfortunately, these techniques could only be combined by hand with ad hoc methods and were restricted to systems where all kinematics are completely modeled in planning. The original intent was to develop methods for understanding and autonomously synthesizing plans that coordinate motion, sensing, and control. The project considered this problem from several perspectives. Results included (1) theoretical methods to combine and extend gross-motion and fine-motion planning; (2) preliminary work in flexible-object manipulation and an implementable algorithm for planning shortest paths through obstacles for the free-end of an anchored cable; (3) development and implementation of a fast swept-body distance algorithm; and (4) integration of Sandia`s C-Space Toolkit geometry engine and SANDROS motion planer and improvements, which yielded a system practical for everyday motion planning, with path-segment planning at interactive speeds. Results (3) and (4) have either led to follow-on work or are being used in current projects, and they believe that (2) will eventually be also.

  8. Intelligent tools and process development for robotic edge finishing: LDRD project final report

    Energy Technology Data Exchange (ETDEWEB)

    Lewis, C.L.

    1997-08-01

    This report describes a project undertaken to develop an agile automated, high-precision edge finishing system, for fabricating precision parts. The project involved re-designing and adding additional capabilities to an existing finishing work-cell. The resulting work-cell may serve as prototype for production systems to be integrated in highly flexible automated production lines. The system removes burrs formed in the machining process and produces precision chamfers. The system uses an expert system to predict the burr size from the machining history. Within the CAD system, tool paths are generated for burr removal and chamfer formation. Then, the optimal grinding process is automatically selected from a database of processes. The tool trajectory and the selected process definition is then downloaded to a robotic control system to execute the operation. The robotic control system implements a hybrid fuzzy logic-classical control scheme to achieve the desired performance goals regardless of tolerance and fixturing errors. This report describes the system architecture and the system`s performance.

  9. The European Robotic Arm: A High-performance Mechanism Finally on Its Way to Space

    Science.gov (United States)

    Cruijssen, H. J.; Ellenbroek, M.; Henderson, M.; Petersen, H.; Verzijden, P.; Visser, M.

    2014-01-01

    This paper describes the design and qualification of the European Robotic Arm (ERA), which is planned to be launched by the end of 2015. After years of changes, a shift of launcher and new loads, launch preparation is underway. The European Robotic Arm ERA has been designed and manufactured by Dutch Space and its subcontractors such as Astrium, SABCA and Stork with key roles for the mechanical aspects. The arm was originally designed to be launched by the STS (mounted on a Russian module for the ISS) in 2001. However, due to delays and the STS disaster, a shift was made to the Russian Proton rocket. ERA will be launched on the Multipurpose Laboratory Module (MLM). This module, which is now planned for launch to the ISS in 2015, will carry the ERA. The symmetrical design of the arm with a complete 3 degree-of-freedom wrist and general-purpose end effector on both sides, allows ERA to relocate on the station by grappling a new base point and releasing the old one, and move to different working locations.

  10. Safety in Numbers: Progressive Implementation of a Robotics Program in an Academic Surgical Oncology Practice.

    Science.gov (United States)

    King, Jonathan C; Zeh, Herbert J; Zureikat, Amer H; Celebrezze, James; Holtzman, Matthew P; Stang, Michael L; Tsung, Allan; Bartlett, David L; Hogg, Melissa E

    2016-08-01

    Background Robotic-assisted surgery has potential benefits over laparoscopy yet little has been published on the integration of this platform into complex surgical oncology. We describe the outcomes associated with integration of robotics into a large surgical oncology program, focusing on metrics of safety and efficiency. Methods A retrospective review of a prospectively maintained database of robotic procedures from July 2009 to October 2014 identifying trends in volume, operative time, complications, conversion to open, and 90-day mortality. Results Fourteen surgeons performed 1236 cases during the study period: thyroid (246), pancreas/duodenum (458), liver (157), stomach (56), colorectal (129), adrenal (38), cholecystectomy (102), and other (48). There were 38 conversions to open (3.1%), 230 complications (18.6%), and 13 mortalities (1.1%). From 2009 to 2014, operative volume increased (7 cases/month vs 24 cases/month; P robotic surgical oncology program utilizing multiple surgeons is safe and feasible. As operative volume increased, operative time, complications, and conversions to open decreased and plateaued at approximately 3 years. No unanticipated adverse events attributable to the introduction of this platform were observed.

  11. Robotic weld overlay coatings for erosion control. Final technical progress report, July 1992--July 1995

    Energy Technology Data Exchange (ETDEWEB)

    Levin, B.F.; DuPont, J.N.; Marder, A.R.

    1995-10-15

    The erosion behavior of weld overlay coatings has been studied. Eleven weld overlay alloys were deposited on 1018 steel substrates using the plasma arc welding process and erosion tested at 400{degrees}C at 90{degrees} and 30{degrees} particle impact angles. The microstructure of each coating was characterized before erosion testing. A relative ranking of the coatings erosion resistance was developed by determining the steady state erosion rates. Ultimet, Inconel-625, and 316L SS coatings showed the best erosion resistance at both impact angles. It was found that weld overlays that exhibit good abrasion resistance did not show good erosion resistance. Erosion tests were also performed for selected wrought materials with chemical composition similar to weld overlays. Eroded surfaces of the wrought and weld alloys were examined by Scanning Electron Microscopy (SEM). Microhardness tests were performed on the eroded samples below the erosion surface to determine size of the plastically deformed region. It was found that one group of coatings experienced significant plastic deformation as a result of erosion while the other did not. It was also established that, in the steady state erosion regime, the size of the plastically deformed region is constant.

  12. Work in progress: Robotics mapping of landmine and UXO contaminated areas

    OpenAIRE

    2011-01-01

    Explosive remnants of war like landmines and unexploded ordnance (UXO) are a serious threat in post conflict environments around the World. Aside from the killing and injury of many people the landmines and UXO have a significant impact on the local economy due to inac- cessible roads and loss of fertile agricultural areas.The Biosystems Engineering Groups at the University of Southern Denmark and Aarhus University, Denmark, have developed several autonomous terrain robots for use in semi str...

  13. Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

    Energy Technology Data Exchange (ETDEWEB)

    EISLER, G. RICHARD

    2002-08-01

    This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstrate the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.

  14. A compendium on mobile robots used in hazardous environments: Final report

    Energy Technology Data Exchange (ETDEWEB)

    Meieran, H.B.

    1987-05-01

    This report presents a compendium of information regarding specific mobile robotic/teleoperated vehicles which are employed in a spectrum of hazardous environments, including the nuclear industry. These devices can be used to inspect, locate, identify, manipulate, and/or maintain components and items in the hazardous environment as well as act as mobile surveillance/sensing/reconnaissance platforms while monitoring the various constituents in the hazardous atmospheres. Furthermore, they can be used as transporters of tools, equipment, and material to and from the hazardous environment. This initial compendium is restricted to those devices which are able to maneuver on the surface of floors and other terrain features in both out-of-water and shallow water situations; subsequent compendiums will present information regarding underwater devices which can be used in the nuclear/fossil fueled/hydraulic based electric power generating and other utility industries and information updates for the initial volume. This compendium excludes those devices which are being considered for applications in outer space. 17 refs.

  15. 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....

  16. Soft robotics: a bioinspired evolution in robotics.

    Science.gov (United States)

    Kim, Sangbae; Laschi, Cecilia; Trimmer, Barry

    2013-05-01

    Animals exploit soft structures to move effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft technologies into their designs. The goal is to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments. Here, we review emerging soft-bodied robotic systems, and in particular recent developments inspired by soft-bodied animals. Incorporating soft technologies can potentially reduce the mechanical and algorithmic complexity involved in robot design. Incorporating soft technologies will also expedite the evolution of robots that can safely interact with humans and natural environments. Finally, soft robotics technology can be combined with tissue engineering to create hybrid systems for medical applications.

  17. Robotics Challenge: Cognitive Robot for General Missions

    Science.gov (United States)

    2015-01-01

    ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS UNIVERSITY OF KANSAS JANUARY 2015 FINAL TECHNICAL REPORT... University of Kansas 2120 Learned Hall 1530 W. 15th Street Lawrence, KS 66045 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING/MONITORING...controls. 15. SUBJECT TERMS Autonomy , Supervised Autonomy , Robotics, Cognitive Architecture 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF

  18. Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997

    Energy Technology Data Exchange (ETDEWEB)

    Thompson, B.; Slifko, A.

    1998-12-31

    This report details the development of a reconfigurable in-tank robotic cleanup system called Houdini{trademark}. Driven by the general need to develop equipment for the removal of radioactive waste from hundreds of DOE waste storage tanks and the specific needs of DOE sites such as Oak Ridge National Laboratory and Fernald, Houdini{trademark} represents one of the possible tools that can be used to mobilize and retrieve this waste material for complete remediation. Houdini{trademark} is a hydraulically powered, track driven, mobile work vehicle with a collapsible frame designed to enter underground or above ground waste tanks through existing 24 inch riser openings. After the vehicle has entered the waste tank, it unfolds and lands on the waste surface or tank floor to become a remotely operated mini-bulldozer. Houdini{trademark} utilizes a vehicle mounted plow blade and 6-DOF manipulator to mobilize waste and carry other tooling such as sluicing pumps, excavation buckets, and hydraulic shears. The complete Houdini{trademark} system consists of the tracked vehicle and other support equipment (e.g., control console, deployment system, hydraulic power supply, and controller) necessary to deploy and remotely operate this system at any DOE site. Inside the storage tanks, the system is capable of performing heel removal, waste mobilization, waste size reduction, and other tank waste retrieval and decommissioning tasks. The first Houdini{trademark} system was delivered on September 24, 1996 to Oak Ridge National Laboratory (ORNL). The system acceptance test was successfully performed at a cold test facility at ORNL. After completion of the cold test program and the training of site personnel, ORNL will deploy the system for clean-up and remediation of the Gunite storage tanks.

  19. Will an underwater robot ever replace the diver? A rather poor progress or a great success?

    Directory of Open Access Journals (Sweden)

    Olejnik Adam

    2016-03-01

    Full Text Available The article deals with the subject matter related to the development of underwater works technologies. Nearly 15 years ago one of the authors of this study published a material in the monthly magazine of “Podwodny Świat” (The Underwater World entitled “The Future of Underwater Technologies – the diver or the robot?” where he noted that the time of great changes in technologies aimed at researching the depths and conducting works under water has arrived. This new era mainly consists in the fact that on an increasing number of occasions the diver is replaced by an underwater robot. The presented material constitutes an attempt to provide an answer to the question whether the then posed thesis is still valid. In the article the authors discuss issues concerned with the development of techniques and technologies applied in the conquest of depths that leads them to the conclusion that the previously observed tendency of a double-tracked development of underwater technologies is gaining in strength, which causes that the works and exploration of bodies of water at great depths will be possible only with the use of unmanned techniques.

  20. UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane III

    2006-02-15

    The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  1. 医用外科机器人应用和研究进展%Progress of Medical Robot Application and Research

    Institute of Scientific and Technical Information of China (English)

    桂海军

    2011-01-01

    机器人技术的发展推动外科手术模式产生革命性的变化,目前研究主要集中于脑神经外科、整形外科、骨科等领域,已显示出良好的社会和经济价值.为促进我国医用外科机器人技术的研究和发展,结合国内外典型外科手术机器人的研究和应用状况,就外科机器人所涉及的手术机器人系统结构和发展前景进行综述.%[Summary] The development of robotics has been promoting surgical models to a revolutionary change. Medical surgical robot has been used in operation in many fields, such as brain neurosurgery, plastic surgery, orthopaedics, and so on, and shows great social and economical value. The process of robot research based on current medical robotic application was reviewed in this article, and the structure of medical robot system was also introduced. Finally, the prospect of surgical robot was discussed.

  2. Nonlinear and Nonideal MHD. Final annual progress report, January 1, 2003 through December 31, 2003

    Energy Technology Data Exchange (ETDEWEB)

    Callen, James D

    2003-04-30

    This is the third and final annual progress report on the current 3-year ''Nonlinear and Nonideal MHD'' DoE grand DE-FG02-86ER53218 for the six months since the November 2002 progress report. During this grant year the funding level was $309k. The participating personnel and their approximate degree of funded involvement in this research project this grant year has been as follows: Professor J. D. Callen (PI, 1.8 months during academic year, 2.2 summer months); Professor C.C. Hegna (Co-PI: 2.3 months during academic year, 1.5 summer months); postdoc Dr. S. Gupta (100%); and graduate students A.L. Garcia-Perciante (50% RA) and X. Liu (50% RA).

  3. Flow-induced vibration for light water reactors. Final progress report, July 1981-September 1981

    Energy Technology Data Exchange (ETDEWEB)

    Torres, M.R.

    1981-11-01

    Flow-Induced Vibration for Light Water Reactors (FIV for LWRs) is a program designed to improve the FIV performance of light water reactors through the development of design criteria, analytical models for predicting behavior of components, and general scaling laws to improve the accuracy of reduced-scale tests, and through the identification of high FIV risk areas. The program is managed by the General Electric Nuclear Power Systems Engineering Department and has three major contributors: General Electric Nuclear Power Systems Engineering Department (NPSED), General Electric Corporate Research and Development (CR and D) and Argonne National Laboratory (ANL). The program commenced December 1, 1976. This progress report summarizes the accomplishments achieved during the final period from July 1981 to September 1981. This is the last quarterly progress report to be issued for this program.

  4. Extreme Performance Scalable Operating Systems Final Progress Report (July 1, 2008 - October 31, 2011)

    Energy Technology Data Exchange (ETDEWEB)

    Malony, Allen D; Shende, Sameer

    2011-10-31

    This is the final progress report for the FastOS (Phase 2) (FastOS-2) project with Argonne National Laboratory and the University of Oregon (UO). The project started at UO on July 1, 2008 and ran until April 30, 2010, at which time a six-month no-cost extension began. The FastOS-2 work at UO delivered excellent results in all research work areas: * scalable parallel monitoring * kernel-level performance measurement * parallel I/0 system measurement * large-scale and hybrid application performance measurement * onlne scalable performance data reduction and analysis * binary instrumentation

  5. Urologic robots and future directions

    OpenAIRE

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2008-01-01

    International audience; PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. RECENT FINDINGS: Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. SUMMARY: The final goal of robot...

  6. The Research Progress and Ethical Reflection of the Medical Robots Technology%医疗机器人的研究进展及伦理学思考

    Institute of Scientific and Technical Information of China (English)

    凌卓; 伍敏; 郑翔; 赵珊; 黄海

    2014-01-01

    With the development of modern science and technology ,medical robots have been widely used in the health industry ,which greatly promot the development of medical science and become one of the hot directions in the field of robotics research . This article briefly elaborated the domestic and international researches progress of medical robots technology .And it pointed out that medical robots technology was facing the failure of the liability investigation mechanism ,being lack of legal protection and specification ,taking impact on the medical position and deviating humanistic care ,etc .At present ,the medical robots technology should be developed and popularized actively .At the same time , promoting people to update their concepts of robots and improving relevant legislations to regulate the medical robots technology are the keys to solve the ethical problems .%随着现代科技的日新月异,医疗机器人被广泛应用于医疗行业,大大推动了医学的发展,并成为机器人研究领域的热门方向之一。在简要介绍国内外医疗机器人研究进展及应用现状的基础上,本文指出该项技术存在的医疗责任追究机制不完善、缺少法律保障和规范、对医疗岗位冲击、无法体现对患者人文关怀等伦理问题;提出积极发展和推广医疗机器人技术的同时,推动人们对医疗机器人观念的更新,进一步制定和完善相关法律法规是解决该项技术伦理问题的关键。

  7. Probabilistic Algorithms in Robotics

    OpenAIRE

    Thrun, Sebastian

    2000-01-01

    This article describes a methodology for programming robots known as probabilistic robotics. The probabilistic paradigm pays tribute to the inherent uncertainty in robot perception, relying on explicit representations of uncertainty when determining what to do. This article surveys some of the progress in the field, using in-depth examples to illustrate some of the nuts and bolts of the basic approach. My central conjecture is that the probabilistic approach to robotics scales better to compl...

  8. Confidence-Based Progress-Driven Self-Generated Goals for Skill Acquisition in Developmental Robots

    Directory of Open Access Journals (Sweden)

    Hung eNgo

    2013-11-01

    Full Text Available A reinforcement learning agent that autonomously explores its environment can utilize a curiosity drive to enable continual learning of skills, in the absence of any external rewards. We formulate curiosity-driven exploration, and eventual skill acquisition, as a selective sampling problem. Each environment setting provides the agent with a stream of instances. An instance is a sensory observation that, when queried, causes an outcome that the agent is trying to predict. After an instance is observed, a query condition, derived herein, tells whether its outcome is statistically known or unknown to the agent, based on the confidence interval of an online linear classifier. Upon encountering the first unknown instance, the agent "queries'' the environment to observe the outcome, which is expected to improve its confidence in the corresponding predictor. If the environment is in a setting where all instances are known, the agent generates a plan of actions to reach a new setting, where an unknown instance is likely to be encountered. The desired setting is a self-generated goal, and the plan of action, essentially a program to solve a problem, is a skill. The success of the plan depends on the quality of the agent's predictors, which are improved as mentioned above. For validation, this method is applied to both a simulated and real Katana robot arm in its "blocks-world'' environment. Results show that the proposed method generates sample-efficient curious exploration behavior, which exhibits developmental stages, continual learning, and skill acquisition, in an intrinsically-motivated playful agent.

  9. Computer-assisted transoral surgery with flexible robotics and navigation technologies: a review of recent progress and research challenges.

    Science.gov (United States)

    Ren, Hongliang; Lim, Chwee Ming; Wang, Jiaole; Liu, Wei; Song, Shuang; Li, Zheng; Herbert, Geraint; Tse, Zion Tsz Ho; Tan, Zeqi

    2013-01-01

    This article reviews the flexible robotic surgery and navigation technologies that are currently available and under research development, in particular for transoral robotic surgery, in both broad and narrow senses. The clinical background, classifications, associated biomedical robotics applications, and surgical outcomes are illustrated in this new paradigm of minimally invasive surgery. The state-of-the-art robotic and navigation systems for transoral procedures are reviewed by identifying their key properties and considerations. The use of different materials and actuation methods by current robotic systems offers various movements for different purposes, and their characteristics are compared. The future research trends of robotic and navigation systems for transoral procedures are discussed in terms of emerging new material, actuation, and sensing technologies.

  10. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  11. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    Abstract Robots will soon take part in everyone’s daily life. In industrial production this has been the case for many years, but up to now the use of mobile robots has been limited to a few and isolated applications like lawn mowing, surveillance, agricultural production and military applications....... The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from...

  12. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  13. 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…

  14. 机器人在人机交互过程中的安全性研究进展%Progress in Robot Safety Research during Human-robot Interaction

    Institute of Scientific and Technical Information of China (English)

    吴海彬; 杨剑鸣

    2011-01-01

    为全面准确地掌握人机交互作业过程中人与机器人在安全性方面的研究进展,把提高机器人安全性的策略归纳为3种方法,分别称为事前预防主动控制、关节柔顺设计和用黏弹性材料包裹连杆,阐述了每种方法评价机器人安全性的主要性能指标.通过对比各种实现方法的设计思想和结构组成方案,总结出各种方法的优缺点和存在的主要问题.事前控制的关键在于信息的全面性和控制的实时性;事后控制方法的主要问题则只能在一定程度上减缓撞击的伤害程度,而无法从根本上保证人的安全性.结果表明,到目前为止仅靠单一手段和方法还不能彻底解决机器人安全性问题,要多种手段相结合,高度重视影响安全性的主客观因素,把提高机器人安全性的理念贯穿于机器人设计的各个环节.%For the purpose of precisely grasping the research development of human and robot safety during human-robot interaction, three types of methods for improving robot safety are summarized. The first is pre-collision preventive active control, the second is compliant joint design, and the third is link coating with viscoelastic materials. Corresponding evaluating criteria of robot safety for the above methods are discussed. By contrasting design mechanism and construction scheme of each type of method, the advantages , disadvantages and main problems are generalized. The key of pre-collision control depends on if the information is comprehensive and if the control is real-time. The problem of post-collision control is that the injury can only be eased, but can not be totally avoided. It is concluded that only depending on one of the above methods is hard to thoroughly resolve robot safety problem, and several methods should be combined to effectively improve robot safety. Meanwhile, both subjective and objective factors should be highly valued, and the idea of improving robot safety should be

  15. Impairment-Based 3-D Robotic Intervention Improves Upper Extremity Work Area in Chronic Stroke: Targeting Abnormal Joint Torque Coupling With Progressive Shoulder Abduction Loading

    Science.gov (United States)

    Ellis, Michael D.; Sukal-Moulton, Theresa M.; Dewald, Julius P. A.

    2010-01-01

    The implementation of a robotic system (ACT3D) that allowed for a quantitative measurement of abnormal joint torque coupling in chronic stroke survivors and, most importantly, a quantitative means of initiating and progressing an impairment-based intervention, is described. Individuals with chronic moderate to severe stroke (n = 8) participated in this single-group pretest-posttest design study. Subjects were trained over eight weeks by progressively increasing the level of shoulder abduction loading experienced by the participant during reaching repetitions as performance improved. Reaching work area was evaluated pre- and postintervention for ten different shoulder abduction loading levels along with isometric single-joint strength and a qualitative clinical assessment of impairment. There was a significant effect of session (pre versus post) with an increase in reaching work area, despite no change in single-joint strength. This data suggests that specifically targeting the abnormal joint torque coupling impairment through progressive shoulder abduction loading is an effective strategy for improving reaching work area following hemiparetic stroke. Application of robotics, namely, the ACT3D, allowed for quantitative control of the exercise parameters needed to directly target the synergistic coupling impairment. The targeted reduction of abnormal joint torque coupling is likely the key factor explaining the improvements in reaching range of motion achieved with this intervention. PMID:20657711

  16. Amphibious NDT Robots

    OpenAIRE

    Sattar, Tariq P.; Leon-Rodriguez, Hernando E.; Shang, Jianzhong

    2007-01-01

    Three prototype robots have been developed to gain entry into a large range of oil, petrochemical and process storage tanks. The robots are lightweight and compact so that they can be transported by one or two operators and easily inserted through the smallest manholes. The robots are amphibious, being able to operate in air and while submerged in liquids. They have been tested in water but the design incorporates the features to enable rapid progression to operation in oil and other flammabl...

  17. Delta并联机器人的研究进展%Research Progress and Status of Delta Parallel Robot

    Institute of Scientific and Technical Information of China (English)

    张英坤

    2016-01-01

    Delta parallel robot is a kind of the most classical space of three degree of freedom parallel mechanism, which mades up for the shortage of serial robots and is currently one of the most successful application of high speed parallel robot, and attracts the attention of many scholars at home and abroad. Research results of the Delta parallel robot in kinematics, dynamics, institutional per-formance, control strategy were summarized based on a large number of relevant literature, and the research trend and unsolved prob-lems of the Delta parallel robot were explored as well.%Delta并联机器人是一种最经典的空间三自由度并联机构,弥补了串联机器人存在的许多不足,是目前应用最为成功的高速并联机器人之一,吸引了国内外许多学者的关注。根据查阅的大量相关文献,对Delta并联机器人在运动学、动力学、机构性能、控制策略等方面的研究成果进行总结,进而探索Delta并联机器人的研究趋势和尚未解决的难题。

  18. Final Technical Progress Report: Development of Low-Cost Suspension Heliostat; December 7, 2011 - December 6, 2012

    Energy Technology Data Exchange (ETDEWEB)

    Bender, W.

    2013-01-01

    Final technical progress report of SunShot Incubator Solaflect Energy. The project succeeded in demonstrating that the Solaflect Suspension Heliostat design is viable for large-scale CSP installations. Canting accuracy is acceptable and is continually improving as Solaflect improves its understanding of this design. Cost reduction initiatives were successful, and there are still many opportunities for further development and further cost reduction.

  19. Improved methods for water shutoff. Final technical progress report, October 1, 1997--September 30, 1998

    Energy Technology Data Exchange (ETDEWEB)

    Seright, R.S.; Liang, J.T.; Schrader, R.; Hagstrom, J. II; Liu, J.; Wavrik, K.

    1998-10-01

    In the United States, more than 20 billion barrels of salt water are produced each year during oilfield operations. A tremendous economic incentive exists to reduce water production if that can be accomplished without significantly sacrificing hydrocarbon production. This three-year research project had three objectives. The first objective was to identify chemical blocking agents that will (a) during placement, flow readily through fractures without penetrating significantly into porous rock and with screening out or developing excessive pressure gradients and (b) at a predictable and controllable time, become immobile and resistant breakdown upon exposure to moderate to high pressure gradients. The second objective was to identify schemes that optimize placement of the above blocking agents. The third objective was to explain why gels and other chemical blocking agents reduce permeability to one phase (e.g., water) more than that to another phase (e.g., oil or gas). The authors also wanted to identify conditions that maximize this phenomenon. This project consisted of three tasks, each of which addressed one of the above objectives. This report describes work performed during the third and final period of the project. During this three-year project, they: (1) Developed a procedure and software for sizing gelant treatments in hydraulically fractured production wells; (2) Developed a method (based on interwell tracer results) to determine the potential for applying gel treatments in naturally fractured reservoirs; (3) Characterized gel properties during extrusion through fractures; (4) Developed a method to predict gel placement in naturally fractured reservoirs; (5) Made progress in elucidating the mechanism for why some gels can reduce permeability to water more than that to oil; (6) Demonstrated the limitations of using water/oil ratio diagnostic plots to distinguish between channeling and coning; and (7) Proposed a philosophy for diagnosing and attacking water

  20. Cloud Robotics Model

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2015-01-01

    Full Text Available 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 active research projects around the world. The presentation summarizes the main idea, the definition, the cloud model composed of essential characteristics, service models and deployment models, planning task execution and beyond. Finally some cloud robotics projects are discussed.

  1. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  2. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire; Duca, Edward

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  3. 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...

  4. 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...

  5. Common Metrics for Human-Robot Interaction

    Science.gov (United States)

    Steinfeld, Aaron; Lewis, Michael; Fong, Terrence; Scholtz, Jean; Schultz, Alan; Kaber, David; Goodrich, Michael

    2006-01-01

    This paper describes an effort to identify common metrics for task-oriented human-robot interaction (HRI). We begin by discussing the need for a toolkit of HRI metrics. We then describe the framework of our work and identify important biasing factors that must be taken into consideration. Finally, we present suggested common metrics for standardization and a case study. Preparation of a larger, more detailed toolkit is in progress.

  6. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

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

  7. Automatic control system generation for robot design validation

    Science.gov (United States)

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

    2012-01-01

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

  8. 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...

  9. DOE Robotics Project

    Energy Technology Data Exchange (ETDEWEB)

    1991-01-01

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

  10. Rosie - mobile robot worksystem for decommissioning and dismantling operations. Final report, April 1, 1996--January 31, 1997

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-12-31

    RedZone Robotics, Inc. has undertaken development of an advanced remote worksystem - Rosie - specifically designed to meet the challenges of performing a wide range of decontamination and dismantlement (D&D) operations in nuclear environments. The Rosie worksystem includes a locomotor, heavy manipulator, operator console, and control system for remote operations. The locomotor is a highly mobile platform with tether management and hydraulic power onboard. The heavy manipulator is a high-payload, long-reach boom used to deploy a wide variety of tools and/or sensors into the work area. Rosie`s advanced control system, broad work capabilities, and hardening/reliability for hazardous duty make it a new and unique capability that facilitates completion of significant cleanup projects throughout the Department of Energy (DOE) and private sector. Endurance testing of the first Rosie system from September 1995 to March 1996 has proven its capabilities and appropriateness for D&D applications. Design enhancements were incorporated into the second Rosie system to improve and add features necessary for deployment at a DOE facility decommissioning. This second Rosie unit was deployed to the Argonne National Laboratory`s CP-5 reactor facility in early December 1996, and it is currently being used in the decommissioning of the reactor there. This report will overview this second Rosie system and the design enhancements made to it based on the lessons learned during the design, fabrication, and testing of the first Rosie system. The Rosie system has been designed to be a versatile and adaptable tool that can be used in many different applications in D&D work at nuclear facilities. It can carry a wide variety of tooling, sensors, and other robotic equipment at the tip of its heavy manipulator, and it can deploy those items to many different hazardous work areas. Rosie`s capabilities and system design address the need for durability and reliability in these environments.

  11. FINAL Progress Report DOE Grant DE-FG02-04ER15587

    Energy Technology Data Exchange (ETDEWEB)

    Mullins, Charles Buddie [Univ. of Texas, Austin, TX (United States)

    2016-11-03

    Catalysis Program - Viviane Schwartz Program Manager This Final Report discusses several archival journal articles that have been published that present and discuss the results that were discovered through this DOE grant.

  12. Robot and robot system

    Science.gov (United States)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  13. Development of Career Progression Systems for Employees in the Foodservice Industry. Final Report.

    Science.gov (United States)

    National Restaurant Association, Chicago, IL.

    Firms representing four segments of the foodservice industry (institutional foodservice (9 jobs), commercial restaurants (19 jobs), hotel foodservice (100 jobs), and airline foodservice (10 jobs), participated in a career and training study to test the feasibility of designing and implementing career progression (c.p.) systems within these…

  14. Study of private enterprise development on the Raft River KGRA. Final progress report

    Energy Technology Data Exchange (ETDEWEB)

    Green, S.J.; Brown, W.S.; Meldrum, P.D.

    1977-07-01

    Information, analysis, and conclusions based on the small for-profit venture business model are presented. The necessary tasks are described and progress is reviewed. Water availability and business analysis problems are described. Included in the appendix are materials on land availability, characterization of geothermal resources under Idaho law, and greenhouse analysis and geothermal applications. (MHR)

  15. National Assessment of Educational Progress Grade 12 Preparedness Research College Course Content Analysis Study: Final Report

    Science.gov (United States)

    Educational Policy Improvement Center, 2014

    2014-01-01

    The National Assessment Governing Board is an independent, bipartisan organization that sets policy for the National Assessment of Educational Progress (NAEP). The Governing Board established the NAEP Program of 12th Grade Preparedness Research to assess what NAEP can report on the academic preparedness of 12th grade students entering college and…

  16. Preliminary analysis of the state of the art of robotics and precision engineering and evaluation of potential for improved energy utilization in the pulp, paper, and related energy-consuming processes. Final report

    Energy Technology Data Exchange (ETDEWEB)

    None

    1982-01-01

    This study was undertaken to conduct a preliminary analysis of the state of the art of two technologies, robotics and precision engineering, and to evaluate their potential for improved energy utilization in the pulp, paper, and related energy consuming processes. Activity in the robotics field is growing rapidly, most activity being related to the development of smart robots rather than to systems. There is a broad base of support, both in industry and the universities, for upgrading robot machine capabilities. A large part of that support is associated with visualization and tactile sensors which facilitate assembly, placement, inspection, and tracking. Progress in this area is relatively rapid and development times are short for specifically engineered applications. The critical path in the development of robotic systems lies in the generation of reliable sensor signals. Robotic systems require a broad spectrum of sensors from which hierarchical logic systems can draw decision making information. This requirement resulted in the establishment of a program at the National Bureau of Standards which is attempting to develop a spectrum of sensor capabilities. Such sensors are applicable to robotic system automatic process control in a variety of energy-intensive industries. Precision engineering is defined as the generation or manufacture of components wherein geometry, dimension, and surface finish are controlled to within several hundred Angstroms in single point turning operations. Investigation into the state of the art of precision engineering in the United States finds that this capability exists in several national laboratories and is intended to be used exclusively for the development of weapons. There is an attempt at the present time by Lawrence Livermore Laboratory to expand its capability into industry. Several corporations are now beginning to develop equipment to support the precision engineering field.

  17. Experimental and Theoretical Progress of Linear Collider Final Focus Design and ATF2 Facility

    CERN Document Server

    Seryi, Andrei; Zimmermann, Frank; Kubo, Kiyoshi; Kuroda, Shigeru; Okugi, Toshiyuki; Tauchi, Toshiaki; Terunuma, Nobuhiro; Urakawa, Junji; White, Glen; Woodley, Mark; Angal-Kalinin, Deepa

    2014-01-01

    In this brief overview we will reflect on the process of the design of the linear collider (LC) final focus (FF) optics, and will also describe the theoretical and experimental efforts on design and practical realisation of a prototype of the LC FF optics implemented in the ATF2 facility at KEK, Japan, presently being commissioned and operated.

  18. Final Report on Models, Periodic Progress, Report No D1.3, Globeman21, ESPRIT 26509

    DEFF Research Database (Denmark)

    Pedersen, Jens Dahl; Tølle, Martin; Vesterager, Johan

    1999-01-01

    This deliverable D1.3 is the third and final deliverable of WP1 - Global Manufacturing Concept of the European part of the Globeman21 project. The report essentially presents the final models on generic Extended Enterprise Management (EEM) and generic Product Life Cycle Management (PLCM), a colle......This deliverable D1.3 is the third and final deliverable of WP1 - Global Manufacturing Concept of the European part of the Globeman21 project. The report essentially presents the final models on generic Extended Enterprise Management (EEM) and generic Product Life Cycle Management (PLCM......), a collection of practical experiences, and requirements for enhanced methods and tools for modelling. First, the deliverable outlines the GM21 understanding regarding extended enterprises and virtual enterprises. This is done by extracting and synthesising the essence of key definitions and concepts...... enterprise context. Through the set of recommended activities for individual life cycle phases of respectively the network entity, the VE entity, and the product entity of the Extended Enterprise Framework, the methodology supports realisation of extended enterprises. The time sequenced planning...

  19. Status of the KLOE Electromagnetic Calorimeter: final optimization, progress in construction and first calibration

    Energy Technology Data Exchange (ETDEWEB)

    Antonelli, M.; Anulli, F.; Barbiellini, G.; Bertolucci, S.; Bini, C.; Bloise, C.; Caloi, R.; Cabibbo, G.; Campana, P.; Cervelli, F.; De Zorzi, G.; Di Cosimo, G.; Di Domenico, A.; Erriquez, O.; Di Falco, S.; Farilla, A.; Ferrari, A.; Franzini, P.; Gauzzi, P.; Giovannella, S.; Graziani, E.; Han, S.W.; Incagli, M.; Kim, W.; Lanfranchi, G.; Lee-Franzini, J.; Lomtadze, T.; Miscetti, S.; Murtas, F.; Scuri, F.; Spiriti, E.; Tortora, L.; Venanzoni, G.; Woelfle, S.; Zhang, J.Q. [Bari Univ. (Italy). Dipt. di Fisica]|[INFN, Bari (Italy)]|[Institute of High Energy Physics of Academica Sinica, Beijing (China)]|[Laboratori Nazionali di Frascati dell`INFN, Frascati (Italy)]|[Physics Department, Columbia University, New York (United States)]|[Dipartimento di Fisica dell`Universita e Sezione INFN, Pisa (Italy)]|[Dipartimento di Fisica dell`Universita e Sezione INFN, Roma I (Italy)]|[Dipartimento di Fisica dell`Universita e Sezione INFN, Roma II (Italy)]|[Istituto Superiore di Sanita and Sezione INFN, ISS, Roma (Italy)]|[Physics Department, State University of New York at Stony Brook, Stony Brook, NY (United States)]|[Dipartimento di Fisica dell`Universita e Sezione INFN, Trieste/Udine (Italy)

    1997-03-01

    The design and the status of construction of the KLOE electromagnetic calorimeter are described in this report. 18 out of 24 barrel modules have been fully assembled and more than 50% of the end-cap modules are built. All experimental specifications are fulfilled as shown by the test beam results of the final size prototype. Since the quality of fibers and photomultipliers have gone through improvements, the final calorimeter performances will exceed our expectations. The main parameters of each calorimeter module (light yield, attenuation length and time resolution) are fully surveyed using cosmic rays. Extrapolating the results to electromagnetic showers, a time resolution of 55 ps/{radical}(E(GeV)) and a resolution of 0.9 cm/{radical}(E(GeV)) on the coordinate along the fibers are obtained. An energy resolution of 4.7%/{radical}(E(GeV)) can also be quoted. (orig.).

  20. Final Report on Models, Periodic Progress, Report No D1.3, Globeman21, ESPRIT 26509

    DEFF Research Database (Denmark)

    Pedersen, Jens Dahl; Tølle, Martin; Vesterager, Johan

    1999-01-01

    This deliverable D1.3 is the third and final deliverable of WP1 - Global Manufacturing Concept of the European part of the Globeman21 project. The report essentially presents the final models on generic Extended Enterprise Management (EEM) and generic Product Life Cycle Management (PLCM...... accomplished during the GM21EU project. Especially the Extended Enterprise Framework should be accentuated as a key concept of WP1. Building on ISO/DIS 15704 GERAM, the framework constitutes a generic reference model for extended enterprises and hereunder for EEM and PLCM issues. The Extended Enterprise...... classification schema for work preparation in extended enterprises. The classification schema is applied as support for a mapping of the EEM and PLCM pilot projects onto the Extended Enterprise Framework. By mapping the industrial pilot work onto a common reference model experiences have been collected from GM21...

  1. Experimental Program Final Technical Progress Report: 15 February 2007 to 30 September 2012

    Energy Technology Data Exchange (ETDEWEB)

    Kinney, Edward R. [University of Colorado, Boulder, CO

    2014-09-12

    This is the final technical report of the grant DE-FG02-04ER41301 to the University of Colorado at Boulder entitled "Intermediate Energy Nuclear Physics" and describes the results of our funded activities during the period 15 February 2007 to 30 September 2012. These activities were primarily carried out at Fermilab, RHIC, and the German lab DESY. Significant advances in these experiments were carried out by members of the Colorado group and are described in detail.

  2. The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course

    Science.gov (United States)

    Cappelleri, D. J.; Vitoroulis, N.

    2013-01-01

    This paper presents a series of novel project-based learning labs for an introductory robotics course that are developed into a semester-long Robotic Decathlon. The last three events of the Robotic Decathlon are used as three final one-week-long project tasks; these replace a previous course project that was a semester-long robotics competition.…

  3. The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course

    Science.gov (United States)

    Cappelleri, D. J.; Vitoroulis, N.

    2013-01-01

    This paper presents a series of novel project-based learning labs for an introductory robotics course that are developed into a semester-long Robotic Decathlon. The last three events of the Robotic Decathlon are used as three final one-week-long project tasks; these replace a previous course project that was a semester-long robotics competition.…

  4. [Tampa Electric Company IGCC project]. Final public design report; Technical progress report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-07-01

    This final Public Design Report (PDR) provides completed design information about Tampa Electric Company`s Polk Power Station Unit No. 1, which will demonstrate in a commercial 250 MW unit the operating parameters and benefits of the integration of oxygen-blown, entrained-flow coal gasification with advanced combined cycle technology. Pending development of technically and commercially viable sorbent for the Hot Gas Cleanup System, the HGCU also is demonstrated. The report is organized under the following sections: design basis description; plant descriptions; plant systems; project costs and schedule; heat and material balances; general arrangement drawings; equipment list; and miscellaneous drawings.

  5. Progress Report for DOE FG02-08ER64510 (Final, April 2014)

    Energy Technology Data Exchange (ETDEWEB)

    Dunn, Robert

    2014-04-01

    Over the course of five years we have established a long-term array of warming chambers at Duke and Harvard Forest that simulate future conditions with regard to temperature. In these chambers, we have studied, ants, other animal taxa, fungi, bacteria and plants and their responses to the treatments. We have coupled these studies with lab experiments, large-scale observations, and models to contextualize our results. Finally, we have developed integrative models of the future distribution of species and their consequences as a result of warming in eastern North America and more generally.

  6. Robotic mitral valve surgery.

    Science.gov (United States)

    Kypson, Alan P; Nifong, L Wiley; Chitwood, W Randolph

    2003-12-01

    placement of an atrial retractor, as well as needle, tissue, and suture retrieval. With the development of specialized retractors and a delivery/retrieval port, a truly endoscopic approach will be consistently reproducible. New navigation systems and image guided surgery portend an improving future for robotic cardiac surgery. Recently, we have combined robotically guided microwave catheters for ablation of atrial fibrillation with robotic mitral valve repairs (Fig. 8). Thus, we are beginning to achieve the ideal operation, with a native valve repair and a return to normal sinus rhythm. Robotic cardiac surgery is an evolutionary process, and even the greatest skeptics must concede that progress has been made toward endoscopic cardiac valve operations. Surgical scientists must continue to critically evaluate this technology in this new era of cardiac surgery. Despite enthusiasm, caution cannot be overemphasized. Surgeons must be careful because indices of operative safety, speed of recovery, level of discomfort, procedural cost, and long-term operative quality have yet to be defined. Traditional valve operations still enjoy long-term success with ever-decreasing morbidity and mortality, and remain our measure for comparison. Surgeons must remember that we are seeking the most durable operation with the least human trauma and quickest return to normalcy, all done at the lowest cost with the least risks. Although we have moved more asymptotically to these goals, surgeons alone must map the path for the final ascent.

  7. Robotics in medicine

    Science.gov (United States)

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

    2015-11-01

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

  8. Research progress of automatic navigation technology for orchard mobile robot%移动机器人自动导航技术研究进展

    Institute of Scientific and Technical Information of China (English)

    蒋浩然; 陈军; 王虎; 雷王利; 袁池

    2011-01-01

    针对目前果园移动机器人自动导航技术研究现状,综合分析现有的有关文献,依据环境感知方式的不同,分别讨论了以激光、视觉、机械、电磁、GPS、超声波为感知系统的导航方法的研究进展,分析了现有几种导航方法在精度、实时性、抗干扰能力及系统适应性等方面的优缺点,认为多传感器融合技术可为果园移动机器人的导航提供更高的精度和稳定性。在此基础上,提出了未来果园移动机器人自动导航技术的发展趋势,即多传感器融合技术是果园移动机器人感知环境的主要手段,满足果园移动机器人精度和稳定性要求的导航系统将是今后研究的重点。%The existing related literatures were analyzed based on the current research progress of the orchard mobile robot's automatic navigation technology.According to the different environmental perception methods,the current research status of the navigation methods with perception systems based on laser,vision,machinery,electromagnetism,ultrasonic and GPS were discussed respectively;the advantages and disadvantages of each method in terms of navigation accuracy,real time,anti-jamming capability and the flexibility of the system were also discussed.Then we believe that the multi-sensor fusion technology could provide higher precision and stability for the orchard mobile robots' automatic navigation.On that basis,this paper proposed the development tendency of automatic navigation technology for orchard mobile robot in the future,multi-sensor fusion technology would become the main method of the environment perception for orchard mobile robot.Therefore,the development of the navigation system with required accuracy and stability for the orchard mobile robot would be the emphasis of the future research.

  9. Service Robots for Hospitals

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. This thesis and the Industrial PhD project aim to address logistics, which is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We...... believe that these transportation tasks, to a great extent, can be and will be automated using mobile robots. This thesis consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable...... manual work and offer many advantages beyond robotics. Finally, this thesis outlines our contributions in representation of multi-floor buildings, which is a vital requirement to achieve robust and practical, real-world service robot applications....

  10. Interactions between Humans and Robots

    DEFF Research Database (Denmark)

    Vlachos, Evgenios; Schärfe, Henrik

    2013-01-01

    introduce a generic model for comparing and contrasting robots (CCM), aiming to provide a common platform for robot designers, developers and users. The framework for HRI we propose stems mainly from the vagueness and the lack of clarity that has been observed in the definitions of both Direct and Indirect......Combining multiple scientific disciplines, robotic technology has made significant progress the last decade, and so did the interactions between humans and robots. This article updates the agenda for robotic research by highlighting the factors that affect Human – Robot Interaction (HRI......), and explains the relationships and dependencies that exist between them. The four main factors that define the properties of a robot, and therefore the interaction, are distributed in two dimensions: (1) Intelligence (Control - Autonomy), and (2) Perspective (Tool - Medium). Based on these factors, we...

  11. Interactions between Humans and Robots

    DEFF Research Database (Denmark)

    Vlachos, Evgenios; Schärfe, Henrik

    2013-01-01

    Combining multiple scientific disciplines, robotic technology has made significant progress the last decade, and so did the interactions between humans and robots. This article updates the agenda for robotic research by highlighting the factors that affect Human – Robot Interaction (HRI......), and explains the relationships and dependencies that exist between them. The four main factors that define the properties of a robot, and therefore the interaction, are distributed in two dimensions: (1) Intelligence (Control - Autonomy), and (2) Perspective (Tool - Medium). Based on these factors, we...... introduce a generic model for comparing and contrasting robots (CCM), aiming to provide a common platform for robot designers, developers and users. The framework for HRI we propose stems mainly from the vagueness and the lack of clarity that has been observed in the definitions of both Direct and Indirect...

  12. Advanced Coal Conversion Process Demonstration Project. Final technical progress report, January 1, 1995--December 31, 1995

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-05-01

    This report describes the technical progress made on the Advanced Coal Conversion Process (ACCP) Demonstration Project from January 1, 1995 through December 31, 1995. This project demonstrates an advanced, thermal, coal upgrading process, coupled with physical cleaning techniques, that is designed to upgrade high-moisture, low-rank coals to a high-quality, low-sulfur fuel, registered as the SynCoal Process. The coal is processed through three stages (two heating stages followed by an inert cooling stage) of vibrating fluidized bed reactors that remove chemically bound water, carboxyl groups, and volatile sulfur compounds. After thermal upgrading, the coal is put through a deep-bed stratifier cleaning process to separate the pyrite-rich ash from the coal. The SynCoal Process enhances low-rank, western coals, usually with a moisture content of 25 to 55 percent, sulfur content of 0.5 to 1.5 percent, and heating value of 5,5000 to 9,000 British thermal units per pound (Btu/lb), by producing a stable, upgraded, coal product with a moisture content as low as 1 percent, sulfur content as low as 0.3 percent, and heating value up to 12,000 Btu/lb. During this reporting period, the primary focus for the ACCP Demonstration Project team was to expand SynCoal market awareness and acceptability for both the products and the technology. The ACCP Project team continued to focus on improving the operation, developing commercial markets, and improving the SynCoal products as well as the product`s acceptance.

  13. Theoretical studies in nuclear structure. Final progress report, June 1, 1991--July 31, 1996

    Energy Technology Data Exchange (ETDEWEB)

    Marshalek, E.R.

    1997-06-01

    The general purview of the project is the theory of collective motion in atomic nuclei. The chief aim is to elucidate the phenomena of (1) anharmonic multiphonon excitations, and (2) collective tilted rotation, both of which are topics of considerable current interest. In the primary stage of an investigation it is often necessary to develop appropriate mathematical tools, as was the case here. In the next stage, the formalism must be tested on simple soluble models. The work described here is mainly concerned with these two stages. The final stage of realistic applications will require more time, manpower and, of course, the necessary funding. Some planning for this last stage has been carried out and anticipated problems axe briefly discussed. As it turns out, both of the above topics can be approached within the unified framework of a theorem that I developed, called the Cranking Bifurcation Theorem (CBT) to be described below. The CBT can be regarded as an outgrowth of the boson expansion method, which provides a general, and, in principal, exact formalism for treating collective excitations. We begin with a brief discussion of the CBT and then continue on to the applications.

  14. Novel catalysts for methane activation. Final progress report, September 30, 1992--April 30, 1996

    Energy Technology Data Exchange (ETDEWEB)

    Hirschon, A.S.; Du, Y.; Wu, H.J.; Malhotra, R.; Wilson, R.B.

    1996-06-11

    This final report summarizes the results of our research under Contract No. DE-AC22-92PC92112, Novel Catalysts for Methane Activation. In this research we prepared and tested fullerene soots for converting methane into higher hydrocarbons. We conducted the methane conversions using dehydrocoupling conditions, primarily in the temperature regimes of 600{degrees}-1000{degrees}C and atmospheric pressures. The research was divided into three sections. The first section focused on comparing fullerene soots with other forms of carbon such as acetylene black and Norit-A. We found that the fullerene soot was indeed more reactive than the other forms of carbon. However, due to its high reactivity, it was not selective. The second section focused on the effect of metals on the reactivity of the soots, including both transition metals and alkali metals. We found that potassium could enhance the selectivities of fullerene soot to higher hydrocarbons, but the effect was unique to fullerene soot and did not improve the performance of other forms of carbon. The third part focused on the use of co-feeds for methane activation to enhance the selectivities and lower the temperature threshold of methane activation.

  15. 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....

  16. Robotic Architectures

    Directory of Open Access Journals (Sweden)

    Mbali Mtshali

    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 and complex task. With a number of existing architectures and tools to choose from, a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic architectures. A classification of the existing robotic architectures and comparison of different proposals attributes and properties have been carried out. The paper also provides a view on the current state of designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for mobile autonomous robots.Defence Science Journal, 2010, 60(1, pp.15-22, DOI:http://dx.doi.org/10.14429/dsj.60.96

  17. Recent Development of Rehabilitation Robots

    Directory of Open Access Journals (Sweden)

    Zhiqin Qian

    2015-02-01

    Full Text Available We have conducted a critical review on the development of rehabilitation robots to identify the limitations of existing studies and clarify some promising research directions in this field. This paper is presented to summarize our findings and understanding. The demands for assistive technologies for elderly and disabled population have been discussed, the advantages and disadvantages of rehabilitation robots as assistive technologies have been explored, the issues involved in the development of rehabilitation robots are investigated, some representative robots in this field by leading research institutes have been introduced, and a few of critical challenges in developing advanced rehabilitation robots have been identified. Finally to meet the challenges of developing practical rehabilitation robots, reconfigurable and modular systems have been proposed to meet the identified challenges, and a few of critical areas leading to the potential success of rehabilitation robots have been discussed.

  18. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... for localization. The system features automatic annotation, which significantly reduces manual work and offer many advantages beyond robotics. A case study on logistics solutions is finally presented. A robotic solution is tested in a hospital to handle the transportation of blood samples between the clinic...... and the lab. Without any environmental modification; it is shown that lab turnover time can be reduced from hours to minutes; by simply replacing the human porter with a mobile robot....

  19. The Cryogenic AntiCoincidence detector for ATHENA: the progress towards the final pixel design

    Science.gov (United States)

    Macculi, Claudio; Piro, Luigi; Cea, Donatella; Colasanti, Luca; Lotti, Simone; Natalucci, Lorenzo; Gatti, Flavio; Bagliani, Daniela; Biasotti, Michele; Corsini, Dario; Pizzigoni, Giulio; Torrioli, Guido; Barbera, Marco; Mineo, Teresa; Perinati, Emanuele

    2014-07-01

    related to one of the last sample produced (namely AC-S5), and steps to reach the final detector design will be discussed.

  20. Final Progress Report for the NASA Inductrack Model Rocket Launcher at the Lawrence Livermore National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Tung, L S; Post, R F; Martinez-Frias, J

    2001-06-27

    The Inductrack magnetic levitation system, developed at the Lawrence Livermore National Laboratory, was studied for its possible use for launching rockets. Under NASA sponsorship, a small model system was constructed at the Laboratory to pursue key technical aspects of this proposed application. The Inductrack is a passive magnetic levitation system employing special arrays of high-field permanent magnets (Halbach arrays) on the levitating cradle, moving above a ''track'' consisting of a close-packed array of shorted coils with which are interleaved with special drive coils. Halbach arrays produce a strong spatially periodic magnetic field on the front surface of the arrays, while canceling the field on their back surface. Relative motion between the Halbach arrays and the track coils induces currents in those coils. These currents levitate the cradle by interacting with the horizontal component of the magnetic field. Pulsed currents in the drive coils, synchronized with the motion of the carrier, interact with the vertical component of the magnetic field to provide acceleration forces. Motional stability, including resistance to both vertical and lateral aerodynamic forces, is provided by having Halbach arrays that interact with both the upper and the lower sides of the track coils. At present, a 7.8 meter track composed of drive and levitation coils has been built and the electronic drive circuitry performs as designed. A 9 kg cradle that carries the Halbach array of permanent magnets has been built. A mechanical launcher is nearly complete which will provide an initial cradle velocity of 9 m/s into the electronic drive section. We have found that the drag forces from the levitation coils were higher than in our original design. However, measurements of drag force at velocities less than 1 m/s are exactly as predicted by theory. Provided here are recommended design changes to improve the track's performance so that a final velocity of 40

  1. Robotics in Upper Limb Rehabilitation Nursing : A Literature Review

    OpenAIRE

    2016-01-01

    Purpose of this final thesis is to view what kind of robots there are in use in stroke rehabilitation nursing, focusing on upper limb rehabilitation. At the same time this work will view the attitudes of patients and therapist towards robotics in the health care field. Robots are present and with robots engineers are trying to develop the health care services. Robots have come to different health care fields different technology is used in rehabilitation nursing. Robots help patients to r...

  2. Fostering Innovation Through Robotics Exploration

    Science.gov (United States)

    2015-06-01

    FOSTERING INNOVATION THROUGH ROBOTICS EXPLORATION CARNEGIE MELLON UNIVERSITY JUNE 2015 FINAL TECHNICAL REPORT APPROVED FOR PUBLIC RELEASE...COVERED (From - To) JUN 2010 - JAN 2015 4. TITLE AND SUBTITLE FOSTERING INNOVATION THROUGH ROBOTICS EXPLORATION 5a. CONTRACT NUMBER FA8750-10-2-0165 5b...16 Jan 09. 13. SUPPLEMENTARY NOTES 14. ABSTRACT This effort enhanced Robotics STEM activities by incorporating Cognitive tutors at key points to

  3. A review of robotics in surgery.

    Science.gov (United States)

    Davies, B

    2000-01-01

    A brief introduction is given to the definitions and history of surgical robotics. The capabilities and merits of surgical robots are then contrasted with the related field of computer assisted surgery. A classification is then given of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopaedic surgery. The paper finishes with a discussion of the main difficulties facing robotic surgery and a prediction of future progress.

  4. Robotics in Colorectal Surgery

    Science.gov (United States)

    Weaver, Allison; Steele, Scott

    2016-01-01

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

  5. Open Issues in Evolutionary Robotics.

    Science.gov (United States)

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

    2016-01-01

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

  6. UROLOGIC ROBOTS AND FUTURE DIRECTIONS

    Science.gov (United States)

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2009-01-01

    Purpose of review Robot-assisted laparoscopic surgery in urology has gained immense popularity with the Da Vinci system but a lot of research teams are working on new robots. The purpose of this paper is to review current urologic robots and present future developments directions. Recent findings Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. Summary The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks based on medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for remote system could be augmented reality, haptic feed back, size reduction and development of new tools for NOTES surgery. The paradigm of image-guided robots is close to a clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image guided robots have the potential to offer a paradigm shift. PMID:19057227

  7. Final Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    Kotov, Valeri [Univ. of Vermont, Burlington, VT (United States)

    2016-05-29

    The research in this program involves theoretical investigations of electronic, optical and mechanical properties of graphene and its derivatives, such as bi-layer graphene, graphene-based van der Waals heterostructures, strained graphene, as well as graphene on various surfaces. One line of research has been development of theoretical models that support graphene’s large array of possible technological applications. For example one of our goals has been the understanding of surface plasmons and spin relaxation mechanisms in graphene, related to novel optoelectronics and spintronics applications. Our current research focus is on understanding the role of correlations in graphene under mechanical deformations, such as strain. The main goal is to describe the mutual interplay between strain and electron-electron interactions which could lead to the formation of novel elec- tronic phases with strongly modified electronic, magnetic and optical properties. This direction of research contributes to deeper understanding of interactions in graphene and related atomically-thin materials - a subject at the forefront of research on graphene and its derivatives.

  8. Final Technical Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    J.Y. Hwang; R.C. Greenlund

    2002-12-31

    Michigan Technological University has demonstrated major inroads in establishing the viability of utilizing aluminum smelting by-product waste materials in lightweight concrete product applications. The research identified key elements of producing various forms of lightweight concrete products through utilizing various procedures and mixture components with the by-product materials. A process was developed through pilot plant testing that results in additional aluminum recovery at finer sizes, a clean returnable salt product through spray drying technology, and a low-salt-content oxide product with enough aluminum metal content that it can be used to form lightweight cementitious mixtures. Having three distinct products aids in generating favorable process economics. Revenue projections from aluminum recovery and salt recovery are enough to cover processing costs and create a cost-free oxide product to market for lightweight concrete applications. This supply side commercialization strategy offers aluminum by-product recyclers a potentially no cost product, which has been demonstrated through this project to create desirable and marketable lightweight concrete products of various forms. Environmental benefits to the public are tremendous. At best, all dross and salt cake materials have the potential to be completely recycled and utilized. At worst, disposal sites would see a reduced amount of material: a post processed oxide product with little salt and no hydrogen sulfide or ammonia gas generating capability, which, if isolated from high alkali conditions, would pose no reactivity concerns. The US aluminum industry has historically, along with the steel industry, been a leader in recycling metal. The findings from this project, increased metal recovery, improved salt recycling, and demonstrated end uses for oxide residues, will go a long way in helping the aluminum industry obtain 100% material utilization and zero discharge.

  9. Final Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    Bernstein, Herbert J

    2012-02-06

    The BIOMOL grant was for 'Local System Support for PDB Biological Unit Search and Display' to augment Rasmol's [Bernstein 2000] [Sayle, Milner-White 1995] existing macromolecular display functions with new capabilities by taking advantage of recent increases in local computing power in order to move functionality that is now scattered among various local and remote systems into one local package. Work included new algorithms for molecular surface display, an extended format for Protein Data Bank Entries, work on issues relating to the integration of multiple diffraction images formats.

  10. Final Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    Bernstein, Herbert J

    2012-02-06

    The BIOMOL grant was for 'Local System Support for PDB Biological Unit Search and Display' to augment Rasmol's [Bernstein 2000] [Sayle, Milner-White 1995] existing macromolecular display functions with new capabilities by taking advantage of recent increases in local computing power in order to move functionality that is now scattered among various local and remote systems into one local package. Work included new algorithms for molecular surface display, an extended format for Protein Data Bank Entries, work on issues relating to the integration of multiple diffraction images formats.

  11. Biological Soft Robotics.

    Science.gov (United States)

    Feinberg, Adam W

    2015-01-01

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

  12. Introduction to humanoid robotics

    CERN Document Server

    Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

    2014-01-01

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

  13. 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....

  14. Developmental robotics: manifesto and application.

    Science.gov (United States)

    Elliott, Terry; Shadbolt, Nigel R

    2003-10-15

    We argue that all embodied organisms, whether robots or animals, face the same challenge: of adapting to bodies, brains and environments that undergo constant and inevitable change. After highlighting the evidence for the universal role of a class of molecular factors called neurotrophic factors in the response of animals to this challenge, we suggest that implementing models of neurotrophic interactions on robots may confer on them the adaptability and robustness exhibited by animals. We briefly review a mathematical model of neurotrophic interactions and then discuss its application in a robotic context. Finally, we examine the potential, or otherwise, of our approach to developmental robotics.

  15. Army Robotics

    Science.gov (United States)

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  16. TARDEC Robotics

    Science.gov (United States)

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  17. Robot Futures

    DEFF Research Database (Denmark)

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

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance i...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  18. Mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Wolfe, W.J.; Marquina, N.

    1986-01-01

    This book presents papers given at a conference on mobile robots. Topics the conference included are the following: mobility systems for robotic vehicles; detection and control of mobile robot motion by real-time computer vision, obstacle avoidance algorithms for an autonomous land vehicle; hierarchical processor and matched filters for range image processing; asynchronous distributed control system for a mobile robot, and, planning in a hierarchical nested autonomous control system.

  19. Characterization of ultra-fine surfaces produced by robot assisted polishing

    DEFF Research Database (Denmark)

    Hansen, Hans Nørgaard; Gasparin, Stefania; Sobiecki, Rene;

    2011-01-01

    Polishing is the final processing steps in many high precision applications as for example bearings, moulds and dies. The paper describes a new robot assisted polishing (RAP) machine and the characterization techniques employed to measure the polished surfaces. Focus is given to the comparison...... of different measuring principles applied to polished surfaces. Finally the progression of the surface topography during RAP polishing is investigated and documented....

  20. PARAMETRIC DESIGN OF DELTA ROBOT

    Directory of Open Access Journals (Sweden)

    Mert Gürgen

    2016-09-01

    Full Text Available This article describes a sophisticated determination and presentation of a workspace volume for a delta robot, with consideration of its kinematic behavior. With the help of theoretical equations, optimization is performed with the aid of the stiffness and dexterity analysis. Theoretical substructure is coded in Matlab and three-dimensional (3D data for delta robot are developed in computer-aided design (CAD environment. In later stages of the project, both 3D and theoretical data are linked together and thus, with the changing design parameter of the robot itself, the Solidworks CAD output adapts and regenerates output with a new set of parameters. To achieve an optimum workspace volume with predefined parameters, a different set of robot parameters are iterated through design optimization in Matlab, and the delta robot design is finalized and illustrated in the 3D CAD environment, Solidworks. This study provides a technical solution to accomplish a generic delta robot with optimized workspace volume.

  1. 空间机器人的若干前沿领域:研究进展和关键技术%Progress and Key Technologies in Several Frontiers of Space Robots

    Institute of Scientific and Technical Information of China (English)

    戴振东

    2016-01-01

    The special space environment and the features of on-orbit tasks make the space robot very different from the ground robots.The method to determine the roadmap of the key technologies for the space industry was discussed.The requirements and research methods of the psychological companion robot for astronauts during manned spaceflight were also discussed.The frontier issues and key technologies such as the dynamics of nonlinear impact contact during the capture of non-co-operative target and the stability control of the floating system after impact were analyzed.The future trend of space equipment is the significant increase in size.The research progress in large manipula-tor design, the coordination of multi-robots and the intelligent robot systems with long delay was in-troduced.%基于空间环境和在轨任务的特殊性导致的空间机器人不同于地面机器人的特点,讨论了面向航天产业的核心技术路线图的确定方法,论述了航天员心理陪护机器人的要求和研究方法,重点分析了非合作目标捕获过程面临的非线性碰撞接触动力学等前沿科学问题和冲击载荷下空间漂浮系统的稳定控制等关键技术;并针对未来空间装备巨型化趋势,介绍了大型机械臂研制、多机器人协调和大延迟下对机器人系统智能化的研究进展。

  2. 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.

  3. 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.

  4. ISS Robotic Student Programming

    Science.gov (United States)

    Barlow, J.; Benavides, J.; Hanson, R.; Cortez, J.; Le Vasseur, D.; Soloway, D.; Oyadomari, K.

    2016-01-01

    The SPHERES facility is a set of three free-flying satellites launched in 2006. In addition to scientists and engineering, middle- and high-school students program the SPHERES during the annual Zero Robotics programming competition. Zero Robotics conducts virtual competitions via simulator and on SPHERES aboard the ISS, with students doing the programming. A web interface allows teams to submit code, receive results, collaborate, and compete in simulator-based initial rounds and semi-final rounds. The final round of each competition is conducted with SPHERES aboard the ISS. At the end of 2017 a new robotic platform called Astrobee will launch, providing new game elements and new ground support for even more student interaction.

  5. 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....

  6. Robot goniophotometry at PTB

    Science.gov (United States)

    Lindemann, M.; Maass, R.; Sauter, G.

    2015-04-01

    The total luminous flux of a light source is the complete integration of its spectral radiance distribution weighted with the photopic observer and taken over all parts of its surface and over the full solid angle of emittance. The spatial distributions are measured with various types of goniophotometers and the PTB robot goniophotometer is a new type with many unique features. It is built as an arrangement of three robots with arms of more than 6 m in length and with 7 degrees of freedom each. The extreme flexibility of the robots allows computer controlled tracks with variable radii and speeds up to 3 m and 1 m s-1, respectively. One robot aligns the light source and the two other robots move photometers and array spectrometers in their hemispheres simultaneously measuring planar illuminance and the related relative spectral distribution. The robot goniophotometer is optimized for the realisation of the luminous flux unit, the lumen and it is completely characterized in this report. The relevant properties and correction factors are explained, as well as the implementation of techniques for synchronisation and stabilisation of spatially resolved or integrated photometric and colorimetric quantities. Finally, all contributions are combined in the model of evaluation for the (total) luminous flux value and the measurement uncertainty associated with that value is evaluated in the presented uncertainty budget. The goniophotometric determination of the values for colorimetric quantities is explained for the total luminous flux and the spatially distributed radiant power.

  7. Allothetic and idiothetic sensor fusion in rat-inspired robot localization

    Science.gov (United States)

    Weitzenfeld, Alfredo; Fellous, Jean-Marc; Barrera, Alejandra; Tejera, Gonzalo

    2012-06-01

    We describe a spatial cognition model based on the rat's brain neurophysiology as a basis for new robotic navigation architectures. The model integrates allothetic (external visual landmarks) and idiothetic (internal kinesthetic information) cues to train either rat or robot to learn a path enabling it to reach a goal from multiple starting positions. It stands in contrast to most robotic architectures based on SLAM, where a map of the environment is built to provide probabilistic localization information computed from robot odometry and landmark perception. Allothetic cues suffer in general from perceptual ambiguity when trying to distinguish between places with equivalent visual patterns, while idiothetic cues suffer from imprecise motions and limited memory recalls. We experiment with both types of cues in different maze configurations by training rats and robots to find the goal starting from a fixed location, and then testing them to reach the same target from new starting locations. We show that the robot, after having pre-explored a maze, can find a goal with improved efficiency, and is able to (1) learn the correct route to reach the goal, (2) recognize places already visited, and (3) exploit allothetic and idiothetic cues to improve on its performance. We finally contrast our biologically-inspired approach to more traditional robotic approaches and discuss current work in progress.

  8. ARM-Cortex M3-Based Two-Wheel Robot for Assessing Grid Cell Model of Medial Entorhinal Cortex: Progress towards Building Robots with Biologically Inspired Navigation-Cognitive Maps

    Directory of Open Access Journals (Sweden)

    J. Cuneo

    2017-01-01

    Full Text Available This article presents the implementation and use of a two-wheel autonomous robot and its effectiveness as a tool for studying the recently discovered use of grid cells as part of mammalian’s brains space-mapping circuitry (specifically the medial entorhinal cortex. A proposed discrete-time algorithm that emulates the medial entorhinal cortex is programed into the robot. The robot freely explores a limited laboratory area in the manner of a rat or mouse and reports information to a PC, thus enabling research without the use of live individuals. Position coordinate neural maps are achieved as mathematically predicted although for a reduced number of implemented neurons (i.e., 200 neurons. However, this type of computational embedded system (robot’s microcontroller is found to be insufficient for simulating huge numbers of neurons in real time (as in the medial entorhinal cortex. It is considered that the results of this work provide an insight into achieving an enhanced embedded systems design for emulating and understanding mathematical neural network models to be used as biologically inspired navigation system for robots.

  9. Laparoscopic and robotic nephroureterectomy

    DEFF Research Database (Denmark)

    Azawi, Nessn H; Berg, Kasper Drimer; Thamsborg, Andreas Key Milan

    2017-01-01

    nephroureterectomy between January 2008 and December 2014 was conducted. Outcome measures were OS and CSM. RESULTS: In total, 298 patients underwent robot-assisted or laparoscopic radical nephroureterectomy with a final histological diagnosis of UTUC. LND was performed in 46 (15.4%). One hundred and seventy...

  10. Rope Climbing Robot with Surveillance Capability

    Directory of Open Access Journals (Sweden)

    Kanza Zafar

    2013-08-01

    Full Text Available In the past different engineers and researcher developed robots capable of climbing for various purposes. In this paper we have developed a robot capable of rope climbing in both horizontal and vertical direction. Furthermore, the robot has the ability to perform surveillance using a camera mounted on top of the robot. The quality of the transmitted video from the camera to the computer is clear and stable. Hence the developed robot is a good choice for surveillance purposes. In addition, it can be used to traverse floors of a building. It uses an IR sensor to sense strips attached at each floor. Once the strips are sensed, a dropping mechanism is activated in which a specific object is dropped to the targeted floor or location. The robot can work in automatic mode or manual through RF signals from an RF transmitter. Finally the robot is cost effective compared to many other developed robots for rope climbing.

  11. Robotic surgery.

    Science.gov (United States)

    Diana, M; Marescaux, J

    2015-01-01

    Proficiency in minimally invasive surgery requires intensive and continuous training, as it is technically challenging for unnatural visual and haptic perceptions. Robotic and computer sciences are producing innovations to augment the surgeon's skills to achieve accuracy and high precision during complex surgery. This article reviews the current use of robotically assisted surgery, focusing on technology as well as main applications in digestive surgery, and future perspectives. The PubMed database was interrogated to retrieve evidence-based data on surgical applications. Internal and external consulting with key opinion leaders, renowned robotics laboratories and robotic platform manufacturers was used to produce state-of-the art business intelligence around robotically assisted surgery. Selected digestive procedures (oesophagectomy, gastric bypass, pancreatic and liver resections, rectal resection for cancer) might benefit from robotic assistance, although the current level of evidence is insufficient to support widespread adoption. The surgical robotic market is growing, and a variety of projects have recently been launched at both academic and corporate levels to develop lightweight, miniaturized surgical robotic prototypes. The magnified view, and improved ergonomics and dexterity offered by robotic platforms, might facilitate the uptake of minimally invasive procedures. Image guidance to complement robotically assisted procedures, through the concepts of augmented reality, could well represent a major revolution to increase safety and deal with difficulties associated with the new minimally invasive approaches. © 2015 BJS Society Ltd. Published by John Wiley & Sons Ltd.

  12. 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 supp

  13. 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 supp

  14. Affective robot for elderly assistance.

    Science.gov (United States)

    Carelli, Laura; Gaggioli, Andrea; Pioggia, Giovanni; De Rossi, Federico; Riva, Giuseppe

    2009-01-01

    Recently, several robotic solutions for the elderly have been proposed. However, to date, the diffusion of these devices has been limited: available robots are too cumbersome, awkward, and expensive to become widely adopted. Another key issue which reduces the appeal of assistive robots is the lack of socio-emotional interaction: affective interchanges represent key requirements to create sustainable relationships between elderly and robots. In this paper, we propose a new approach to enhance the acceptability of robotic systems, based on the introduction of affective dimensions in human-robot interaction. This strategy is aimed at designing a new generation of relational and cognitive robots fusing information from embodied unobtrusive sensory interfaces. The final objective is to develop embodied interfaces, which are able to learn and adapt their affective responses to the user's behavior. User and robot will engage in natural interactions, involving verbal and non-verbal communication, improving empathic exchange of moods and feelings. Relevant independent living and quality of life related issues will be addressed: on-going monitoring of health parameters, assistance in everyday's activities, social support and cognitive/physical exercises. We expect that the proposed strategy will enhance the user's acceptance and adoption of the assistive robotic system.

  15. Evolution of robots throughout history from Hephaestus to Da Vinci Robot.

    Science.gov (United States)

    Iavazzo, Christos; Gkegke, Xanthi-Ekaterini D; Iavazzo, Paraskevi-Evangelia; Gkegkes, Ioannis D

    2014-01-01

    Da Vinci robot is increasingly used for operations adding the advantages of robots to the favor of medicine. This is a historical article with the aim to present the evolution of robots in the medical area from the time of ancient myths to Renaissance and finally to the current revolutionary applications. We endeavored to collect several elegant narratives on the topic. The use of imagination could help the reader to find similarities. A trip from the Greek myths of Hephaestus through Aristotle and Leonardo Da Vinci to the robots of Karel Capek and Isaac Asimov and finally the invention of the medical robots is presented.

  16. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

    Full Text Available Che cosa e' un robot? A che cosa serve un robot? Un robot e' qualcosa di fisico, costruito da noi, che somiglia a un organismo vivente e si comporta come un organismo vivente. Gli organismi viventi comprendono gli animali e le piante, ma i robot riproducono gli animali piuttosto che le piante, anche se ci sono tentativi di costruire robotpiante. Comportarsi come un animale significa avere degli organi sensoriali con cui ricevere informazioni dall'ambiente e degli organi motori che permettono di spostarsi nell'ambiente o di muovere una qualche parte del proprio corpo, ad esempio la testa o un braccio, in maniera non programmata, ma autonoma, cioe' rispondendo agli stimoli che arrivano momento per momento ai sensori del robot. Questo risponde alla domanda "Che cosa e' un robot?".

  17. Robotic endocrine surgery: state of the art.

    Science.gov (United States)

    Taskin, Halit Eren; Arslan, Naciye Cigdem; Aliyev, Shamil; Berber, Eren

    2013-12-01

    Over the last decade, developments in technology have led a rapid progress in robotic endocrine surgery applications. Robotics is attractive to the surgeon because of the three-dimensional image quality, articulating instruments, and stable surgical platform. Safety and effectiveness of robotic adrenalectomy and thyroidectomy have been shown in many studies. While these robotic procedures offer better ergonomics for the surgeon, they provide similar outcomes compared to the laparoscopic approach for adrenalectomy and better cosmetic results versus the conventional option for thyroidectomy. Recently, while the robotic approach for adrenalectomy has been popularized, enthusiasm for robotic thyroidectomy has decreased. In the present review we aim to describe emerging robotic procedures and review the literature regarding outcomes.

  18. Robotic Surveying

    Energy Technology Data Exchange (ETDEWEB)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  19. Robotic system

    Science.gov (United States)

    Ambrose, Robert O. (Inventor)

    2003-01-01

    A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

  20. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at le

  1. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  2. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at le

  3. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  4. Research progress of humanoid robots for mobile operation and artificial intelligence%面向作业与人工智能的仿人机器人研究进展

    Institute of Scientific and Technical Information of China (English)

    吴伟国

    2015-01-01

    以人类自身为原型参照的仿人全身机器人是国际机器人研究领域最具代表性的研究对象,也是机器人学、机器人技术以及人工智能的终极研究目标. 针对国际上目前在仿人全身机器人、仿人头部、多指手、仿人双足步行机等方面理论与关键技术进行了全面回顾、综述与分析,包括作者在仿人机器人方面相关研究工作的回顾;归纳总结了目前仿人全身机器人技术程度,从驱动元部件、步行稳定性、本体集成化设计、操作能力以及环境适应性等角度分别提出了目前存在的主要技术问题以及今后发展的趋势;为从事与仿人机器人及其各组成部分相关研究的科研人员以及相关科技管理部门提供参考.%Whole-body humanoid robot, which regards human beings as the reference prototype, is the most representative research object and the ultimate goal of robotics, robot technology and artificial intelligence. Comprehensive review, summary and analysis of current theories and key technologies in whole-body humanoid robot, humanoid head, multi-finger hand, humanoid biped walking machine and so on are given, including review of the relevant works on humanoid robots by the author. By summarizing the current technical level of humanoid robots' development, the main technical problems and the trend of the future development are respectively discussed in the aspects of driving elements, walking stability, integrated designation and operation ability of the mechanical systems, environment adaptability and so on. References of decision making are provided for researchers and managers engaged in the relevant works of humanoid robots and their components.

  5. DARPA Robotics Challenge (DRC) Using Human-Machine Teamwork to Perform Disaster Response with a Humanoid Robot

    Science.gov (United States)

    2017-02-01

    Virtual Robotics Challenge (VRC), Trials, and Finals), as well as an extended research phase. It gives an overview of their general workflow for...four phases of IHMC’s participation in the DARPA Robotics Challenge: Phase 1, Virtual Robotics Challenge; Phase 2, Trials; Phase 3, Finals; and Phase...VRC, and the DRC Trials. 15. SUBJECT TERMS Robotics, Mobility, Platform Dexterity, Supervised Autonomy, Wireless, Ground 16. SECURITY CLASSIFICATION

  6. Urologic robots and future directions

    CERN Document Server

    Mozer, Pierre; Stoianovici, Dan; 10.1097/MOU.0b013e32831cc1ba

    2008-01-01

    PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. RECENT FINDINGS: Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. SUMMARY: The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks on the basis of medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for a remote system could be augmented in reality, with haptic feedback, size reduction, and development of new tools for natural orifice translumenal endoscopic surgery. The paradigm of image-guided robots is close to clinical availability and the most advanced robots are presented with end-use...

  7. Low-dose fractionated radiotherapy and concomitant chemotherapy for recurrent or progressive glioblastoma. Final report of a pilot study

    Energy Technology Data Exchange (ETDEWEB)

    Balducci, M.; Diletto, B.; Chiesa, S.; D' Agostino, G.R.; Gambacorta, M.A.; Ferro, M.; Valentini, V. [Catholic University of the Sacred Heart, Department of Radiation Oncology, Rome (Italy); Colosimo, C. [Catholic University of the Sacred Heart, Department of Radiology, Rome (Italy); Maira, G.; Anile, C. [Catholic University of the Sacred Heart, Department of Neurosurgery, Rome (Italy)

    2014-04-15

    Evaluated in this study were the feasibility and the efficacy of concurrent low dose fractionated radiotherapy (LD-FRT) and chemotherapy as palliative treatment for recurrent/progressive glioblastoma multiforme (GBM). Eligible patients had recurrent or progressive GBM, Karnofsky performance status ≥70, prior surgery, and standard radiochemotherapy treatment. Recurrence/progression disease during temozolomide (TMZ) received cisplatin (CDDP; 30 mg/m{sup 2} on days 1, 8, 15), fotemustine (FTM; 40 mg/m{sup 2} on days 2, 9, 16), and concurrent LD-FRT (0.3 Gy twice daily); recurrence/progression after 4 months from the end of adjuvant TMZ were treated by TMZ (150/200 mg/m{sup 2} on days 1-5) concomitant with LD-FRT (0.4 Gy twice daily). Primary endpoints were safety and toxicity. A total of 32 patients were enrolled. Hematologic toxicity G1-2 was observed in 18.7% of patients and G3-4 in 9.4%. One patient (3.1%) had complete response, 3 (9.4%) had partial response, 8 (25%) had stable disease for at least 8 weeks, while 20 patients (62.5%) experienced progressive disease. The clinical benefit was 37.5%. Median progression-free survival (PFS) and overall survival (OS) were 5 and 8 months, respectively. Survival rate at 12 months was of 27.8%. LD-FRT and chemotherapy for recurrent/progressive GBM have a good toxicity profile and clinical outcomes, even though further investigation of this novel palliative treatment approach is warranted. (orig.)

  8. Collaborative Composition For Musical Robots

    Directory of Open Access Journals (Sweden)

    Ajay Kapur

    2009-05-01

    Full Text Available The goal of this research is to collaborate with a number of different artists to explore the capabilities of robotic musical instruments to cultivate new music. This paper describes the challenges faced in using musical robotics in rehearsals and on the performance stage. It also describes the design of custom software frameworks and tools for the variety of composers and performers interacting with the new instruments. Details of how laboratory experiments and rehearsals moved to the concert hall in a variety of diverse performance scenarios are described. Finally, a paradigm for how to teach musical robotics as a multimedia composition course is discussed.

  9. Reciprocity between second-person neuroscience and cognitive robotics.

    Science.gov (United States)

    Dominey, Peter Ford

    2013-08-01

    As there is "dark matter" in the neuroscience of individuals engaged in dynamic interactions, similar dark matter is present in the domain of interaction between humans and cognitive robots. Progress in second-person neuroscience will contribute to the development of robotic cognitive systems, and such developed robotic systems will be used to test the validity of the underlying theories.

  10. Final Technical Progress Report; Closeout Certifications; CSSV Newsletter Volume I; CSSV Newsletter Volume II; CSSV Activity Journal; CSSV Final Financial Report

    Energy Technology Data Exchange (ETDEWEB)

    Houston, Johnny L [PI; Geter, Kerry [Division of Business and Finance

    2013-08-23

    This Project?s third year of implementation in 2007-2008, the final year, as designated by Elizabeth City State University (ECSU), in cooperation with the National Association of Mathematicians (NAM) Inc., in an effort to promote research and research training programs in computational science ? scientific visualization (CSSV). A major goal of the Project was to attract the energetic and productive faculty, graduate and upper division undergraduate students of diverse ethnicities to a program that investigates science and computational science issues of long-term interest to the Department of Energy (DoE) and the nation. The breadth and depth of computational science?scientific visualization and the magnitude of resources available are enormous for permitting a variety of research activities. ECSU?s Computational Science-Science Visualization Center will serve as a conduit for directing users to these enormous resources.

  11. Robot Skills for Transformable Manufacturing Systems

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath

    Efficient, transformable production systems need robots that are flexible and effortlessly repurposed or reconfigured. The present dissertation argues that this can be achieved through the implementation and use of general, object-centered robot skills. In this dissertation, we focus on the design......, implementation and uses of a robot programming paradigm, focused on robot skills, that facilitates intuitive and explicit task-level programming by laymen, such as factory workers, as well as ad-hoc task planning in the skill domain. We show how these robot skills can be modeled and implemented, even...... on different robot systems. Furthermore, we show how laymen can intuitively program tasks on an advanced mobile manipulator, using the skills as the fundamental building blocks. Finally, we demonstrate how the same skills can be used for ad-hoc task planning, where the robot system instead constructs the task...

  12. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

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

  13. Study on the Mobility of Service Robots

    Directory of Open Access Journals (Sweden)

    Hwan-Joo Kwak

    2012-04-01

    Full Text Available The major characteristics of robots can be divided into several categories ranging from mobility to autonomy. The mobility of service robots is essential and fundamental to commercial and scientific progress. The rapid development of practical service robots depends on our decision which are the most efficient and affordable kinds of locomotion. The selection of the best locomotion, however, is not simple and easy, since the boundaries of robot working areas cannot always be defined clearly. This study emphasizes the usefulness of humanoid type service robots as general service robots, and concentrates on finding the most appropriate means of locomotion for a particular workspace. Several forms of robot locomotion were considered in three types of workspaces, and compared analytically. The results showed that three/four-wheeled robots were best suited to work in a large office or factory. Bipedal robots were suited to work in a small office or home, and quadruped robots were suited to work in outdoors. As a general alternative, bipedal locomotion seems to be the most adaptable form of locomotion for general service robots.

  14. Robotic transportation.

    Science.gov (United States)

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

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

    OpenAIRE

    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...

  16. Procedures for Handling Retaliation Complaints Under Section 31307 of the Moving Ahead for Progress in the 21st Century Act (MAP-21). Final rule.

    Science.gov (United States)

    2016-12-14

    On March 16, 2016, the Occupational Safety and Health Administration (OSHA) of the U.S. Department of Labor (Department) issued an interim final rule (IFR) that provided procedures for the Department's processing of complaints under the employee protection (retaliation or whistleblower) provisions of Section 31307 of the Moving Ahead for Progress in the 21st Century Act (MAP-21). The IFR established procedures and time frames for the handling of retaliation complaints under MAP-21, including procedures and time frames for employee complaints to OSHA, investigations by OSHA, appeals of OSHA determinations to an administrative law judge (ALJ) for a hearing de novo, hearings by ALJs, review of ALJ decisions by the Administrative Review Board (ARB) (acting on behalf of the Secretary of Labor) and judicial review of the Secretary's final decision. It also set forth the Department's interpretations of the MAP-21 whistleblower provisions on certain matters. This final rule adopts, without change, the IFR.

  17. 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 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...

  18. 油气管道机器人技术研发进展%Research and development progress in oil and gas pipeline robotics

    Institute of Scientific and Technical Information of China (English)

    曹建树; 林立; 李杨; 李魁龙

    2013-01-01

    Pipeline robots integrated with smart mobile carrier and pipeline defect nondestructive testing technology are mainly used for detection, coating spraying, joint welding, foreign material removal and other maintenances of industrial pipelines such as oil and gas pipelines. Mode of motion is core technology of the pipeline robots, including active and passive modes. This paper elaborates technical features and difficulties of the pipeline robots using active motion modes such as bionic type, crawler type, screw driven type, vehicle type and supporting wheel type and those using passive motion mode are elaborated and enumerates products and technologies at home and overseas. Based on the above technology, a comparative analysis is carried out for overall performance of various technologies and key technical problems required to resolve for R&D of pipeline robots are proposed.%管道机器人综合了智能移动载体技术和管道缺陷无损检测技术,主要用于输油气管道的检测、喷涂、接口焊接、异物清理等检修维护作业.运动方式是管道机器人的技术核心,包括主动运动方式和被动运动方式两大类.系统阐述了仿生式、履带式、螺旋驱动式、车型式和支撑轮式等5种主动运动方式管道机器人及被动运动方式管道机器人PIG的技术特点和难点,例举了国内外现有产品和技术.对比分析了各种技术的综合性能,提出了管道机器人研发需要重点解决的技术问题.

  19. Building Integrated Mobile Robots for Soccer Competition

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Robot soccer competition provides an excellent opportunity for robotics research. We have built a soccer robot system to participate in internal and oversea matches. Firstly, we propose a new learning control scheme adaptive PID learning controller. It means to overcome the drawbacks of the conventional PID type control methods. Secondly, we introduce our vision recognition algorithm. It remarkably increases the speed of recognition. Finally, we refer the communication system. We adopt bulletin board system to prevent communication confusion.

  20. From Virtual Creatures to Feasible Robots

    DEFF Research Database (Denmark)

    Faina, Andres; Souto, Daniel; Orjales, Félix

    This paper provides a brief description of the robots obtained using the evolutionary design system called EDHMoR (Evolutionary Designer of Heterogeneous Modular Robots) that are displayed in the corresponding video [1]. This system is based on the coevolution of morphology and control with the m...... the search space. The video shows some of the resulting robots for two different tasks, painting a surface and walking, and the influence of these modifications. Finally, some real tests of these morphologies are presented....

  1. Research on Human-Robot Joint System for Lunar Exploration

    Science.gov (United States)

    Zhang, Wei

    The lunar exploration in China is in progress. In order to reduce human workload and costs, and conduct researches more effectively and efficiently, human-robot joint systems are necessary for lunar exploration. The concept of human-robot joint system for lunar exploration is studied in this paper. The possible collaborative ways between human and robots and the collaborative activities which can be conducted for lunar exploration are discussed. Moreover, the preliminary configuration of a human-robot joint system is presented.

  2. On discrete control of nonlinear systems with applications to robotics

    Science.gov (United States)

    Eslami, Mansour

    1989-01-01

    Much progress has been reported in the areas of modeling and control of nonlinear dynamic systems in a continuous-time framework. From implementation point of view, however, it is essential to study these nonlinear systems directly in a discrete setting that is amenable for interfacing with digital computers. But to develop discrete models and discrete controllers for a nonlinear system such as robot is a nontrivial task. Robot is also inherently a variable-inertia dynamic system involving additional complications. Not only the computer-oriented models of these systems must satisfy the usual requirements for such models, but these must also be compatible with the inherent capabilities of computers and must preserve the fundamental physical characteristics of continuous-time systems such as the conservation of energy and/or momentum. Preliminary issues regarding discrete systems in general and discrete models of a typical industrial robot that is developed with full consideration of the principle of conservation of energy are presented. Some research on the pertinent tactile information processing is reviewed. Finally, system control methods and how to integrate these issues in order to complete the task of discrete control of a robot manipulator are also reviewed.

  3. RoboCon: Operator interface for robotic applications. Final report: RoboCon electrical interfacing -- system architecture, and Interfacing NDDS and LabView

    Energy Technology Data Exchange (ETDEWEB)

    Schempf, H.

    1998-04-30

    The first appendix contains detailed specifications of the electrical interfacing employed in Robocon. This includes all electrical signals and power requirement descriptions up to and including the interface entry points for external robots and systems. The reader is first presented with an overview of the overall Robocon electrical system, followed by sub-sections describing each module in detail. The appendices contain listings of power requirements and the electrical connectors and cables used, followed by an overall electrical system diagram. Custom electronics employed are also described. The Network Data Delivery Service (NDDS) is a real-time dissemination communications architecture which allows nodes on a network to publish data and subscribe to data published by other nodes while remaining anonymous. The second appendix explains how to facilitate a seamless interface between NDDS and LabView and provides sample source code used to implement an NDDS consumer which writes a string to a socket.

  4. 井下凿岩机器人自主操作方法研究进展%Research progress on autogenous operation method of underground rock-drilling robots

    Institute of Scientific and Technical Information of China (English)

    黄开启; 苏建华; 张宇仁

    2013-01-01

    凿岩机器人是有效解决并下人工凿岩带来的安全、效率和钻爆精度等诸多问题的重要装备,凿岩智能化也是实现“少、无人矿山”和“数字化矿山”的重要研究方向.井下复杂环境的矿道断面感知、凿岩运动规划和钻孔精确自定位、智能钻孔控制和基于钻孔参数信息提取的凿岩岩层识别是凿岩机器人实现自主操作的4个关键技术.分析与总结了国内外井下凿岩机器人自主操作方法的研究现状与进展,并对相关研究做出展望.%The rock-drilling robot is an important equipment to solve many issues such as safety and efficiency of underground artificial drilling as well as precision of drilling and blasting. And intelligent drilling is the main research direction to realize "little-manned or unmanned mine" and "digital mine". Perception of mine tunnel landforms, scheduling of drilling motion and accurate self-positioning of drilling, control of intelligent drilling and rock identification based on drilling parameter data are the four key technologies to achieve autogenous operation of rock-drilling robot. In addition, the current research status and progress on autogenous operation methods of rock-drilling robot at home and abroad were analyzed and summerized, and relevant research was forecasted.

  5. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  6. University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane

    2007-12-13

    The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  7. Cognitive Robotics

    OpenAIRE

    Levesque, Hector J.; Lakemeyer, Gerhard

    2010-01-01

    This chapter is dedicated to the memory of Ray Reiter. It is also an overview of cognitive robotics, as we understand it to have been envisaged by him.1 Of course, nobody can control the use of a term or the direction of research. We apologize in advance to those who feel that other approaches to cognitive robotics and related problems are inadequately represented here.

  8. Robot Rescue

    Science.gov (United States)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  9. [Robotic surgery].

    Science.gov (United States)

    Moreno-Portillo, Mucio; Valenzuela-Salazar, Carlos; Quiroz-Guadarrama, César David; Pachecho-Gahbler, Carlos; Rojano-Rodríguez, Martín

    2014-12-01

    Medicine has experienced greater scientific and technological advances in the last 50 years than in the rest of human history. The article describes relevant events, revises concepts and advantages and clinical applications, summarizes published clinical results, and presents some personal reflections without giving dogmatic conclusions about robotic surgery. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) defines robotic surgery as a surgical procedure using technology to aid the interaction between surgeon and patient. The objective of the surgical robot is to correct human deficiencies and improve surgical skills. The capacity of repeating tasks with precision and reproducibility has been the base of the robot´s success. Robotic technology offers objective and measurable advantages: - Improving maneuverability and physical capacity during surgery. - Correcting bad postural habits and tremor. - Allowing depth perception (3D images). - Magnifying strength and movement limits. - Offering a platform for sensors, cameras, and instruments. Endoscopic surgery transformed conceptually the way of practicing surgery. Nevertheless in the last decade, robotic assisted surgery has become the next paradigm of our era.

  10. New Progress in the Autonomous Navigation Study of Self-Mobile Robot%自移动式机器人自主导航研究的新进展

    Institute of Scientific and Technical Information of China (English)

    谢伟枫

    2015-01-01

    自移动式机器人的自主导航技术已经取代动作技术,成为机器人研究的核心领域,并涉及到多个学科领域。在定位研究、地图构建和路径规划等关键技术方面,近年来取得了长足进步,为机器在更加复杂的环境下实现自主和智慧移动提供了坚实的基础。文章主要探讨了自移动式机器人自主导航研究的新进展。%The autonomous navigation technology in self-mobile robot has substituted the motion technology to become the core field of robotics research, involving many disciplines. Key technologies such as localization research, map building and path planning, have made considerable progress in recent years, providing a solid foundation for achiev⁃ing Autonomous and sapiential motion in a more complex environment.

  11. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  12. Design of Industrial Robotic Controller Based on DSP

    Institute of Scientific and Technical Information of China (English)

    谈世哲; 杨汝清

    2003-01-01

    This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.

  13. Final Progress Report for Collaborative Research: Aging of Black Carbon during Atmospheric Transport: Understanding Results from the DOE’s 2010 CARES and 2012 ClearfLo Campaigns

    Energy Technology Data Exchange (ETDEWEB)

    Mazzoleni, Claudio [Michigan Technological Univ., Houghton, MI (United States); Subramanian, R. [Carnegie Mellon Univ., Pittsburgh, PA (United States)

    2016-08-31

    Over the course of this project, we have analyzed data and samples from the Carbonaceous Aerosol and Radiative Effects Study (CARES) and the Clear air for London (ClearfLo) campaign, as well as conducted or participated in laboratory experiments designed to better understand black carbon mixing state and climate-relevant properties. The laboratory campaigns took place at the Pacific Northwest National Laboratory and Carnegie Mellon University to study various climate-relevant aerosol properties of different sources of soot mixing with secondary organic aerosol precursors. Results from some of these activities were summarized in the previous progress report. This final report presents the manuscripts that have been published (many in the period since the last progress report), lists presentations at different conferences based on grant-related activities, and presents some results that are likely to be submitted for publication in the near future.

  14. Educational Robotics: Open Questions and New Challenges

    Science.gov (United States)

    Alimisis, Dimitris

    2013-01-01

    This paper investigates the current situation in the field of educational robotics and identifies new challenges and trends focusing on the use of robotic technologies as a tool that will support creativity and other 21st-century learning skills. Finally, conclusions and proposals are presented for promoting cooperation and networking of…

  15. Fusion reactor systems studies. Progress report for the period November 1, 1996--October 31, 1997, and final report

    Energy Technology Data Exchange (ETDEWEB)

    El-Guebaly, L.A.; Blanchard, J.P.; Kulcinski, G.L.

    1997-08-01

    During FY97, the University of Wisconsin Fusion Technology Institute personnel have participated in the ARIES-RS and the ARIES-ST projects. The main areas of effort are: (1) neutronics analysis; (2) shielding of components and personnel; (3) neutron wall loading distribution; (4) radiation damage to in-vessel components; (5) components lifetimes; (6) embrittled materials designs issues; (7) stress and structural analysis; (8) activation, LOCA, and safety analysis; (9) support and fabrication of components; (10) vacuum system; and (11) maintenance. Progress made in these areas are summarized.

  16. Controller Design Of Unicycle Mobile Robot

    Directory of Open Access Journals (Sweden)

    Mohd Zamzuri Abd Rashid

    2012-10-01

    Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

  17. 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.

  18. 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.

  19. UNIVERSITY RESEARCH PROGRAMS IN ROBOTICS, TECHNOLOGIES FOR MICROELECTROMECHANICAL SYSTEMS IN DIRECTED STOCKPILE WORK RADIATION AND ENGINEERING CAMPAIGNS - 2005-06 FINAL ANNUAL REPORT

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Dean Schoenfeld; David Hintenlang; Carl Crane; Shannon Ridgeway; Jose Santiago; Charles Scheer

    2006-11-30

    The research performed by the University of Florida (UF) is directed to the development of technologies that can be utilized at a micro-scale in varied environments. Work is focused on micro-scale energy systems, visualization, and mechanical devices. This work will impact the NNSA need related to micro-assembly operations. The URPR activities are executed in a University environment, yet many applications of the resulting technologies may be classified or highly restrictive in nature. The NNSA robotics technologists apply an NNSA needs focus to the URPR research, and actively work to transition relevant research into the deployment projects in which they are involved. This provides a “Research to Development to Application” structure within which innovative research has maximum opportunity for impact without requiring URPR researchers to be involved in specific NNSA projects. URPR researchers need to be aware of the NNSA applications in order to ensure the research being conducted has relevance, the URPR shall rely upon the NNSA sites for direction.

  20. Indoor monocular mobile robot navigation based on color landmarks

    Institute of Scientific and Technical Information of China (English)

    LUO Yuan; ZHANG Bai-sheng; ZHANG Yi; LI Ling

    2009-01-01

    A robot landmark navigation system based on monocular camera was researched theoretically and experimentally. First the landmark setting and its data structure in programming was given; then the coordinates of them getting by robot and global localization of the robot was described; finally experiments based on Pioneer III mobile robot show that this system can work well at different topographic situation without lose of signposts.

  1. Final Progress Report: FRACTURE AND SUBCRITICAL DEBONDING IN THIN LAYERED STRUCTURES: EXPERIMENTS AND MULTI-SCALE MODELING

    Energy Technology Data Exchange (ETDEWEB)

    Reinhold H. Dauskardt

    2005-08-30

    Final technical report detailing unique experimental and multi-scale computational modeling capabilities developed to study fracture and subcritical cracking in thin-film structures. Our program to date at Stanford has studied the mechanisms of fracture and fatigue crack-growth in structural ceramics at high temperature, bulk and thin-film glasses in selected moist environments where we demonstrated the presence of a true mechanical fatigue effect in some glass compositions. We also reported on the effects of complex environments and fatigue loading on subcritical cracking that effects the reliability of MEMS and other micro-devices using novel micro-machined silicon specimens and nanomaterial layers.

  2. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  3. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  4. Rehabilitation robotics

    Science.gov (United States)

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

  5. 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.

  6. Electromagnetic drive system of robotic fish

    Institute of Scientific and Technical Information of China (English)

    ZHU Hong-xiu; SUN Nai-di; YUE Yao-hui; DENG Jing; LI Fei-hang; GU Yue; JIA Rui-qing

    2012-01-01

    With the aim to apply the electric fish into practice to assist coal mine water disaster life detection and rescue work,based on the analysis on swing propulsion movements of tail fin,this paper integrates the electromagnet technology with tail fin drive system by analyzing how the fish swims with tail fin under the law of progression.The principle,structure,and drive signals of tail fin electromagnetic drive are researched,the enforced situation of fish under electromagnetic driving modes are analyzed,and the experimental plat-form of tail fin electromagnetic drive is established.The best distance between electromagnet and armature,which can realize the swing of tail fin,was researched in the experiment under water.The robotic fish structure parameters of tail fin electromagnetic drive was finalized by theoretical analysis and experimental measurement.

  7. 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.

  8. Cooperating mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  9. Soldier universal robot controller

    Science.gov (United States)

    Hyams, Jeffrey; Batavia, Parag; Liao, Elizabeth; Somerville, Andrew

    2008-04-01

    The Soldier Universal Robot Controller (SURC) is a modular OCU designed for simultaneous control of heterogeneous unmanned vehicles. It has a well defined, published API., defined using XML schemas, that allows other potential users of the system to develop their own modules for rapid integration with SURC. The SURC architecture is broken down into three layers: User Interface, Core Functions, and Transport. The User Interface layer is the front end module which provides the human computer interface for user control of robots. The Core layer is further divided into the following modules: Capabilities, Tactical, Mobility, and World Model. The Capabilities module keeps track of the known robots and provides a list of specifications and services. The Mobility module provides path planning via D*, while the Tactical module provides higher level mission planning (multi-agent/multi-mission) capabilities for collaborative operations. The World Model module is a relational database which stores world model objects. Finally, a Transport module provides translation from the SURC architecture to the robot specific messaging protocols (such as JAUS). This allows fast integration of new robot protocols into an existing SURC implementation to enable a new system to rapidly leverage existing SURC capabilities. The communication between different modules within the SURC architecture is done via XML. This gives developers and users the flexibility to extend existing messages without breaking backwards compatibility. The modularity of SURC offers users and developers alike the capability to create custom modules and plug them into place, as long as they follow the pre defined messaging API for that module.

  10. A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

    OpenAIRE

    Shu-qin Li; Lan Shuai; Xian-yi Cheng; Zhen-min Tang; Jing-yu Yang

    2005-01-01

    At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from c...

  11. Positron tomographic imaging of tumors using monoclonal antibodies. Final progress report, April 15, 1989--October 31, 1995

    Energy Technology Data Exchange (ETDEWEB)

    Zalutsky, M.R.

    1997-02-01

    The overall objective of this research is to develop methods for utilizing positron emission tomography (PET) to increase the clinical potential of radiolabeled monoclonal antibodies (MAbs). Enhancement of MAb tumor localization by hyperthermia also was proposed. Studies were to have been performed with both {sup 18}F and {sup 124}I; however, the lack of its availability (until quite recently) prevented experiments with {sup 124}I. Instead, two additional lines of inquiry were initiated in which they utilized aspects of the radiofluorination chemistries originally developed for MAbs for labeling chemotactic peptides and meta-iodobenzylguanidine (MIBG) analogues with {sup 18}F. This final report summarizes the original specific aims and the main research accomplishments in studies of mouse, dog and human models.

  12. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

  13. Measurement and apportionment of radon source terms for modeling indoor environments. Final progress report, March 1990--August 1992

    Energy Technology Data Exchange (ETDEWEB)

    Harley, N.H.

    1992-12-31

    During the present 2 1/2 year contract period, we have made significant Progress in modeling the source apportionment of indoor {sup 222}Rn and in {sup 222}Rn decay product dosimetry. Two additional areas were worked on which we believe are useful for the DOE Radon research Program. One involved an analysis of the research house data, grouping the hourly house {sup 222}Rn measurements into 2 day, 7 day and 90 day intervals to simulate the response of passive monitors. Another area requiring some attention resulted in a publication of 3 years of our indoor/outdoor measurements in a high-rise apartment. Little interest has been evinced in apartment measurements yet 20% of the US population lives in multiple-family dwellings, not in contact with the ground. These data together with a summary of all other published data on apartments showed that apartments have only about 50% greater {sup 222}Rn concentration than the measured outdoor {sup 222}Rn. Apartment dwellers generally represent a low risk group regarding {sup 222}Rn exposure. The following sections describe the main projects in some detail.

  14. Accessibility to surgical robot technology and prostate-cancer patient behavior for prostatectomy.

    Science.gov (United States)

    Sugihara, Toru; Yasunaga, Hideo; Matsui, Hiroki; Nagao, Go; Ishikawa, Akira; Fujimura, Tetsuya; Fukuhara, Hiroshi; Fushimi, Kiyohide; Ohori, Makoto; Homma, Yukio

    2017-07-01

    To examine how surgical robot emergence affects prostate-cancer patient behavior in seeking radical prostatectomy focusing on geographical accessibility. In Japan, robotic surgery was approved in April 2012. Based on data in the Japanese Diagnosis Procedure Combination database between April 2012 and March 2014, distance to nearest surgical robot and interval days to radical prostatectomy (divided by mean interval in 2011: % interval days to radical prostatectomy) were calculated for individual radical prostatectomy cases at non-robotic hospitals. Caseload changes regarding distance to nearest surgical robot and robot introduction were investigated. Change in % interval days to radical prostatectomy was evaluated by multivariate analysis including distance to nearest surgical robot, age, comorbidity, hospital volume, operation type, hospital academic status, bed volume and temporal progress. % Interval days to radical prostatectomy became wider for distance to nearest surgical robot robot emerged within 30 and 10 km, the prostatectomy caseload in non-robot hospitals reduced by 13 and 18% within 6 months, respectively, while the robot hospitals gained +101% caseload (P robotic minimally invasive radical prostatectomies in 483 non-robot hospitals revealed a significant inverse association between distance to nearest surgical robot and % interval days to radical prostatectomy (B = -17.3% for distance to nearest surgical robot ≥30 km and -11.7% for 10-30 km versus distance to nearest surgical robot Robotic surgery accessibility within 30 km would make patients less likely select conventional surgery. The nearer a robot was, the faster the caseload reduction was.

  15. Construction of a genome-wide human BAC-Unigene resource. Final progress report, 1989--1996

    Energy Technology Data Exchange (ETDEWEB)

    Lim, C.S.; Xu, R.X.; Wang, M. [and others

    1996-12-31

    Currently, over 30,000 mapped STSs and 27,000 mapped Unigenes (non-redundant, unigene sets of cDNA representing EST clusters) are available for human alone. A total of 44,000 Unigene cDNA clones have been supplied by Research Genetics. Unigenes, or cDNAs are excellent resource for map building for two reasons. Firstly, they exist in two alternative forms -- as both sequence information for PCR primer pairs, and cDNA clones -- thus making library screening by colony hybridization as well as pooled library PCR possible. The authors have developed an efficient and robust procedure to screen genomic libraries with large number of DNA probes. Secondly, the linkage and order of expressed sequences, or genes are highly conserved among human, mouse and other mammalian species. Therefore, mapping with cDNA markers rather than random anonymous STSs will greatly facilitate comparative, evolutionary studies as well as physical map building. They have currently deconvoluted over 10,000 Unigene probes against a 4X coverage human BAC clones from the approved library D by high density colony hybridization method. 10,000 batches of Unigenes are arrayed in an imaginary 100 X 100 matrix from which 100 row pools and 100 column pools are obtained. Library filters are hybridized with pooled probes, thus reducing the number of hybridization required for addressing the positives for each Unigene from 10,000 to 200. Details on the experimental scheme as well as daily progress report is posted on the Web site (http://www.tree.caltech.edu).

  16. Robotic Partial Nephrectomy Using Robotic Bulldog Clamps

    OpenAIRE

    2011-01-01

    Background and Objectives: The need for a skilled assistant to perform hilar clamping during robotic partial nephrectomy is a potential limitation of the technique. We describe our experience using robotic bulldog clamps applied by the console surgeon for hilar clamping. Methods: A total of 60 consecutive patients underwent robotic partial nephrectomy, 30 using laparoscopic bulldog clamps applied by the assistant and 30 using robotic bulldog clamps applied with the robotic Prograsp instrument...

  17. Development of a Coal Quality Expert. Final technical progress report No. 11, [October 1--December 31, 1992

    Energy Technology Data Exchange (ETDEWEB)

    1993-05-20

    Task 3 provides detailed characterization of fuel properties of the test coals and in-depth evaluation of their performance characteristics under controlled pilot-scale combustion testing. Results from this task provide fundamental information required to develop some of the improved algorithms for the CQE. Both bench-scale fuel characterization and test furnace performance evaluations are being performed under this task. All pilot-scale combustion tests under this task have been completed. Topical reports for the coals evaluated under the Public Service Oklahoma`s Northeastern Unit 4 and Northern States Power`s King Unit 1 test series have been issued. Work continued during the past quarter on preparation of the final report for the Mississippi Power Company`s Watson Unit 4 tests (to be completed first quarter 1993) and analyzing pilot-scale combustion data from the Alabama Power Company`s Gaston tests; a topical report for the Gaston study will also be issued in 1993. Bench-scale testing and data analyses continued in support of the development of the slagging and fouling models. Data obtained from the analysis of samples of deposits, inflame solids, fly ash, and coal from CQE pilot-scale and drop tube combustion tests were evaluated for use in devising and verifying the slagging and fouling algorithms.

  18. Highly nucleophilic acetylide, vinyl, and vinylidene complexes. Final progress report, 1 January 1991--31 March 1994

    Energy Technology Data Exchange (ETDEWEB)

    Geoffroy, G.L.

    1994-10-04

    In the course of this research the authors found that the anionic alkynyl complex [Cp{prime}(CO)(PPh{sub 3})Mn-C{triple_bond}C-CH{sub 3}]{sup {minus}} can be generated in situ by the addition of two equivalents of n-BuLi to a solution of the carbene complex Cp{prime}(CO)(PPh{sub 3})Mn{double_bond}C(OMe)CH{sub 2}CH{sub 3}. It was also found that the highly nucleophilic propynyl complex [Cp(CO)(PPh{sub 3})Mn-C{triple_bond}C-Me]{sup {minus}} reacts with a variety of aldehydes and ketones in the presence of BF{sub 3}{center_dot}Et{sub 2}O to give, after quenching with MeOH, a series of cationic vinylcarbyne complexes of the general form [Cp(CO)(PPh{sub 3})Mn{triple_bond}C-C(Me){double_bond}C(R)(R{prime})]BF{sub 4}. The cationic alkylidyne complexes [Cp(CO){sub 2}M{triple_bond}C-CH{sub 2}R]{sup +} [M = Re, R = H, M = Mn, R = H, Me, Ph] have been found to undergo facile deprotonation to give the corresponding neutral vinylidene complexes Cp(CO){sub 2}M{double_bond}C{double_bond}C(H)R. The authors have also investigated reactions relevant to the halide promoted Fe and Ru catalyzed carbonylation of nitroaromatics. The final part of this work has involved investigations of metal-oxo complexes.

  19. Final design and progress of WEAVE: the next generation wide-field spectroscopy facility for the William Herschel Telescope

    Science.gov (United States)

    Dalton, Gavin; Trager, Scott; Abrams, Don Carlos; Bonifacio, Piercarlo; Aguerri, J. Alfonso L.; Middleton, Kevin; Benn, Chris; Dee, Kevin; Sayède, Frédéric; Lewis, Ian; Pragt, Johannes; Pico, Sergio; Walton, Nic; Rey, Jeurg; Allende Prieto, Carlos; Peñate, José; Lhome, Emilie; Agócs, Tibor; Alonso, José; Terrett, David; Brock, Matthew; Gilbert, James; Schallig, Ellen; Ridings, Andy; Guinouard, Isabelle; Verheijen, Marc; Tosh, Ian; Rogers, Kevin; Lee, Martin; Steele, Iain; Stuik, Remko; Tromp, Niels; Jaskó, Attila; Carrasco, Esperanza; Farcas, Szigfrid; Kragt, Jan; Lesman, Dirk; Kroes, Gabby; Mottram, Chris; Bates, Stuart; Rodriguez, Luis Fernando; Gribbin, Frank; Delgado, José Miguel; Herreros, José Miguel; Martin, Carlos; Cano, Diego; Navarro, Ramon; Irwin, Mike; Lewis, Jim; Gonzalez Solares, Eduardo; Murphy, David; Worley, Clare; Bassom, Richard; O'Mahoney, Neil; Bianco, Andrea; Zurita, Christina; ter Horst, Rik; Molinari, Emilio; Lodi, Marcello; Guerra, José; Martin, Adrian; Vallenari, Antonella; Salasnich, Bernardo; Baruffolo, Andrea; Jin, Shoko; Hill, Vanessa; Smith, Dan; Drew, Janet; Poggianti, Bianca; Pieri, Mat; Dominquez Palmero, Lillian; Farina, Cecilia

    2016-08-01

    We present the Final Design of the WEAVE next-generation spectroscopy facility for the William Herschel Telescope (WHT), together with a status update on the details of manufacturing, integration and the overall project schedule now that all the major fabrication contracts are in place. We also present a summary of the current planning behind the 5-year initial phase of survey operations. WEAVE will provide optical ground-based follow up of ground-based (LOFAR) and space-based (Gaia) surveys. WEAVE is a multi-object and multi-IFU facility utilizing a new 2-degree prime focus field of view at the WHT, with a buffered pick-and-place positioner system hosting 1000 multi-object (MOS) fibres, 20 integral field units, or a single large IFU for each observation. The fibres are fed to a single (dual-beam) spectrograph, with total of 16k spectral pixels, located within the WHT GHRIL enclosure on the telescope Nasmyth platform, supporting observations at R 5000 over the full 370-1000nm wavelength range in a single exposure, or a high resolution mode with limited coverage in each arm at R 20000. The project is now in the manufacturing and integration phase with first light expected for early of 2018.

  20. Central receiver solar thermal power system, phase 1. Quarterly progress report (final) for period ending June 30, 1976

    Energy Technology Data Exchange (ETDEWEB)

    None

    1976-10-01

    During this report period, the major program activities were aimed toward the fabrication of the three major research experiments and continued evaluation of the Pilot Plant performance and operating modes. The detail designs were completed early in this period. Effort was continued in the evaluation of Pilot Plant start transients. Both warm and hot starts from thermal storage were evaluated as was a cold start from the Receiver. In the Collector Subsystem Experiment the heliostat structures and drive mechanisms were completed and delivered. The detail design of the 5 MW Receiver Experiment was completed at Foster Wheeler. In the Thermal Storage Subsystem the detail design of the experiment was completed early in the period. A final selection of the heat transport media was made with Hitec selected as the molten salt and Caloria HT-43 selected as the hydrocarbon oil. During this period Bechtel continued its efforts in the optimization of the Electrical Power Generation Subsystem. Work was also continued on the completion of data that will be used in the Electrical Power Generation Subsystem analytical model being prepared by Martin as a part of the overall Pilot Plant Simulation Model. (WDM)

  1. Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.

    Science.gov (United States)

    Gilbert, Hunter B; Neimat, Joseph; Webster, Robert J

    2015-04-01

    Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., "follow-the-leader" deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment.

  2. Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment

    Science.gov (United States)

    Gilbert, Hunter B.; Neimat, Joseph; Webster, Robert J.

    2015-01-01

    Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., “follow-the-leader” deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment. PMID:26622208

  3. 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

  4. 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 fu

  5. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

  6. Beyond Robotics

    Science.gov (United States)

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  7. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    . They are sexist, primitively normative and clearly ‘wax-doll machines’. So though Ava’s dimensions are perfect she, like the Vitruvian Man, remains a fiction. In real life, however, we may have to deal with an increasing solipsism stemming from people engaging with machines like sex robots. In this case...

  8. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

    , Vivisection and Strange Metabolisms, were developed at the Centre for Information Technology and Architecture (CITA) at the Royal Danish Academy of Fine Arts in Copenhagen as a means of engaging intangible digital data with tactile physical material. As robotic membranes, they are a dual examination...

  9. The oncogenic action of ionizing radiation on rat skin. Final progress report, May 1, 1990--April 30, 1992

    Energy Technology Data Exchange (ETDEWEB)

    Burns, F.J.; Garte, S.J.

    1992-12-31

    The multistage theory of carcinogenesis specifies that cells progress to cancer through a series of discrete, irreversible genetic alterations, but data on radiation-induced cancer incidence in rat skin suggests that an intermediate repairable alteration may occur. Data are presented on cancer induction in rat skin exposed to an electron beam (LET=0.34 keV/{mu}), a neon ion beam (LET=45) or an argon ion beam (LET=125). The rats were observed for tumors at least 78 weeks with squamous and basal cell carcinomas observed. The total cancer yield was fitted by the quadratic equation, and the equation parameters were estimated by linear regression for each type of radiation. Analysis of the DNA from the electron-induced carcinomas indicated that K-ras and/or c-myc oncogenes were activated. In situ hybridization indicated that the cancers contain subpopulations of cells with differing amounts of c-myc and H-ras amplification. The results are consistent with the idea that ionizing radiation produces stable, carcinogenically relevant lesions via 2 repairable events at low LET and via a non-repairable linked event pathway at high LET; either pathway may advance the cell by 1 stage. The proliferative response of rat epidermis following exposure to ionizing radiation was quantified by injection of {sup 14}C-thymidine. The return of these cells to S-phase a second time was detected by a second label ({sup 3}H). When the labeled cells were in G1-phase, the dorsal skin was irradiated with X-rays. All labeling indices were determined. The {sup 14}C labeling index was constant and unaffected by the radiation. The proportion of all cells entering S-phase averaged 3.5% at 18 hr and increased after 44, 52 and 75 hr to average levels of 11.8%, 5. 3%, and 6.6% at 0, 10 and 25 Gy respectively. The proportion of S-phase cells labeled with {sup 14}C increased after 42 hr and remained relatively constant thereafter.

  10. Hybrid solar thermal-photovoltaic systems demonstration, Phase I and II. Final technical progress report, July 5, 1979-December 1982

    Energy Technology Data Exchange (ETDEWEB)

    Loferski, J.J. (ed.)

    1983-12-01

    The purpose of the project is to investigate a system based on combined photovoltaic/thermal (PV/T) panels to supply the energy needs of a small single family residence. The system finally selected and constructed uses PV/T panels which utilize air as the heat transfer medium. Optimization of thermal performance was accomplished by attaching metal fins to the back surface of each cell which significantly increased the heat transfer coefficient from the solar cells to the air stream. The other major components of the selected system are an air-to-air heat pump, a rock bin thermal energy storage bin, a synchronous dc-to-ac converter, a microprocessor to control the system, a heat exchanger for the domestic hot water system and of course the building itself which is a one story, well insulated structure having a floor area of 1200 ft/sup 2/. A prototype collector was constructed and tested. Based on this experience, twenty collectors, containing 2860 four inch diameter solar cells, were constructed and installed on the building. Performance of the system was simulated using a TRNSYS-derived program, modified to accommodate PV/T panels and to include the particular components included in the selected system. Simulation of the performance showed that about 65 percent of the total annual energy needs of the building would be provided by the PV/T system. Of this total, about one half is produced at a time when it can be used in the building and one half must be sold back to the utility.

  11. Mobile robot sense net

    Science.gov (United States)

    Konolige, Kurt G.; Gutmann, Steffen; Guzzoni, Didier; Ficklin, Robert W.; Nicewarner, Keith E.

    1999-08-01

    Mobile robot hardware and software is developing to the point where interesting applications for groups of such robots can be contemplated. We envision a set of mobots acting to map and perform surveillance or other task within an indoor environment (the Sense Net). A typical application of the Sense Net would be to detect survivors in buildings damaged by earthquake or other disaster, where human searchers would be put a risk. As a team, the Sense Net could reconnoiter a set of buildings faster, more reliably, and more comprehensibly than an individual mobot. The team, for example, could dynamically form subteams to perform task that cannot be done by individual robots, such as measuring the range to a distant object by forming a long baseline stereo sensor form a pari of mobots. In addition, the team could automatically reconfigure itself to handle contingencies such as disabled mobots. This paper is a report of our current progress in developing the Sense Net, after the first year of a two-year project. In our approach, each mobot has sufficient autonomy to perform several tasks, such as mapping unknown areas, navigating to specific positions, and detecting, tracking, characterizing, and classifying human and vehicular activity. We detail how some of these tasks are accomplished, and how the mobot group is tasked.

  12. Towards safe robots approaching Asimov’s 1st law

    CERN Document Server

    Haddadin, Sami

    2014-01-01

    The vision of seamless human-robot interaction in our everyday life that allows for tight cooperation between human and robot has not become reality yet. However, the recent increase in technology maturity finally made it possible to realize systems of high integration, advanced sensorial capabilities and enhanced power to cross this barrier and merge living spaces of humans and robot workspaces to at least a certain extent. Together with the increasing industrial effort to realize first commercial service robotics products this makes it necessary to properly address one of the most fundamental questions of Human-Robot Interaction: How to ensure safety in human-robot coexistence? In this authoritative monograph, the essential question about the necessary requirements for a safe robot is addressed in depth and from various perspectives. The approach taken in this book focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts, and isolates the major factor...

  13. Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance

    Directory of Open Access Journals (Sweden)

    Nabil M. Hewahi

    2017-07-01

    Full Text Available The robots science has been developed over the past few years, where robots have become used to accomplish difficult, repetitive or accurate tasks, which are very hard for humans to carry out. In this paper, we propose an algorithm to control the motion of a swarm of robots and make them able to avoid obstacles. The proposed solution is based on forming the robots in circular fashion. A group set of robots consists of multiple groups of robots, each group of robots consists of robots forming a circular shape and each group set is a circular form of robots. The proposed algorithm is concerned with first locating the randomly generated robots in groups and secondly with the swarm robot motion and finally with the swarm obstacle avoidance and swarm reorganization after crossing the obstacle. The proposed algorithm has been simulated with five different obstacles with various numbers of randomly generated robots. The results show that the swarm in the circular form can deal with the obstacles very effectively by passing the obstacles smoothly. The proposed algorithm has been compared with flocking algorithm and it is shown that the circular formation algorithm does not need extensive computation after obstacle avoidance whereas the flocking algorithm needs extensive computation. In addition, the circular formation algorithm maintains every robot in its group after avoiding the obstacles whereas with flocking algorithm does not.

  14. Tandem mobile robot system

    Energy Technology Data Exchange (ETDEWEB)

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  15. Robotics Education and Employment.

    Science.gov (United States)

    Linnell, Charles C.

    1993-01-01

    Describes characteristics of robots, provides a glossary of related terms, and discusses available careers in the field of robotics. Includes a list of postsecondary institutions with robotics programs. (JOW)

  16. 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...

  17. Robotics in Protected Cultivation

    NARCIS (Netherlands)

    Henten, van E.; Bac, C.W.; Hemming, J.; Edan, Y.

    2013-01-01

    This paper reviews robotics for protected cultivation systems. Based on a short description of the greenhouse crop production process, the current state in greenhouse mechanization and the challenges for robotics in protected cultivation are identified. Examples of current greenhouse robotics

  18. 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...

  19. New development in robot vision

    CERN Document Server

    Behal, Aman; Chung, Chi-Kit

    2015-01-01

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

  20. A configuration space toolkit for automated spatial reasoning: Technical results and LDRD project final report

    Energy Technology Data Exchange (ETDEWEB)

    Xavier, P.G.; LaFarge, R.A.

    1997-02-01

    A robot`s configuration space (c-space) is the space of its kinematic degrees of freedom, e.g., the joint-space of an arm. Sets in c-space can be defined that characterize a variety of spatial relationships, such as contact between the robot and its environment. C-space techniques have been fundamental to research progress in areas such as motion planning and physically-based reasoning. However, practical progress has been slowed by the difficulty of implementing the c-space abstraction inside each application. For this reason, we proposed a Configuration Space Toolkit of high-performance algorithms and data structures meeting these needs. Our intent was to develop this robotics software to provide enabling technology to emerging applications that apply the c-space abstraction, such as advanced motion planning, teleoperation supervision, mechanism functional analysis, and design tools. This final report presents the research results and technical achievements of this LDRD project. Key results and achievements included (1) a hybrid Common LISP/C prototype that implements the basic C-Space abstraction, (2) a new, generic, algorithm for constructing hierarchical geometric representations, and (3) a C++ implementation of an algorithm for fast distance computation, interference detection, and c-space point-classification. Since the project conclusion, motion planning researchers in Sandia`s Intelligent Systems and Robotics Center have been using the CSTk libcstk.so C++ library. The code continues to be used, supported, and improved by projects in the ISRC.

  1. A computational platform for robotized fluorescence microscopy (II): DNA damage, replication, checkpoint activation, and cell cycle progression by high-content high-resolution multiparameter image-cytometry.

    Science.gov (United States)

    Furia, Laura; Pelicci, Pier Giuseppe; Faretta, Mario

    2013-04-01

    Dissection of complex molecular-networks in rare cell populations is limited by current technologies that do not allow simultaneous quantification, high-resolution localization, and statistically robust analysis of multiple parameters. We have developed a novel computational platform (Automated Microscopy for Image CytOmetry, A.M.I.CO) for quantitative image-analysis of data from confocal or widefield robotized microscopes. We have applied this image-cytometry technology to the study of checkpoint activation in response to spontaneous DNA damage in nontransformed mammary cells. Cell-cycle profile and active DNA-replication were correlated to (i) Ki67, to monitor proliferation; (ii) phosphorylated histone H2AX (γH2AX) and 53BP1, as markers of DNA-damage response (DDR); and (iii) p53 and p21, as checkpoint-activation markers. Our data suggest the existence of cell-cycle modulated mechanisms involving different functions of γH2AX and 53BP1 in DDR, and of p53 and p21 in checkpoint activation and quiescence regulation during the cell-cycle. Quantitative analysis, event selection, and physical relocalization have been then employed to correlate protein expression at the population level with interactions between molecules, measured with Proximity Ligation Analysis, with unprecedented statistical relevance. Copyright © 2013 International Society for Advancement of Cytometry.

  2. A Novel Robot of Manufacturing Space Solar Cell Arrays

    Directory of Open Access Journals (Sweden)

    Wu Yuexin

    2008-11-01

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

  3. A Novel Robot of Manufacturing Space Solar Cell Arrays

    Directory of Open Access Journals (Sweden)

    Wu Yuexin

    2007-03-01

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

  4. Critical Suction Characteristic Analyses of a Wall Climbing Robot

    Institute of Scientific and Technical Information of China (English)

    XU Dai-jun; GAO Xue-shan; WU Xiao-bing; FAN Ning-jun; LI Ke-jie; ZHU Wei

    2007-01-01

    A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise.It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly.The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly.Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system.Finally the method of critical suction proves correct in theory.

  5. Multifingered grabbers as smart structures for robotic applications

    Science.gov (United States)

    Shahinpoor, Mohsen

    1996-04-01

    Presented first is a novel design for a class of multi-fingered robotic grabbers capable of rapidly deploying their robotic fingers to grab moving objects within their workspace. A simple mathematical model is then presented for computer-graphic simulation of such multi-fingered robotic grabbers. Finally, some experimental results pertaining to dynamic perfomance and control of a number of robotic grabbers fabricated in our laboratory are presented. The dynamic performance of these types of rapidly deployable multi-fingered robotic grabbers have been observed to be quite remarkable and consistent with the proposed computer simulation model.

  6. Robot Companions: Technology for Humans

    CERN Document Server

    Kernbach, Serge

    2011-01-01

    Creation of devices and mechanisms which help people has a long history. Their inventors always targeted practical goals such as irrigation, harvesting, devices for construction sites, measurement, and, last but not least, military tasks for different mechanical and later mechatronic systems. Development of such assisting mechanisms counts back to Greek engineering, came through Middle Ages and led finally in XIX and XX centuries to autonomous devices, which we call today "Robots". This chapter provides overview of several robotic technologies, introduces bio-/chemo- hybrid and collective systems and discuss their applications in service areas.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-12-31

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

  8. Design of a walking robot

    Science.gov (United States)

    Whittaker, William; Dowling, Kevin

    1994-01-01

    Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

  9. Intelligence for Human-Assistant Planetary Surface Robots

    Science.gov (United States)

    Hirsh, Robert; Graham, Jeffrey; Tyree, Kimberly; Sierhuis, Maarten; Clancey, William J.

    2006-01-01

    The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

  10. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

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

  11. Robot development for nuclear material processing

    Energy Technology Data Exchange (ETDEWEB)

    Pedrotti, L.R.; Armantrout, G.A.; Allen, D.C.; Sievers, R.H. Sr.

    1991-07-01

    The Department of Energy is seeking to modernize its special nuclear material (SNM) production facilities and concurrently reduce radiation exposures and process and incidental radioactive waste generated. As part of this program, Lawrence Livermore National Laboratory (LLNL) lead team is developing and adapting generic and specific applications of commercial robotic technologies to SNM pyrochemical processing and other operations. A working gantry robot within a sealed processing glove box and a telerobot control test bed are manifestations of this effort. This paper describes the development challenges and progress in adapting processing, robotic, and nuclear safety technologies to the application. 3 figs.

  12. 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...

  13. Design and Experimental Implementation of Bipedal robot

    Directory of Open Access Journals (Sweden)

    Sreejith C

    2012-09-01

    Full Text Available Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. In this paper, we first formulate the design and walking pattern for a bipedal robot and then a kicking robot has been developed for experimental verification. Finally, the correlation between the design and the walking patterns is described through simulation studies, and the effectiveness of the proposed methods is confirmed by simulation examples and experimental results.

  14. Robotic Prostatectomy: Soon Number 1 in Europe?

    Directory of Open Access Journals (Sweden)

    Iselin CE

    2008-01-01

    Full Text Available Since 1990, laparoscopic surgery has undergone a tremendous evolution, pushed forward by the minimally invasive trend driven by our patients. Complex laparoscopic procedures, such as laparoscopic prostatectomy, have nevertheless faced significant difficulties, rendering them difficult to enter standard practice. However, robotic radical prostatectomy is expanding rapidly since the year 2000 especially in the USA, where actually approximately 70 % of radical prostatectomies are performed laparoscopically with the da Vinci system. This development is related to the facilitation the robot has brought to perform the difficult steps of laparoscopic prostatectomy. The functional outcome of robotic prostatectomy appears similar to the gold standard retropubic radical prostatectomy. This is also the case oncologically, although long-term data are needed for its final validation. The main problem of robotic prostatectomy is its high material cost, significantly superior to that of the conventional laparoscopic or retropubic technique. The near future will tell how European health systems will react to the American robotic epidemy.

  15. 9th International Robotic Sailing Conference

    CERN Document Server

    Cruz, Nuno

    2017-01-01

    This book contains selected papers that address a variety of topics related to the design, development and operation of unmanned and fully autonomous sailing boats. These papers were presented in the 9th International Robotic Sailing Conference, in association with the 9th World Robotic Sailing Championship that took place in Viana do Castelo, Portugal from the 5th to 10th of September 2016. The book is divided in three parts, each focusing on key aspects of robotic sailing. The first part addresses the design, construction and validation of autonomous sailboat platforms, including their rigs, appendages and control mechanisms. The second part is devoted to the development of sensors and algorithms to enhance the performance of robotic sailing boats, in terms of their speed, course control and manoeuvring ability. Finally, the papers in the last part are dedicated to the improvement of behaviours required for the accomplishment of complex autonomous missions. Robotic sailing is a relatively new multidisciplin...

  16. Robotics and regional anesthesia.

    Science.gov (United States)

    Wehbe, Mohamad; Giacalone, Marilu; Hemmerling, Thomas M

    2014-10-01

    Robots in regional anesthesia are used as a tool to automate the performance of regional techniques reducing the anesthesiologist's workload and improving patient care. The purpose of this review is to show the latest findings in robotic regional anesthesia. The literature separates robots in anesthesia into two groups: pharmacological robots and manual robots. Pharmacological robots are mainly closed-loop systems that help in the titration of anesthetic drugs to patients undergoing surgery. Manual robots are mechanical robots that are used to support or replace the manual gestures performed by anesthesiologists. Although in the last decade researchers have focused on the development of decision support systems and closed-loop systems, more recent evidence supports the concept that robots can also be useful in performing regional anesthesia techniques. Robots can improve the performance and safety in regional anesthesia. In this review, we present the developments made in robotic and automated regional anesthesia, and discuss the current state of research in this field.

  17. 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...

  18. 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...

  19. ROCK DEFORMATION. Final Progress Report

    Energy Technology Data Exchange (ETDEWEB)

    None

    2002-05-24

    The Gordon Research Conference (GRC) on ROCK DEFORMATION was held at II Ciocco from 5/19/02 thru 5/24/02. Emphasis was placed on current unpublished research and discussion of the future target areas in this field.

  20. Shorebird Project Final Progress Report

    Data.gov (United States)

    US Fish and Wildlife Service, Department of the Interior — This study documented the habitats, hydrology, vegetation communities and weather patterns that create or destroy shorebird habitat. This project examined shorebird...

  1. NASA's Lunar Robotic Architecture Study

    Science.gov (United States)

    Mulville, Daniel R.

    2006-07-01

    This report documents the findings and analysis of a 60-day agency-wide Lunar Robotic Architecture Study (LRAS) conducted by the National Aeronautics and Space Administration (NASA). Work on this study began in January 2006. Its purpose was to: Define a lunar robotics architecture by addressing the following issues: 1) Do we need robotic missions at all? If so, why and under what conditions? 2) How would they be accomplished and at what cost? Are they within budget? 3) What are the minimum requirements? What is the minimum mission set? 4) Integrate these elements together to show a viable robotic architecture. 5) Establish a strategic framework for a lunar robotics program. The LRAS Final Report presents analysis and recommendations concerning potential approaches related to NASA s implementation of the President's Vision for Space Exploration. Project and contract requirements will likely be derived in part from the LRAS analysis and recommendations contained herein, but these do not represent a set of project or contract requirements and are not binding on the U.S. Government unless and until they are formally and expressly adopted as such. Details of any recommendations offered by the LRAS Final Report will be translated into implementation requirements. Moreover, the report represents the assessments and projects of the report s authors at the time it was prepared; it is anticipated that the concepts in this report will be analyzed further and refined. By the time some of the activities addressed in this report are implemented, certain assumptions on which the report s conclusions are based will likely evolve as a result of this analysis. Accordingly, NASA, and any entity under contract with NASA, should not use the information in this report for final project direction. Since the conclusion of this study, there have been various changes to the Agency's current portfolio of lunar robotic precursor activities. First, the Robotic Lunar Exploration Program (RLEP

  2. Controlling the autonomy of a reconnaissance robot

    Science.gov (United States)

    Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

    2004-09-01

    In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

  3. Soft Legged Wheel-Based Robot with Terrestrial Locomotion Abilities

    Directory of Open Access Journals (Sweden)

    Ali Sadeghi

    2016-12-01

    Full Text Available In recent years robotics has been influenced by a new approach, soft-robotics, bringing the idea that safe interaction with user and more adaptation to the environment can be achieved by exploiting easily deformable materials and flexible components in the structure of robots. In 2016, the soft-robotics community has promoted a new robotics challenge, named RoboSoft Grand Challenge, with the aim of bringing together different opinions on the usefulness and applicability of softness and compliancy in robotics. In this paper we describe the design and implementation of a terrestrial robot based on two soft legged wheels. The tasks predefined by the challenge were set as targets in the robot design, which finally succeeded to accomplish all the tasks. The wheels of the robot can passively climb over stairs and adapt to slippery grounds using two soft legs embedded in their structure. The soft legs, fabricated by integration of soft and rigid materials and mounted on the circumference of a conventional wheel, succeed to enhance its functionality and easily adapt to unknown grounds. The robot has a semi stiff tail that helps in the stabilization and climbing of stairs. An active wheel is embedded at the extremity of the tail in order to increase the robot maneuverability in narrow environments. Moreover two parallelogram linkages let the robot to reconfigure and shrink its size allowing entering inside gates smaller than its initial dimensions.

  4. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  5. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  6. Robotic milling for rapid ceramic pototyping

    Institute of Scientific and Technical Information of China (English)

    HAN Guang-chao; ZHANG Hai-ou; WANG Gui-lan

    2005-01-01

    Robotic milling is a developing method for rapidly producing prototypes and parts, but the application is limited for materials such as wax, wood, plastic and light metal, etc. The reason for this is because of the robotic weak rigidity. In this paper, a method of robotic milling for ceramic prototyping is developed, one that has been successfully applied in a new rapid hard tooling technology-Direct Prototype Spray Tooling[1]. At first, the appropriate ceramic materials mixed with metal powder are confirmed for the robotic milling and the following plasma spraying process. Then the 6 - DOF robotic milling paths are extracted from the NC code and transformed into the robotic JBI type file, the NC code generated through the general CAD/CAM software such as UG -NX.Finally, the robotic milling characteristics such as moving path accuracy and milling force are tested to find the best milling parameters and to ensure the executable, accurate and efficient ceramic prototype milling technology.The development of this method not only broadens the robotic milling material range but also extends the rapid prototyping fields. It can also be used for producing ceramic parts that are difficult to machine.

  7. Evolutionary humanoid robotics

    CERN Document Server

    Eaton, Malachy

    2015-01-01

    This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

  8. Autonomous Hexapod Spider Robot

    DEFF Research Database (Denmark)

    Pandey, Nisha; Pandey, Bishwajeet; Hussain, Dil muhammed Akbar

    2017-01-01

    Robotics world is changing very rapidly in today’s scenario. One of its unique applications is hexapod robots (walking leg robots). These types of robots can walk on uneven surfaces and can be used for spying purpose in various forms of industries. This paper represents the autonomous feature of ...

  9. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  10. Analysis of Robot Accuracy Assessed via its Joint Clearance by Virtual Prototyping Method

    Institute of Scientific and Technical Information of China (English)

    GUO Ling; WANG Li-hong; ZHANG Yu-ru

    2004-01-01

    This paper discusses how joint clearance influences robot end effector positioning accuracy and a robot accuracy analysis approach based on a virtual prototype is proposed. First, a 5-DOF( Degree of freedom) rneurosurgery robot was introduced. Then we built its virtual prototype, made movement planning and measured the manipulator tip accuracy, through which this robot accuracy portrait was obtained. Finally,in order to validate the robot accuracy analysis approach which is based on a virtual prototype, the result was compared with that from a model built by robot forward kinematics and robot differential kinematics.The robot accuracy analysis approach presented in this paper gives a new way to enhance robot design quality, and help to optimize the control and programming of the robot.

  11. Framework for Educational Robotics: A Multiphase Approach to Enhance User Learning in a Competitive Arena

    Science.gov (United States)

    Lye, Ngit Chan; Wong, Kok Wai; Chiou, Andrew

    2013-01-01

    Educational robotics involves using robots as an educational tool to provide a long term, and progressive learning activity, to cater to different age group. The current concern is that, using robots in education should not be an instance of a one-off project for the sole purpose of participating in a competitive event. Instead, it should be a…

  12. Framework for Educational Robotics: A Multiphase Approach to Enhance User Learning in a Competitive Arena

    Science.gov (United States)

    Lye, Ngit Chan; Wong, Kok Wai; Chiou, Andrew

    2013-01-01

    Educational robotics involves using robots as an educational tool to provide a long term, and progressive learning activity, to cater to different age group. The current concern is that, using robots in education should not be an instance of a one-off project for the sole purpose of participating in a competitive event. Instead, it should be a…

  13. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

    Science.gov (United States)

    Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T.J.

    2010-01-01

    In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. PMID:22294927

  14. Designing robots for the elderly: appearance issue and beyond.

    Science.gov (United States)

    Wu, Ya-Huei; Fassert, Christine; Rigaud, Anne-Sophie

    2012-01-01

    This paper provides the results of three focus groups organized in the framework of the ROBADOM project, aiming at designing a service type assistive robot for the elderly with mild cognitive impairment living at home. The main objective of these focus groups was to give some recommendations to engineers in charge of the design of the robot's appearance. Results showed that although many humanoid robots were criticized by most participants, some small creative humanoid robots were appreciated. However, beyond the issue of the robot appearance, many ethical and social issues were raised. These focus groups offered an opportunity for participants to discuss the very idea of an assistive robot and to challenge some implicit preconceptions of the roboticists. Finally, we discuss how assistive robots could be designed considering the social context of the elderly and how to implicate the elderly as future end-users in the design process.

  15. Object detection techniques applied on mobile robot semantic navigation.

    Science.gov (United States)

    Astua, Carlos; Barber, Ramon; Crespo, Jonathan; Jardon, Alberto

    2014-04-11

    The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency.

  16. Object Detection Techniques Applied on Mobile Robot Semantic Navigation

    Directory of Open Access Journals (Sweden)

    Carlos Astua

    2014-04-01

    Full Text Available The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency.

  17. Exact Computation of Parallel Robot's Generalized Inertia Matrix

    Institute of Scientific and Technical Information of China (English)

    ZHAO Yongjie; YANG Zhiyong; MEI Jiangping; HUANG Tian

    2005-01-01

    According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily.

  18. Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

    Directory of Open Access Journals (Sweden)

    Aníbal Ollero

    2010-03-01

    Full Text Available In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites, a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

  19. Plant Watering Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hema Nagaraja

    2012-07-01

    Full Text Available Now days, due to busy routine life, people forget to water their plants. In this paper, we present a completely autonomous and a cost-effective system for watering indoor potted plants placed on an even surface. The system comprises of a mobile robot and a temperature-humidity sensing module. The system is fully adaptive to any environment and takes into account the watering needs of the plants using the temperature-humidity sensing module. The paper describes the hardware architecture of the fully automated watering system, which uses wireless communication to communicate between the mobile robot and the sensing module. This gardening robot is completely portable and is equipped with a Radio Frequency Identification (RFID module, a microcontroller, an on-board water reservoir and an attached water pump. It is capable of sensing the watering needs of the plants, locating them and finally watering them autonomously without any human intervention. Mobilization of the robot to the potted plant is achieved by using a predefined path. For identification, an RFID tag is attached to each potted plant. The paper also discusses the detailed implementation of the system supported with complete circuitry. Finally, the paper concludes with system performance including the analysis of the water carrying capacity and time requirements to water a set of plants.

  20. Hands Off: Mentoring a Student-Led Robotics Team

    Science.gov (United States)

    Dolenc, Nathan R.; Mitchell, Claire E.; Tai, Robert H.

    2016-01-01

    Mentors play important roles in determining the working environment of out-of-school-time clubs. On robotics teams, they provide guidance in hopes that their protégés progress through an engineering process. This study examined how mentors on one robotics team who defined their mentoring style as "let the students do the work" navigated…

  1. Stabilized Feedback Control of Unicycle Mobile Robots

    Directory of Open Access Journals (Sweden)

    Khoukhi Amar

    2013-04-01

    Full Text Available In this paper, a stabilized feedback control is designed for a class of unicycle non‐holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near‐ optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations. Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

  2. Autonomous robotic sweeper

    OpenAIRE

    Kržišnik, Domen

    2015-01-01

    There is already a wide range of personal/domestic robots on the market capable of performing various tasks. We haven't however been able to find any commercially available robots designed for effectively performing the task of backyard sweeping. This thesis presents the process and end result of planning, assembly and programming of an autonomous robot, capable of performing the above mentioned task. We first analyze robots with similar functions, including robotic vacuum cleaners and lawn m...

  3. EAP artificial muscle actuators for bio-inspired intelligent social robotics (Conference Presentation)

    Science.gov (United States)

    Hanson, David F.

    2017-04-01

    Bio-inspired intelligent robots are coming of age in both research and industry, propelling market growth for robots and A.I. However, conventional motors limit bio-inspired robotics. EAP actuators and sensors could improve the simplicity, compliance, physical scaling, and offer bio-inspired advantages in robotic locomotion, grasping and manipulation, and social expressions. For EAP actuators to realize their transformative potential, further innovations are needed: the actuators must be robust, fast, powerful, manufacturable, and affordable. This presentation surveys progress, opportunities, and challenges in the author's latest work in social robots and EAP actuators, and proposes a roadmap for EAP actuators in bio-inspired intelligent robotics.

  4. Localization/mapping motion control system for a mobile robot

    Science.gov (United States)

    Yang-Syu, Jr.; Su, Chiun-Shiang; Yang, Chan-Yun

    2011-12-01

    The objective of this paper is to design a mobile robot with automatic motion behaviors and obstacle avoidance functions. The robot is also able to make the SLAM (Simultaneous Localization And Mapping) at an unknown environment. The robot position is calculated by the developed software program from the motor encoders. An obstacle avoidance controller is developed by the fuzzy theory. A LRF(laser ranger finder) is installed on the robot. The sensing data of this LRF are applied to calculate the environmental information for the obstacle avoidance controller. Then, the ICP (Iterative Closest Point) algorithm is applied to compare the position error of the environmental data in order to obtain the estimated position of the LRF. Finally, these estimated position data are used to calculate the final SLAM of this mobile robot. Both the simulation and experimental results show that this developed robot system work very well.

  5. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  6. Robotic inspection technology-process an toolbox

    Energy Technology Data Exchange (ETDEWEB)

    Hermes, Markus [ROSEN Group (United States). R and D Dept.

    2005-07-01

    Pipeline deterioration grows progressively with ultimate aging of pipeline systems (on-plot and cross country). This includes both, very localized corrosion as well as increasing failure probability due to fatigue cracking. Limiting regular inspecting activities to the 'scrapable' part of the pipelines only, will ultimately result into a pipeline system with questionable integrity. The confidence level in the integrity of these systems will drop below acceptance levels. Inspection of presently un-inspectable sections of the pipeline system becomes a must. This paper provides information on ROSEN's progress on the 'robotic inspection technology' project. The robotic inspection concept developed by ROSEN is based on a modular toolbox principle. This is mandatory. A universal 'all purpose' robot would not be reliable and efficient in resolving the postulated inspection task. A preparatory Quality Function Deployment (QFD) analysis is performed prior to the decision about the adequate robotic solution. This enhances the serviceability and efficiency of the provided technology. The word 'robotic' can be understood in its full meaning of Recognition - Strategy - Motion - Control. Cooperation of different individual systems with an established communication, e.g. utilizing Bluetooth technology, support the robustness of the ROSEN robotic inspection approach. Beside the navigation strategy, the inspection strategy is also part of the QFD process. Multiple inspection technologies combined on a single carrier or distributed across interacting container must be selected with a clear vision of the particular goal. (author)

  7. New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

    OpenAIRE

    Luis Emmi; Mariano Gonzalez-de-Soto; Gonzalo Pajares; Pablo Gonzalez-de-Santos

    2014-01-01

    Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain...

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

    Directory of Open Access Journals (Sweden)

    Eva Wiese

    2017-10-01

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

  9. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  10. Hierarchical Motion Control for a Team of Humanoid Soccer Robots

    Directory of Open Access Journals (Sweden)

    Seung-Joon Yi

    2016-02-01

    Full Text Available Robot soccer has become an effective benchmarking problem for robotics research as it requires many aspects of robotics including perception, self localization, motion planning and distributed coordination to work in uncertain and adversarial environments. Especially with humanoid robots that lack inherent stability, a capable and robust motion controller is crucial for generating walking and kicking motions without losing balance. In this paper, we describe the details of a motion controller to control a team of humanoid soccer robots, which consists of a hierarchy of controllers with different time frames and abstraction levels. A low level controller governs the real time control of each joint angle, either using target joint angles or target endpoint transforms. A mid-level controller handles bipedal locomotion and balancing of the robot. A high level controller decides the long term behavior of the robot, and finally the team level controller coordinates the behavior of a group of robots by means of asynchronous communication between the robots. The suggested motion system has been successfully used by many humanoid robot teams at the RoboCup international robot soccer competitions, which has awarded us five successful championships in a row.

  11. An Integrated Framework for Human-Robot Collaborative Manipulation.

    Science.gov (United States)

    Sheng, Weihua; Thobbi, Anand; Gu, Ye

    2015-10-01

    This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

  12. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J.

    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.

  13. New trends in robotics for agriculture: integration and assessment of a real fleet of robots.

    Science.gov (United States)

    Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

    2014-01-01

    Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

  14. New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

    Science.gov (United States)

    Gonzalez-de-Soto, Mariano; Pajares, Gonzalo

    2014-01-01

    Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis. PMID:25143976

  15. New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

    Directory of Open Access Journals (Sweden)

    Luis Emmi

    2014-01-01

    Full Text Available Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

  16. Robotic Arm Unwrapped

    Science.gov (United States)

    2008-01-01

    This image, taken shortly after NASA's Phoenix Mars Lander touched down on the surface of Mars, shows the spacecraft's robotic arm in its stowed configuration, with its biobarrier successfully unpeeled. The 'elbow' of the arm can be seen at the top center of the picture, and the biobarrier is the shiny film seen to the left of the arm. The biobarrier is an extra precautionary measure for protecting Mars from contamination with any bacteria from Earth. While the whole spacecraft was decontaminated through cleaning, filters and heat, the robotic arm was given additional protection because it is the only spacecraft part that will directly touch the ice below the surface of Mars. Before the arm was heated, it was sealed in the biobarrier, which is made of a trademarked film called Tedlar that holds up to baking like a turkey-basting bag. This ensures that any new bacterial spores that might have appeared during the final steps before launch and during the journey to Mars will not contact the robotic arm. After Phoenix landed, springs were used to pop back the barrier, giving it room to deploy. The base of the lander's Meteorological Station can be seen in this picture on the upper left. Because only the base of the station is showing, this image tells engineers that the instrument deployed successfully. The image was taken on landing day, May 25, 2008, by the spacecraft's Surface Stereo Imager. The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  17. Humanoid Robot

    Science.gov (United States)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); hide

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  18. AUTONOMOUS ROBOTIC INSPECTION IN TUNNELS

    OpenAIRE

    E. Protopapadakis; Stentoumis, C.; Doulamis, N.; A. Doulamis; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

    2016-01-01

    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel’s lining, for a narrow region clos...

  19. Simulation tools for robotics research and assessment

    Science.gov (United States)

    Fields, MaryAnne; Brewer, Ralph; Edge, Harris L.; Pusey, Jason L.; Weller, Ed; Patel, Dilip G.; DiBerardino, Charles A.

    2016-05-01

    The Robotics Collaborative Technology Alliance (RCTA) program focuses on four overlapping technology areas: Perception, Intelligence, Human-Robot Interaction (HRI), and Dexterous Manipulation and Unique Mobility (DMUM). In addition, the RCTA program has a requirement to assess progress of this research in standalone as well as integrated form. Since the research is evolving and the robotic platforms with unique mobility and dexterous manipulation are in the early development stage and very expensive, an alternate approach is needed for efficient assessment. Simulation of robotic systems, platforms, sensors, and algorithms, is an attractive alternative to expensive field-based testing. Simulation can provide insight during development and debugging unavailable by many other means. This paper explores the maturity of robotic simulation systems for applications to real-world problems in robotic systems research. Open source (such as Gazebo and Moby), commercial (Simulink, Actin, LMS), government (ANVEL/VANE), and the RCTA-developed RIVET simulation environments are examined with respect to their application in the robotic research domains of Perception, Intelligence, HRI, and DMUM. Tradeoffs for applications to representative problems from each domain are presented, along with known deficiencies and disadvantages. In particular, no single robotic simulation environment adequately covers the needs of the robotic researcher in all of the domains. Simulation for DMUM poses unique constraints on the development of physics-based computational models of the robot, the environment and objects within the environment, and the interactions between them. Most current robot simulations focus on quasi-static systems, but dynamic robotic motion places an increased emphasis on the accuracy of the computational models. In order to understand the interaction of dynamic multi-body systems, such as limbed robots, with the environment, it may be necessary to build component

  20. Robotics for Human Exploration

    Science.gov (United States)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  1. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  2. 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

  3. 1st International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

    Matson, Eric; Myung, Hyun; Xu, Peter

    2013-01-01

    In recent years, robots have been built based on cognitive architecture which has been developed to model human cognitive ability. The cognitive architecture can be a basis for intelligence technology to generate robot intelligence. In this edited book the robot intelligence is classified into six categories: cognitive intelligence, social intelligence, behavioral intelligence, ambient intelligence, collective intelligence and genetic intelligence. This classification categorizes the intelligence of robots based on the different aspects of awareness and the ability to act deliberately as a result of such awareness. This book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 1st International Conference on Robot Intelligence Technology and Applications (RiTA), held in Gwangju, Korea, December 16-18, 2012. For a better readability, this edition has the total 101 ...

  4. Advance of Hazardous Operation Robot and its Application in Special Equipment Accident Rescue

    Science.gov (United States)

    Zeng, Qin-Da; Zhou, Wei; Zheng, Geng-Feng

    A survey of hazardous operation robot is given out in this article. Firstly, the latest researches such as nuclear industry robot, fire-fighting robot and explosive-handling robot are shown. Secondly, existing key technologies and their shortcomings are summarized, including moving mechanism, control system, perceptive technology and power technology. Thirdly, the trend of hazardous operation robot is predicted according to current situation. Finally, characteristics and hazards of special equipment accident, as well as feasibility of hazardous operation robot in the area of special equipment accident rescue are analyzed.

  5. Performance Evaluation Methods for Assistive Robotic Technology

    Science.gov (United States)

    Tsui, Katherine M.; Feil-Seifer, David J.; Matarić, Maja J.; Yanco, Holly A.

    Robots have been developed for several assistive technology domains, including intervention for Autism Spectrum Disorders, eldercare, and post-stroke rehabilitation. Assistive robots have also been used to promote independent living through the use of devices such as intelligent wheelchairs, assistive robotic arms, and external limb prostheses. Work in the broad field of assistive robotic technology can be divided into two major research phases: technology development, in which new devices, software, and interfaces are created; and clinical, in which assistive technology is applied to a given end-user population. Moving from technology development towards clinical applications is a significant challenge. Developing performance metrics for assistive robots poses a related set of challenges. In this paper, we survey several areas of assistive robotic technology in order to derive and demonstrate domain-specific means for evaluating the performance of such systems. We also present two case studies of applied performance measures and a discussion regarding the ubiquity of functional performance measures across the sampled domains. Finally, we present guidelines for incorporating human performance metrics into end-user evaluations of assistive robotic technologies.

  6. Robotic Arm Control Algorithm Based on Stereo Vision Using RoboRealm Vision

    Directory of Open Access Journals (Sweden)

    SZABO, R.

    2015-05-01

    Full Text Available The goal of this paper is to present a stereo computer vision algorithm intended to control a robotic arm. Specific points on the robot joints are marked and recognized in the software. Using a dedicated set of mathematic equations, the movement of the robot is continuously computed and monitored with webcams. Positioning error is finally analyzed.

  7. 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.

  8. Robotics_MobileRobot Navigation Project

    Data.gov (United States)

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

  9. Robotic arm skate for stroke rehabilitation.

    Science.gov (United States)

    Wong, Chee Kit; Jordan, Kimberlee; King, Marcus

    2011-01-01

    Upper limb paresis after stroke greatly affects the performance of Activities of Daily Living (ADL). Unfortunately, rehabilitation for upper limb impairment can have poor results. The current robot-assisted devices are expensive and not readily accessible for homecare. This paper presents the development of a low-cost tabletop robotic device for upper limb rehabilitation. Conceptually, patients perform computer-based goal-directed tasks using the robotic platform. Their progress is monitored and intervention, in the form of assistance or resistance, is introduced accordingly. A prototype platform is described. Experiments demonstrate the ability of the device to provide the necessary forces during movement exercises, in relation to task completion progress, device and target location. Appropriate exercises need to be developed before clinical trials can proceed. © 2011 CROWN

  10. Research on mobile robot navigation based on gyro

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    <正>A kind of mobile robot navigation system based on Silicon gyro was designed in this paper.First,full-field emplacement theory was discussed.Second,using TMS320F2812 DSP and CRS03 sensor,useful signal was extracted by signal conditioning circuit.Finally,the location of mobile robot was confirmed through digital filtering and gyro date processing.

  11. South Carolina DOE/EPSCoR energy-related graduate research traineeships. Final report and progress performance report, January 1--December 31, 1995

    Energy Technology Data Exchange (ETDEWEB)

    Odom, J.D.; Little, T.S.

    1996-04-01

    The South Carolina DOE/EPSCoR Graduate Traineeship Program is currently supporting 20 graduate students through Clemson University, the Medical University of South Carolina, and the University of South Carolina. Research areas include lithium batteries, analytical chemistry, supercritical fluid extraction, multiphase flow remediation, estrogenic contaminants, robotic inspection systems, transuranics and beta emitters, organic waste disposal, fiber optic sensors, sediment computer modeling, groundwater geochemistry, effect of CO{sub 2} on plant/insect interactions, molecular structure of organophosphorus compounds, environmental geology, bioremediation, and stratigraphic modeling. Short summaries are given for each project.

  12. A survey on pattern formation of autonomous mobile robots: asynchrony, obliviousness and visibility

    Science.gov (United States)

    Yamauchi, Yukiko

    2013-12-01

    A robot system consists of autonomous mobile robots each of which repeats Look-Compute-Move cycles, where the robot observes the positions of other robots (Look phase), computes the track to the next location (Compute phase), and moves along the track (Move phase). In this survey, we focus on self-organization of mobile robots, especially their power of forming patterns. The formation power of a robot system is the class of patterns that the robots can form, and existing results show that the robot system's formation power is determined by their asynchrony, obliviousness, and visibility. We briefly survey existing results, with impossibilities and pattern formation algorithms. Finally, we present several open problems related to the pattern formation problem of mobile robots.

  13. Robotic and Open Radical Prostatectomy: The First Prospective Randomised Controlled Trial Fuels Debate Rather than Closing the Question.

    Science.gov (United States)

    Fossati, Nicola; Wiklund, Peter; Rochat, Charles-Henry; Montorsi, Francesco; Dasgupta, Prokar; Sanchez-Salas, Rafael; Canda, Abdullah E; Piechaud, Thierry; Artibani, Walter; Mottrie, Alexandre

    2017-03-01

    Despite the finally acquired level 1 evidence, the urologic debate on open versus robotic prostatectomy still persists. This trial from Brisbane will encourage future studies that will better inform this debate and define what robotic surgery offers.

  14. A Robotic Brain Scheme: Proposal Originated by a Modular Robotic Control

    Directory of Open Access Journals (Sweden)

    J. Negrete-Martínez

    2007-01-01

    Full Text Available A robot brain scheme has been implemented, based on and controlled by analog circuits and micro-controllers. The modules have been classified as: (a world signal processing, (b world signal relevance assessing, (c pre-motor decisions, (d motor behavior, and (e planning and sequencing motor behaviors. There are two types of pre-motor processing: main and world signal tracking. Motor behavior includes all the final motion units. Each of these five classes roughly corresponds to areas in a vertebrate’s brain and proved to be an effective robotic brain scheme as they assist in the development of greater complexity in robotic brains and a means to compare different implementations. The scheme stresses the importance of motor behavior modules fed by pre-motor decision modules. The pre-motor decision modules aim the movement while the motor behavior module creates the behavior. Finally, the planning and sequencing modules are imperative implementations in a robotic brain.

  15. Defining proprioceptive behaviors for autonomous mobile robots

    Science.gov (United States)

    Overholt, James L.; Hudas, Greg R.; Gerhart, Grant R.

    2002-07-01

    Proprioception is a sense of body position and movement that supports the control of many automatic motor functions such as posture and locomotion. This concept, normally relegated to the fields of neural physiology and kinesiology, is being utilized in the field of unmanned mobile robotics. This paper looks at developing proprioceptive behaviors for use in controlling an unmanned ground vehicle. First, we will discuss the field of behavioral control of mobile robots. Next, a discussion of proprioception and the development of proprioceptive sensors will be presented. We will then focus on the development of a unique neural-fuzzy architecture that will be used to incorporate the control behaviors coming directly from the proprioceptive sensors. Finally we will present a simulation experiment where a simple multi-sensor robot, utilizing both external and proprioceptive sensors, is presented with the task of navigating an unknown terrain to a known target position. Results of the mobile robot utilizing this unique fusion methodology will be discussed.

  16. Three dialogues concerning robots in elder care.

    Science.gov (United States)

    Metzler, Theodore A; Barnes, Susan J

    2014-01-01

    The three dialogues in this contribution concern 21st century application of life-like robots in the care of older adults. They depict conversations set in the near future, involving a philosopher (Dr Phonius) and a nurse (Dr Myloss) who manages care at a large facility for assisted living. In their first dialogue, the speakers discover that their quite different attitudes towards human-robot interaction parallel fundamental differences separating their respective concepts of consciousness. The second dialogue similarly uncovers deeply contrasting notions of personhood that appear to be associated with respective communities of nursing and robotics. The additional key awareness that arises in their final dialogue links applications of life-like robots in the care of older adults with potential transformations in our understandings of ourselves - indeed, in our understandings of the nature of our own humanity. This series of dialogues, therefore, appears to address a topic in nursing philosophy that merits our careful attention.

  17. Learning Algorithm for a Brachiating Robot

    Directory of Open Access Journals (Sweden)

    Hideki Kajima

    2003-01-01

    Full Text Available This paper introduces a new concept of multi-locomotion robot inspired by an animal. The robot, ‘Gorilla Robot II’, can select the appropriate locomotion (from biped locomotion, quadruped locomotion and brachiation according to an environment or task. We consider ‘brachiation’ to be one of the most dynamic of animal motions. To develop a brachiation controller, architecture of the hierarchical behaviour-based controller, which consists of behaviour controllers and behaviour coordinators, was used. To achieve better brachiation, an enhanced learning method for motion control, adjusting the timing of the behaviour coordination, is proposed. Finally, it is shown that the developed robot successfully performs two types of brachiation and continuous locomotion.

  18. Robotized Surface Mounting of Permanent Magnets

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2014-10-01

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

  19. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  20. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  1. Robotic prostatectomy surgery.

    Science.gov (United States)

    Starnes, Danielle N; Sims, Terran Warren

    2006-04-01

    Despite the minimally invasive nature of the robotic prostatectomy procedure, there are still many cultural, environmental, and social issues that must be addressed. The following case study emphasizes that patient education is key to successful outcomes following robotic prostatectomy.

  2. Lightweight Robotic Excavation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Lightweight robotic excavators address the need for machines that dig, collect, transport and dump lunar soil. Robust and productive small robots enable mining rich...

  3. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

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

  4. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  5. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available Despite advances in recent years, autonomous multi-robot systems remain classed as complex systems, because control and coordination of these systems remain a challenging task. Autonomous mobile robot houses heterogeneous sets of connected modular...

  6. Staubli TX-90XL robot qualification at the LLIHE.

    Energy Technology Data Exchange (ETDEWEB)

    Covert, Timothy Todd

    2010-10-01

    The Light Initiated High Explosive (LIHE) Facility uses a robotic arm to spray explosive material onto test items for impulse tests. In 2007, the decision was made to replace the existing PUMA 760 robot with the Staubli TX-90XL. A qualification plan was developed and implemented to verify the safe operating conditions and failure modes of the new system. The robot satisfied the safety requirements established in the qualification plan. A performance issue described in this report remains unresolved at the time of this publication. The final readiness review concluded the qualification of this robot at the LIHE facility.

  7. 3-D Locomotion control for a biomimetic robot fish

    Institute of Scientific and Technical Information of China (English)

    Zhigang ZHANG; Shuo WANG; Min TAN

    2004-01-01

    This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively.Finally, experiments and analyses on a 4-1ink, radio-controlled robot fish prototype with 3-D locomotion show its good performance.

  8. Mechanical design and implementation of a new biomimetic robot fish

    Institute of Scientific and Technical Information of China (English)

    Wang Long; Cao Zhiqiang; Tan Min; Wang Shuo

    2007-01-01

    A mechanical design method of robot fish is introduced in this paper.Based on this method an antonomous 3-Dimension(3D)locomotion robot fish with two pectoral fins and a caudal fin is developed.The pectoral fin mechanism has 3 degrees of freedom(3-DOFs),which enables the robot fish to realize yawing and pitching motions by controlling two pectoral fins.And the caudal fin mechanism is designed based on fish body wave curve fitting.The forward velocity can be adjusted by changing the caudal mechanism's oscillating frequency.Finally a physical implementation of the robot fish and experimental results are given.

  9. [History, evolution and application of robotic surgery in urology].

    Science.gov (United States)

    Romero Otero, Javier; Paparel, Philippe; Atreya, Dash; Touijer, Karim; Guillonneau, Bertrand

    2007-05-01

    Robotic is an antique concep. The first robots used in surgery were precise path systems in the 80's. Stereotactic neurosurgery was the first field applying this devices. Based on these more complex devices were built: AESOP and Endoassist help the surgeon during the surgery. The surgical assistant will not fatigue and there will be no tremor of the camera. Finally the master-slave devices were developed. They are the most commenly used all around the world. They are involved many types surgery in. To evaluate the cost-effectiviness of robotics in surgery is our responsability. Robotics provides many advantages but also has a few disadvantages including expense.

  10. Design and Engineering of a Chess-Robotic Arm

    CERN Document Server

    Elouafiq, Ali

    2012-01-01

    In the scope of the "Chess-Bot" project, this study's goal is to choose the right model for the robotic arm that the "the Chess-Bot" will use to move the pawn from a cell to another. In this paper, there is the definition and the structure of a robot arm. Also, the different engineering and kinematics fundamentals of the robot and its components will be detailed. Furthermore, the different structures of robotic arms will be presented and compared based on different criteria. Finally, a model for "the Chess-Bot" arm will be synthesized based on accurate algorithms and equations.

  11. Robotics and coronary artery surgery.

    Science.gov (United States)

    Magee, Mitchell J; Mack, Michael J

    2002-11-01

    Significant progress in cardiac surgery, and specifically the surgical management of coronary artery disease, has been due in large part to enabling technology. Robotic systems have been recently developed and refined for use in cardiac surgery to facilitate, among other procedures, a totally endoscopic approach to coronary artery bypass surgery. These systems enhance precision through endoscopic approaches by specifically addressing the inherent limitations of conventional endoscopic coronary microsurgical instrumentation via computerized, digital interface, telemanipulation technology. With a combined experience of 125 patients, several groups have independently demonstrated the clinical feasibility of totally endoscopic coronary artery bypass with two commercially available robotic telemanipulation systems. Additional enabling technology is needed to overcome the challenges currently limiting development and widespread application of totally endoscopic off-pump multivessel coronary artery bypass surgery.

  12. Ground Vehicle Robotics

    Science.gov (United States)

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  13. Robotics Research for Cybersecurity

    Science.gov (United States)

    2012-01-24

    Wei-Min Shen 1/24/12 Page 1 of 3 Robotics Research for Cybersecurity Wei-Min Shen Polymorphic Robotics Laboratory USC/ISI, 4676 Admiralty Way...Marina del Rey, CA 90292 Phone: 310-448-8710, Fax: 310-822-0751 Email: shen@isi.edu, Web: http://www.isi.edu/ robots / Executive Summary This...project is to conduct a comprehensive study of robotics research in the context of cybersecurity. Specifically, 1) Create a realistic cybersecurity test

  14. Tool Changer For Robot

    Science.gov (United States)

    Voellmer, George M.

    1992-01-01

    Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

  15. Beyond Speculative Robot Ethics

    OpenAIRE

    Smits, M.; Plas, A. van der

    2010-01-01

    In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also lead to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model we think to have designed an interesting response on a recent call for a less sp...

  16. Toward Integrated Soccer Robots

    OpenAIRE

    Shen, Wei-Min; Adibi, Jafar; Adobbati, Rogelio; Cho, Bonghan; Erdem, Ali; Moradi, Hadi; Salemi, Behnam; Tejada, Sheila

    1998-01-01

    Robot soccer competition provides an excellent opportunity for integrated robotics research. In particular, robot players in a soccer game must recognize and track objects in real time, navigate in a dynamic field, collaborate with teammates, and strike the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each ot...

  17. Evolution of robotic arms

    OpenAIRE

    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 th...

  18. The robot programming network

    OpenAIRE

    Cervera Mateu, Enric; Martinet, Philippe; Marín Prades, Raúl; Moughlbay, Amine A.; Pascual del Pobil Ferré, Ángel; Alemany, Jaime; Esteller Curto, Roger; Casañ Núñez, Gustavo Adolfo

    2016-01-01

    The Robot Programming Network (RPN) is an initiative for creating a network of robotics education laboratories with remote programming capabilities. It consists of both online open course materials and online servers that are ready to execute and test the programs written by remote students. Online materials include introductory course modules on robot programming, mobile robotics and humanoids, aimed to learn from basic concepts in science, technology, engineering, and math...

  19. Introduction to robotics

    Energy Technology Data Exchange (ETDEWEB)

    Vukobratovic, M.

    1989-01-01

    This book is organized into nine chapters. Chapter 1 presents general robot characteristics concerning the classification of robot systems, the general specification of robot mechanisms and the specification of manipulation robots. Chapter 2 is devoted to manipulation robot kinematics. It treats the kinematic structure of manipulation robots, the types of kinematic configurations, the kinematic model of manipulation robots, based on the Denavit-Hartenberg (homogeneous) coordinates. The inverse problem of kinematics is formulated and the basic principles of robot trajectory synthesis are given. Chapter 3 contains the fundamentals of studying robot dynamics. It presents the automated construction of the dynamic equations of motion, the modelling of actuator dynamics and the effect of fundamental vibration on the robot dynamics. The class of tasks involving constrained gripper motion is also presented. The problems of manipulation robot control are discussed in Chapter 4. Chapter 5 is devoted to the microcomputer implementation of control algorithms. It presents the basic elements of today's robot control systems as well as software modules among which communication-command module, kinematic module and dynamic (servosystem) module deserve to be especially mentioned. Manipulation robot programming is treated in Chapter 6. Chapter 7 deals with the sensors used in robotics: position sensors (potentiometers, encoders, resolvers), environment sensors (force sensors, tactile sensors, proximity sensors) and vision sensors (scene illumination, special vision sensors, lasers). The elements of industrial robot design and application are discussed in Chapter 8. In Chapter 9 the authors try to unify in a systematic way major problems (and possible solutions) encountered with factory automation by integrating one or more robots and several machine tools into work cell, flexible manufacturing line and assembly systems. (orig./HP) With 228 figs.

  20. Multisensor Demining Robot

    OpenAIRE

    2005-01-01

    The paper describes an advanced multisensor demining robot. The robot transport system is based on a simple structure using pneumatic drive elements. The robot has robust design and can carry demining equipment up to 100 kg over rough terrains. Due to the adaptive possibilities of pedipulators to obstacles, the robot can adjust the working position of the demining sensors while searching for mines. The detection block consists of a metal detector, an infrared detector, and a chemical explosiv...

  1. An Engineering Mentor's Take on "FIRST" Robotics

    Science.gov (United States)

    Jackson, Jim

    2013-01-01

    In this article, the author describes a program that he says has "made being smart cool." "FIRST" (For Inspiration and Recognition of Science and Technology) Robotics has made a significant contribution toward progress in advancing science, technology, engineering, and mathematics (STEM) courses and STEM careers with young people. "FIRST" Robotics…

  2. An Engineering Mentor's Take on "FIRST" Robotics

    Science.gov (United States)

    Jackson, Jim

    2013-01-01

    In this article, the author describes a program that he says has "made being smart cool." "FIRST" (For Inspiration and Recognition of Science and Technology) Robotics has made a significant contribution toward progress in advancing science, technology, engineering, and mathematics (STEM) courses and STEM careers with young people. "FIRST" Robotics…

  3. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  4. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  5. Robotic hand and fingers

    Energy Technology Data Exchange (ETDEWEB)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  6. Networking a mobile robot

    Science.gov (United States)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  7. Language grounding in robots

    CERN Document Server

    2012-01-01

    Covers all aspects of language interaction with robots, from embodiment, action and perception to conceptualization and grammar in a single volume Discusses several significant innovations, such as robotic embodiment, evolutionary derivation of neural controllers, embodied cognitive semantics and fluid construction grammar Presents the new humanoid robot platform, Myon, used by an increasing number of research laboratories

  8. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  9. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  10. 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...

  11. Intelligent Mobile Robot Motion Control in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2010-11-01

    Full Text Available This paper presents the intelligent wheeled mobile robot motion control inunstructured environments. The fuzzy control of a wheeled mobile robot motion inunstructured environments with obstacles and slopes is proposed. Outputs of the fuzzycontroller are the angular speed difference between the left and right wheels of the mobilerobot and the mobile robot velocity. The simulation results show the effectiveness and thevalidity of the obstacle avoidance behavior in an unstructured environment and the velocitycontrol of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wirelesssensor-based remote control of mobile robots motion in unstructured environments usingthe Sun SPOT technology is proposed. The proposed method has been implemented on theminiature mobile robot Khepera that is equipped with sensors. Finally, the effectivenessand efficiency of the proposed sensor-based remote control strategy are demonstrated byexperimental studies and good experimental results.

  12. Research of the Localization of Restaurant Service Robot

    Directory of Open Access Journals (Sweden)

    Yu Qing-xiao

    2010-09-01

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

  13. Development of Live-working Robot for Power Transmission Lines

    Science.gov (United States)

    Yan, Yu; Liu, Xiaqing; Ren, Chengxian; Li, Jinliang; Li, Hui

    2017-07-01

    Dream-I, the first reconfigurable live-working robot for power transmission lines successfully developed in China, has the functions of autonomous walking on lines and accurately positioning. This paper firstly described operation task and object of the robot; then designed a general platform, an insulator replacement end and a drainage plate bolt fastening end of the robot, presented a control system of the robot, and performed simulation analysis on operation plan of the robot; and finally completed electrical field withstand voltage tests in a high voltage hall as well as online test and trial on actual lines. Experimental results show that by replacing ends of manipulators, the robot can fulfill operation tasks of live replacement of suspension insulators and live drainage plate bolt fastening.

  14. Smart Material-actuated Flexible Tendon-based Snake Robot

    Directory of Open Access Journals (Sweden)

    Mohiuddin Ahmed

    2016-05-01

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

  15. Robotic approaches for rehabilitation of hand function after stroke.

    Science.gov (United States)

    Lum, Peter S; Godfrey, Sasha B; Brokaw, Elizabeth B; Holley, Rahsaan J; Nichols, Diane

    2012-11-01

    The goal of this review was to discuss the impairments in hand function after stroke and present previous work on robot-assisted approaches to movement neurorehabilitation. Robotic devices offer a unique training environment that may enhance outcomes beyond what is possible with conventional means. Robots apply forces to the hand, allowing completion of movements while preventing inappropriate movement patterns. Evidence from the literature is emerging that certain characteristics of the human-robot interaction are preferable. In light of this evidence, the robotic hand devices that have undergone clinical testing are reviewed, highlighting the authors' work in this area. Finally, suggestions for future work are offered. The ability to deliver therapy doses far higher than what has been previously tested is a potentially key advantage of robotic devices that needs further exploration. In particular, more efforts are needed to develop highly motivating home-based devices, which can increase access to high doses of assisted movement therapy.

  16. Person identification for mobile robot using audio-visual modality

    Science.gov (United States)

    Kim, Young-Ouk; Chin, Sehoon; Lee, Jihoon; Paik, Joonki

    2005-10-01

    Recently, we experienced significant advancement in intelligent service robots. The remarkable features of an intelligent robot include tracking and identification of person using biometric features. The human-robot interaction is very important because it is one of the final goals of an intelligent service robot. Many researches are concentrating in two fields. One is self navigation of a mobile robot and the other is human-robot interaction in natural environment. In this paper we will present an effective person identification method for HRI (Human Robot Interaction) using two different types of expert systems. However, most of mobile robots run under uncontrolled and complicated environment. It means that face and speech information can't be guaranteed under varying conditions, such as lighting, noisy sound, orientation of a robot. According to a value of illumination and signal to noise ratio around mobile a robot, our proposed fuzzy rule make a reasonable person identification result. Two embedded HMM (Hidden Marhov Model) are used for each visual and audio modality to identify person. The performance of our proposed system and experimental results are compared with single modality identification and simply mixed method of two modality.

  17. Anthropomimetic Robots: Concept, Construction and Modelling

    Directory of Open Access Journals (Sweden)

    Alan Diamond

    2012-11-01

    Full Text Available An anthropomimetic robot is one that closely copies the mechanics of the human body by having a human‐like jointed skeleton moved by compliant muscle‐like actuators. This paper describes the progress achieved in building anthropomimetic torsos in two projects, CRONOS and ECCEROBOT. In each, the bones were hand‐moulded in a thermoplastic and the muscles were implemented by DC motors shortening and extending elastic tendons. Anthropomimetic robots differ from conventionally engineered robots by having complex joints and compliant tendon driven actuation that can cross more than one joint. Taken together, these characteristics make the robots unsuitable for control by standard methods, and so the ability to model them is important for developing heuristic methods of control and also for providing forward models. The robots were modelled using physics‐based techniques which enable the study of the generation of movements and also of interactions with arbitrary objects. The lightweight and compliant structure of the robots was found to be safe for human proximity and contact.

  18. Anthropomimetic Robots: Concept, Construction and Modelling

    Directory of Open Access Journals (Sweden)

    Alan Diamond

    2012-11-01

    Full Text Available An anthropomimetic robot is one that closely copies the mechanics of the human body by having a human-like jointed skeleton moved by compliant muscle-like actuators. This paper describes the progress achieved in building anthropomimetic torsos in two projects, CRONOS and ECCEROBOT. In each, the bones were hand-moulded in a thermoplastic and the muscles were implemented by DC motors shortening and extending elastic tendons. Anthropomimetic robots differ from conventionally engineered robots by having complex joints and compliant tendon driven actuation that can cross more than one joint. Taken together, these characteristics make the robots unsuitable for control by standard methods, and so the ability to model them is important for developing heuristic methods of control and also for providing forward models. The robots were modelled using physics-based techniques which enable the study of the generation of movements and also of interactions with arbitrary objects. The lightweight and compliant structure of the robots was found to be safe for human proximity and contact.

  19. Forming Human-Robot Teams Across Time and Space

    Science.gov (United States)

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

    2012-01-01

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

  20. Towards Service Robots for Everyday Environments Recent Advances in Designing Service Robots for Complex Tasks in Everyday Environments

    CERN Document Server

    Zöllner, Marius; Bischoff, Rainer; Burgard, Wolfram; Haschke, Robert; Hägele, Martin; Lawitzky, Gisbert; Nebel, Bernhard; Plöger, Paul; Reiser, Ulrich

    2012-01-01

    People have dreamed of machines, which would free them from unpleasant, dull, dirty and dangerous tasks and work for them as servants, for centuries if not millennia. Service robots seem to finally let these dreams come true. But where are all these robots that eventually serve us all day long, day for day? A few service robots have entered the market: domestic and professional cleaning robots, lawnmowers, milking robots, or entertainment robots. Some of these robots look more like toys or gadgets rather than real robots. But where is the rest? This is a question, which is asked not only by customers, but also by service providers, care organizations, politicians, and funding agencies. The answer is not very satisfying. Today’s service robots have their problems operating in everyday environments. This is by far more challenging than operating an industrial robot behind a fence. There is a comprehensive list of technical and scientific problems, which still need to be solved. To advance the state of the art...

  1. Walking control of small size humanoid robot: HAJIME ROBOT 18

    Science.gov (United States)

    Sakamoto, Hajime; Nakatsu, Ryohei

    2007-12-01

    HAJIME ROBOT 18 is a fully autonomous biped robot. It has been developed for RoboCup which is a worldwide soccer competition of robots. It is necessary for a robot to have high mobility to play soccer. High speed walking and all directional walking are important to approach and to locate in front of a ball. HAJIME ROBOT achieved these walking. This paper describes walking control of a small size humanoid robot 'HAJIME ROBOT 18' and shows the measurement result of ZMP (Zero Moment Point). HAJIME ROBOT won the Robotics Society of Japan Award in RoboCup 2005 and in RoboCup 2006 Japan Open.

  2. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

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

  3. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  4. Teleoperated Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Stefan GRUSHKO

    2016-12-01

    Full Text Available Article describes technical solution of teleoperated humanoid robotic system. To acquire position data of operator’s body Kinect sensor is used. In article are described mathematical equations used to transform data from Kinect sensor to positions of each servomotor of the robot. Article also describes software and electric structure for both components of the system: robot and operator’s PC. All software solutions are developed using C#. For dynamic simulation of the system a detailed model of the robot has been created in V-Rep, simulation receives same data as real robot.

  5. Robots and Art

    DEFF Research Database (Denmark)

    2015-01-01

    We describe the design of an undergraduate course in art and robotics that aims to integrate basic concepts of computer science, robotics and art installation for undergraduate students within the problem-based learning model. Our methodology aims to bridge the gap that separates humanities from...... computer science and engineering education to prepare students to address real world problems in robotics, including human-robotic interaction and HCI. Given the proliferation of interactive, systems-based art works and the continued interest in human-centered factors in robotics research (such...

  6. An interactive online robotics course.

    Energy Technology Data Exchange (ETDEWEB)

    Wedeward, Kevin (New Mexico Institute of Mining and Technology, Socorro, NM); Bruder, Steven B. H.

    2003-07-01

    Attempting to convey concepts and ideas in the subject area of robotic manipulators from within the confines of a static two-dimensional printed page can prove quite challenging to even the most gifted of authors. The inherently dynamic and multi-dimensional nature of the subject matter seems better suited to a medium of conveyance wherein a student is allowed to interactively explore topics in this multi-disciplinary field. This article describes the initial development of an online robotics course 'textbook' which seeks to leverage recent advances in Web-based technologies to enhance the learning experience in ways not possible with printed materials. The pedagogical approach employed herein is that of multi-modal reinforcement wherein key concepts are first described in words, conveyed visually, and finally reinforced by soliciting student interaction.

  7. 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...

  8. 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 distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction development. This is done by providing an educational tool that enables problem representation...... 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...

  9. 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 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...... to the behavior of the interacting person. This paper presents a simple ball game between a single player and a mobile robot platform. The algorithm has been validated using simulation and real world experiments....

  10. 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.      

  11. Approaching human performance the functionality-driven Awiwi robot hand

    CERN Document Server

    Grebenstein, Markus

    2014-01-01

    Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands: _ Robustness against impacts _ Fast dynamics _ Human-like grasping and manipulation performance   Instead of blindly copying human anatomy, this book opts for a holistic design me-tho-do-lo-gy. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics.They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book.  ...

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

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

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

  13. Evolutionary neurocontrollers for autonomous mobile robots.

    Science.gov (United States)

    Floreano, D; Mondada, F

    1998-10-01

    In this article we describe a methodology for evolving neurocontrollers of autonomous mobile robots without human intervention. The presentation, which spans from technological and methodological issues to several experimental results on evolution of physical mobile robots, covers both previous and recent work in the attempt to provide a unified picture within which the reader can compare the effects of systematic variations on the experimental settings. After describing some key principles for building mobile robots and tools suitable for experiments in adaptive robotics, we give an overview of different approaches to evolutionary robotics and present our methodology. We start reviewing two basic experiments showing that different environments can shape very different behaviours and neural mechanisms under very similar selection criteria. We then address the issue of incremental evolution in two different experiments from the perspective of changing environments and robot morphologies. Finally, we investigate the possibility of evolving plastic neurocontrollers and analyse an evolved neurocontroller that relies on fast and continuously changing synapses characterized by dynamic stability. We conclude by reviewing the implications of this methodology for engineering, biology, cognitive science and artificial life, and point at future directions of research.

  14. User localization during human-robot interaction.

    Science.gov (United States)

    Alonso-Martín, F; Gorostiza, Javi F; Malfaz, María; Salichs, Miguel A

    2012-01-01

    This paper presents a user localization system based on the fusion of visual information and sound source localization, implemented on a social robot called Maggie. One of the main requisites to obtain a natural interaction between human-human and human-robot is an adequate spatial situation between the interlocutors, that is, to be orientated and situated at the right distance during the conversation in order to have a satisfactory communicative process. Our social robot uses a complete multimodal dialog system which manages the user-robot interaction during the communicative process. One of its main components is the presented user localization system. To determine the most suitable allocation of the robot in relation to the user, a proxemic study of the human-robot interaction is required, which is described in this paper. The study has been made with two groups of users: children, aged between 8 and 17, and adults. Finally, at the end of the paper, experimental results with the proposed multimodal dialog system are presented.

  15. User Localization During Human-Robot Interaction

    Directory of Open Access Journals (Sweden)

    Miguel A. Salichs

    2012-07-01

    Full Text Available This paper presents a user localization system based on the fusion of visual information and sound source localization, implemented on a social robot called Maggie. One of the main requisites to obtain a natural interaction between human-human and human-robot is an adequate spatial situation between the interlocutors, that is, to be orientated and situated at the right distance during the conversation in order to have a satisfactory communicative process. Our social robot uses a complete multimodal dialog system which manages the user-robot interaction during the communicative process. One of its main components is the presented user localization system. To determine the most suitable allocation of the robot in relation to the user, a proxemic study of the human-robot interaction is required, which is described in this paper. The study has been made with two groups of users: children, aged between 8 and 17, and adults. Finally, at the end of the paper, experimental results with the proposed multimodal dialog system are presented.

  16. Developmental and Evolutionary Lexicon Acquisition in Cognitive Agents/Robots with Grounding Principle: A Short Review.

    Science.gov (United States)

    Rasheed, Nadia; Amin, Shamsudin H M

    2016-01-01

    Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates on these two main modelling methods with the grounding principle for the acquisition of linguistic ability in cognitive agents or robots. This review not only presents a survey of the methodologies and relevant computational cognitive agents or robotic models, but also highlights the advantages and progress of these approaches for the language grounding issue.

  17. 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.

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

    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 machines

  19. 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

  20. Cognitive Robotics, Embodied Cognition and Human-Robot Interaction

    Science.gov (United States)

    2010-11-03

    Cognitive Robotics , Embodied Cognition and Human-Robot Interaction Greg Trafton, Ph.D Naval Research Laboratory Wednesday, November 3, 2010 Report...2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Cognitive Robotics , Embodied Cognition and Human-Robot Interaction 5a. CONTRACT...that cognition is for action (embodied cognition) • We are building embodied models for cognitive robotics and human-robot interaction • Online

  1. Design of Micro Robot for Minimally Invasive Surgery

    Directory of Open Access Journals (Sweden)

    Deiva Ganesh A

    2012-09-01

    Full Text Available Micro robots for medical applications need to be compatible with human body, remotely controllable, smooth in movement, less painful to the patients and capable of performing the designated functions. In this paper, state of the art in the design, fabrication and control of micro robots are presented. First the benefits of micro robots in medical applications are listed out. Second, the predominantly used micro robot designs are discussed. Third, the various fabrication process used in micro robot construction are presented. Fourth, the different approaches used for its operation and control in micro robot technology are narrated. Next based on the review we have designed a swimming micro robot driven by external magnetic fields for minimally invasive surgery. The advantage of EMA is that it can generate a wireless driving force. Then, the locomotive mechanism of the micro robot using EMA is presented. Using the EMA system setup various experiments have been conducted. Finally, the performance of the swimming micro robot is evaluated.  

  2. 4th International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

    Karray, Fakhri; Jo, Jun; Sincak, Peter; Myung, Hyun

    2017-01-01

    This book covers all aspects of robot intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 4th International Conference on Robot Intelligence Technology and Applications (RiTA), held in Bucheon, Korea, December 14 - 16, 2015. For better readability, this edition has the total of 49 article...

  3. 3rd International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

    Yang, Weimin; Jo, Jun; Sincak, Peter; Myung, Hyun

    2015-01-01

    This book covers all aspects of robot intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving researchers and practitioners with a timely dissemination of the recent progress on robot intelligence technology and its applications, based on a collection of papers presented at the 3rd International Conference on Robot Intelligence Technology and Applications (RiTA), held in Beijing, China, November 6 - 8, 2014. For better readability, this edition has the total 74 papers group...

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

    Science.gov (United States)

    Palese, Emma

    2012-06-01

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

  5. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

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

  6. 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.

  7. Arc-welding robot. 2; Yosetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

    1995-02-01

    This is an introductory lecture on the selection and handling of arc-welding robot and was explained easily in Q and A style. This is the second of its series and extraction examples of Q and A are Q: type of stations for setting works, A: fixed, slide, inversion, rotary types and their combination, Q: station type for constructing a highly universal system for a wide variety of works, A: a highly universal robot was realized owing to external shaft control function. Recently, one robot can control a maximum of 21 shafts to cope with a variety of works, Q: off-line teaching for arc-welding robot, A: yes. It is available but does not spread as much as for spot since arc welding requires a high tracing accuracy. 12 figs.

  8. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

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

  9. Design and implementation air quality monitoring robot

    Science.gov (United States)

    Chen, Yuanhua; Li, Jie; Qi, Chunxue

    2017-01-01

    Robot applied in environmental protection can break through the limitations in working environment, scope and mode of the existing environmental monitoring and pollution abatement equipments, which undertake the innovation and improvement in the basin, atmosphere, emergency and pollution treatment facilities. Actually, the relevant technology is backward with limited research and investment. Though the device companies have achieved some results in the study on the water quality monitoring, pipeline monitoring and sewage disposal, this technological progress on the whole is still much slow, and the mature product has not been formed. As a result, the market urges a demand of a new type of device which is more suitable for environmental protection on the basis of robot successfully applied in other fields. This paper designs and realizes a tracked mobile robot of air quality monitoring, which can be used to monitor air quality for the pollution accident in industrial parks and regular management.

  10. Laser speckle velocimeter for a robotized vehicle

    Science.gov (United States)

    Aliverdiev, A. A.; Caponero, M. A.; Moriconi, C.; Fichera, P. A.; Sagratella, G.

    2008-03-01

    The paper points out the progress in the exploitation of high, fast and precise non-contact velocimetry for robot applications. A technique for the precise measurement of the speed between two sliding surfaces has been developed during the research project for the realisation of an autonomous robot. The robot is devoted to the scouting of dangerous sites and to the execution of measurements in these places for the exploration of an extreme Antarctica environment (RAS project). This technique is based on the precise calculation of the common movement of a laser speckle field. This approach allows the realisation of a velocimeter suitable for use in extreme conditions. A description of the adopted methodology and the obtained results are the main topic of our work.

  11. Robotic insects: Manufacturing, actuation, and power considerations

    Science.gov (United States)

    Wood, Robert

    2015-12-01

    As the characteristic size of a flying robot decreases, the challenges for successful flight revert to basic questions of fabrication, actuation, fluid mechanics, stabilization, and power - whereas such questions have in general been answered for larger aircraft. When developing a robot on the scale of a housefly, all hardware must be developed from scratch as there is nothing "off-the-shelf" which can be used for mechanisms, sensors, or computation that would satisfy the extreme mass and power limitations. With these challenges in mind, this talk will present progress in the essential technologies for insect-like robots with an emphasis on multi-scale manufacturing methods, high power density actuation, and energy-efficient power distribution.

  12. Advanced Techniques of Industrial Robot Programming

    OpenAIRE

    Cheng, Frank Shaopeng

    2010-01-01

    Creating accurate robot points is an important task in robot programming. This chapter discussed the advanced techniques used in creating robot points for improving robot operation flexibility and reducing robot production downtime. The theory of robotics shows that an industrial robot system represents a robot point in both Cartesian coordinates and proper joint values. The concepts and procedures of designing accurate robot user tool frame UT[k] and robot user frame UF[i] are essential in t...

  13. Robotics for Learning

    CERN Document Server

    Toh, Dennis; Lim, Matthew; Wee, Loo Kang; Ong, Matthew

    2015-01-01

    Teaching Robotics is about empowering students to create and configure robotics devices and program computers to nurture in students the skill sets necessary to play an active role in society. The robot in Figure 1 focuses on the design of scaffolds and physical assembly methods, coupled with a computer logic program to make that makes it move or behave in a very precise (remote controlled or autonomous) manner. This enables students to investigate, explore and refine the program to affect the robots. The Robotics approach takes into account the increasing popularity of Computer Science and the learning by doing (Schank, Berman, & Macpherson, 1999) approach to solve complex problems and use computers meaningfully in learning (Barron & Darling-Hammond, 2008; Jonassen, Howland, Marra, & Crismond, 2008). In Singapore, teachers and students in Woodlands Ring Secondary and Rulang Primary have incorporated robotics to varying extents into formal and informal curricula. In addition, other less expensive ...

  14. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    Science.gov (United States)

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

  15. 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...

  16. Multigait soft robot.

    Science.gov (United States)

    Shepherd, Robert F; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A; Stokes, Adam A; Mazzeo, Aaron D; Chen, Xin; Wang, Michael; Whitesides, George M

    2011-12-20

    This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.

  17. "Integrative Social Robotics"

    DEFF Research Database (Denmark)

    2016-01-01

    The aim of this paper is to sketch the basic motivations for “Integrative Social Robotics” (ISR), as a new paradigm for how to approach research, design, and development of social robotics applications that are culturally sustainable. I argue that social robotics saddles us with normative....... On the ISR approach research in social robotics turns on what social robots can and should do--design and development are from the very beginning informed by value-theoretic and cultural research. ISR thus is a form of research organization that integrates robotics with empirical, conceptual, and value......-theoretic research in the Humanities, the Social Sciences, and the Human Sciences. The resulting paradigm is user-driven design writ large: research, design, and development of social robotics applications are guided—with multiple feedback—by the reflected normative preferences of a cultural community....

  18. State of the art in medical robotics in Poland: development of the Robin Heart and other robots.

    Science.gov (United States)

    Nawrat, Zbigniew

    2012-07-01

    The first Polish project in medical robotics began in 2000. Now, a decade later, the Robin Heart surgical telemanipulator has the potential to become widely used in many branches of surgery. The original robot and mechatronic tools have successfully completed the required laboratory tests and animal studies. The Foundation of Cardiac Surgery Development in Zabrze, Poland, has launched a series of large-scale educational and awareness-raising activities aiming to promote medical robotics in Poland. At present, works on a rehabilitation robot are in progress in two centers. This article is an attempt to summarize the advances in medical robotics in Poland, to present the most interesting achievements to date and to discuss the prospects for further development.

  19. Teaching Software Engineering through Robotics

    OpenAIRE

    Shin, Jiwon; Rusakov, Andrey; Meyer, Bertrand

    2014-01-01

    This paper presents a newly-developed robotics programming course and reports the initial results of software engineering education in robotics context. Robotics programming, as a multidisciplinary course, puts equal emphasis on software engineering and robotics. It teaches students proper software engineering -- in particular, modularity and documentation -- by having them implement four core robotics algorithms for an educational robot. To evaluate the effect of software engineering educati...

  20. Autonomous Robotic Inspection in Tunnels

    Science.gov (United States)

    Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

    2016-06-01

    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

  1. Sustainable Robots for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    Luis Correia

    2008-11-01

    Full Text Available This paper proposes a roadmap for the application of advanced technology (in particular robotics for the humanitarian demining domain. Based on this roadmap, a portable demining kit to handle urgent situations in remote locations is described. A low-cost four-wheel steering robot with a biologically inspired locomotion control is the base of the kit. On going research on a method for all-terrain piloting, under the morphological computation paradigm is also introduced, along with the behavioural architecture underlying it, the Survival Kit. A multi-agent architecture, the DSAAR architecture, is also proposed as a way of promoting short time-to-market and soft integration of different robots in a given mission. A common denominator for all developments is the quest for sustainability with respect to (re-engineering and maintainability effort, as well as economical and ecological impact. Failing to cope with these requirements greatly reduces the applicability of a given technology to the humanitarian demining domain. Finally it is concluded that biologically inspired design fits considerably well to support a sustainable demining paradigm.

  2. Sustainable Robots for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    Pedro F. Santana

    2007-06-01

    Full Text Available This paper proposes a roadmap for the application of advanced technology (in particular robotics for the humanitarian demining domain. Based on this roadmap, a portable demining kit to handle urgent situations in remote locations is described. A low-cost four-wheel steering robot with a biologically inspired locomotion control is the base of the kit. On going research on a method for all-terrain piloting, under the morphological computation paradigm is also introduced, along with the behavioural architecture underlying it, the Survival Kit. A multi-agent architecture, the DSAAR architecture, is also proposed as a way of promoting short time-to-market and soft integration of different robots in a given mission. A common denominator for all developments is the quest for sustainability with respect to (re-engineering and maintainability effort, as well as economical and ecological impact. Failing to cope with these requirements greatly reduces the applicability of a given technology to the humanitarian demining domain. Finally it is concluded that biologically inspired design fits considerably well to support a sustainable demining paradigm.

  3. Robotic surgery compared with laparotomy for high-grade endometrial cancer.

    Science.gov (United States)

    Pant, Alok; Schink, Julian; Lurain, John

    2014-06-01

    High-grade endometrial cancer often presents with occult metastatic disease and this presentation pattern can be considered a contraindication to minimally invasive surgery. We sought to compare the surgical and oncologic outcomes of patients with high-grade endometrial cancer who underwent surgical management/staging via the robotic approach versus the traditional open approach. A retrospective analysis was performed of patients with high-grade endometrial cancer who were treated at a single institution from January 2008 through December 2011. High-grade endometrial histology was defined as FIGO grade 2 or 3 endometrioid, serous, clear cell or uterine carcinosarcoma. Pre-operatively, all patients had clinical stage I disease based on a combination of physical examination and imaging studies. Baseline patient demographics, operative results, complications and oncologic outcomes were analyzed. Eighty consecutive patients were included. Forty-seven patients underwent surgical management using the robotic approach and 33 patients underwent a traditional operation via laparotomy. The groups were well matched in terms of age, body mass index, medical co-morbidities, stage and histology. The average hospital stay for patients who underwent open surgery was significantly longer than for those who underwent a robotic approach [5.6 versus 1.4 days (p = 0.0001)]. Of the patients who underwent robotic surgery, 7/47 (15 %) experienced an operative complication versus 18/33 (55 %) in the open surgery cohort (p = 0.002). The average number of pelvic lymph nodes retrieved in each cohort was 12. The average number of para-aortic lymph nodes retrieved in each group was 4. On final pathologic analysis, 20 patients in the robotic surgery arm were found to have disease that had spread beyond the uterus (43 %), compared to 14 in the traditional surgery group (42 %). There were 11/47 (23 %) recurrences in the robotic surgery group during the study period, compared to 8/33 (24

  4. Robotics in general surgery: an evidence-based review.

    Science.gov (United States)

    Baek, Se-Jin; Kim, Seon-Hahn

    2014-05-01

    Since its introduction, robotic surgery has been rapidly adopted to the extent that it has already assumed an important position in the field of general surgery. This rapid progress is quantitative as well as qualitative. In this review, we focus on the relatively common procedures to which robotic surgery has been applied in several fields of general surgery, including gastric, colorectal, hepato-biliary-pancreatic, and endocrine surgery, and we discuss the results to date and future possibilities. In addition, the advantages and limitations of the current robotic system are reviewed, and the advanced technologies and instruments to be applied in the near future are introduced. Such progress is expected to facilitate the widespread introduction of robotic surgery in additional fields and to solve existing problems.

  5. Robotics in gynecology.

    Science.gov (United States)

    Falcone, Tommaso; Goldberg, Jeffrey M

    2003-12-01

    The surgical robot has the potential to enable a laparoscopic approach to procedures that are presently performed by laparotomy due to the technical difficulties intrinsic to laparoscopy. The use of the current robot prototypes are not cost-effective for gynecologic procedures that are already performed by laparoscopy. The rapid evolution of robotics will likely allow for more widespread application in all surgical specialties in the future.

  6. Robotics Strategy White Paper

    Science.gov (United States)

    2009-03-19

    VIRGINIA 23651-1087 REPlY TO A1Tl!NTlON OF ATFC-DS 19 MEMORANDUM FOR SEE DISTRIBUTION SUBJECT: Robotics Strategy White Paper 1. The enclosed... Robotics Strategy White Paper is the result of a collaborative effort between the U.S. Anny Training and Doctrine Command (TRADOC) and the Tank-Automotive...Research, Development and Engineering Center (TARDEC). This paper builds on a confederated Anny robotics "strategy" that is described by senior leader

  7. AMAS Robotics Seminar Brief

    Science.gov (United States)

    2011-07-19

    Unclassified Unclassified 19 July 2011 AMAS ROBOTICS SEMINAR BRIEF Aaron Hart, Product Integrator, RS JPO DISTRIBUTION STATEMENT A. Approved for...19-07-2011 to 19-07-2011 4. TITLE AND SUBTITLE robotics seminar brief 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES AMAS ROBOTICS SEMINAR BRIEF 14

  8. Ground Vehicle Robotics Presentation

    Science.gov (United States)

    2012-08-14

    Mr. Jim Parker Associate Director Ground Vehicle Robotics Distribution Statement A. Approved for public release Report Documentation Page...Briefing 3. DATES COVERED 01-07-2012 to 01-08-2012 4. TITLE AND SUBTITLE Ground Vehicle Robotics Presentation 5a. CONTRACT NUMBER 5b. GRANT...ABSTRACT Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned

  9. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

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

  10. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

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

  11. Collaborative Robotics Design Considerations

    Science.gov (United States)

    2004-05-06

    in Multirobot Systems," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, October 2002 [3] Batavia, P., "A Survey of Collaborative... Transactions on Robotics and Automation, Vol. 18, No.5, Oct. 2002, pp 781-795. [21]Scholtz, J.C., "Human-Robot Interactions: Creating Synergistic Cyber...Parker, L.E, eds., Kluwer Academic Publishers, 2002, pp 185-193. [20] Roumeliotis, S., Bekey, G.A., "Distributed Multirobot Localization," IEEE

  12. Designing Bioinspired Robots Editorial

    Directory of Open Access Journals (Sweden)

    Claudio Moriconi

    2015-10-01

    Full Text Available This IJARS issue is dedicated to a new international conference series, which has been promoted by ENEA and IARP (International Advanced Robotics Programme. The first conference, entitled Bio-inspired Robotics, was held on 14th-15th May 2014 at the ENEA’s Frascati Centre. The conference was dedicated to young researchers and scholars with promising ideas, methods and products for innovation and technology transfer in the field of service robots with bio-inspired design and operation.

  13. European Robotics Challenges

    OpenAIRE

    Halt, Lorenz; Bubeck, Alexander

    2014-01-01

    The European Robotics Challenges (EuRoC) aims at strengthening collaboration and cross-fertilization between the industrial and the research community by launching three industrially-relevant challenges in European robotics with applicability to the factory of the future. To qualify for admission, potential challengers are asked to solve a simulated task. The aim of this talk is to describe the development of a simulated human-robot collaboration task using ROS/gazebo. Furthermore several bac...

  14. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  15. Robotic Assisted Colorectal Surgery

    OpenAIRE

    Baik, Seung Hyuk; M.D&#

    2010-01-01

    Improvements of the robotic surgical system are continuously being made to overcome the technical limitations and disadvantages found during the surgeries. So detailed operation methods are newly designed to adapt to the upgraded model of the robotic surgical system. The major core technologies of the robotic surgical system are a three dimensional image of the surgical field and a function of articulation of the instruments tips compared to conventional laparoscopic instruments. With the hel...

  16. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs.

  17. Robotic Mission Simulation Tool Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes a software tool to predict robotic mission performance and support supervision of robotic missions even when environments and...

  18. Relative Localization Method of Multiple Micro Robots Based on Simple Sensors

    Directory of Open Access Journals (Sweden)

    Ling Mao

    2013-02-01

    Full Text Available This paper presents a simple relative positioning algorithm for multiple micro robots. The micro robot is designed as a differential driven vehicle and actuated by MEMS‐based electromagnetic micromotors. A simple relative positioning approach based only on one infrared emitter, receiver and compass is presented. Using this method, we characterized the accuracy of positioning between robots and identified sources of imprecision. Finally, this module is clearly demonstrated with the autonomous docking of multiple micro robots. The ability of our algorithm makes it cost effective and easy to deploy its application to multiple micro robots.

  19. Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

    Science.gov (United States)

    Hollinger, Geoffrey A.; Briscoe, Jeri M.

    2004-01-01

    Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.

  20. Theory and Application of Multi-robot Service-oriented Architecture

    Institute of Scientific and Technical Information of China (English)

    Yunfei Cai; Zhenmin Tang; Yuhua Ding; Bin Qian

    2016-01-01

    In order to solve the problem of heterogeneity in multi-robot cooperation, a new service-oriented architecture is proposed for multi-robot cooperation. Service provision and energy consumption are the basic cooperative behaviors. A set of basic concepts of robot service are proposed. A layered multi-robot service-oriented architecture is designed. Finally, the experiments illustrate the superiority of the proposed architecture which makes robot’s underlying functional components be transparently encapsulated and the services in upper layer be transparently invoked, which will effectively avoid the impact of heterogeneous characteristics in multi-robot cooperation and facilitate the system construction, expansion, restructuring and maintenance.

  1. Parametric uncertain identification of a robotic system

    Science.gov (United States)

    Angel, L.; Viola, J.; Hernández, C.

    2016-07-01

    This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS / MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

  2. Children's Perception and Interpretation of Robots and Robot Behaviour

    Science.gov (United States)

    Bhamjee, Sajida; Griffiths, Frances; Palmer, Julie

    Technology is advancing rapidly; especially in the field of robotics. The purpose of this study was to examine children's perception and interpretation of robots and robot behaviour. The study was divided into two phases: phase one involved 144 children (aged 7-8) from two primary schools drawing a picture of a robot and then writing a story about the robot that they had drawn. In phase two, in small groups, 90 children observed four e-puck robots interacting within an arena. The children were asked three questions during the observation: 'What do you think the robots are doing?', 'Why are they doing these things?' and 'What is going on inside the robot?' The results indicated that children can hold multiple understandings of robots simultaneously. Children tend to attribute animate characteristics to robots. Although this may be explained by their stage of development, it may also influence how their generation integrates robots into society.

  3. [Robotic surgery in gynecology].

    Science.gov (United States)

    Csorba, Roland

    2012-06-24

    Minimally invasive surgery has revolutionized gynecological interventions over the past 30 years. The introduction of the da Vinci robotic surgery in 2005 has resulted in large changes in surgical management. The robotic platform allows less experienced laparoscopic surgeons to perform more complex procedures. It can be utilized mainly in general gynecology and reproductive gynecology. The robot is being increasingly used for procedures such as hysterectomy, myomectomy, adnexal surgery, and tubal anastomosis. In urogynecology, the robot is being utilized for sacrocolopexy as well. In the field of gynecologic oncology, the robot is being increasingly used for hysterectomy and lymphadenectomy in oncologic diseases. Despite the rapid and widespread adaption of robotic surgery in gynecology, there are no randomized trials comparing its efficacy and safety to other traditional surgical approaches. This article presents the development, technical aspects and indications of robotic surgery in gynecology, based on the previously published reviews. Robotic surgery can be highly advantageous with the right amount of training, along with appropriate patient selection. Patients will have less blood loss, less post-operative pain, faster recovery, and fewer complications compared to open surgery and laparoscopy. However, until larger randomized control trials are completed which report long-term outcomes, robotic surgery cannot be stated to have priority over other surgical methods.

  4. Robotics Research in Norway

    Directory of Open Access Journals (Sweden)

    J.R. Hølpødt

    1984-07-01

    Full Text Available Except for some districts and industries, the population of industrial robots in Norway is low. Trallfa AS is definitely the largest producer of robots in Norway. Jonas Oglænd A/S formerly produced handling manipulators, but they are now produced abroad. New companies such as NORKYB are developing. In addition to Trallfa and Oglænd, the development of robot systems is done by different research institutes such as the Center for Industrial Research (SI, SINTEF and the Rogaland Research Center (RF. These institutes do research work both for the robot manufacturers and directly for end users.

  5. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-01-01

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

  6. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

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

  7. [Robots and intellectual property].

    Science.gov (United States)

    Larrieu, Jacques

    2013-12-01

    This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

  8. 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

  9. Robotics in reproductive medicine.

    Science.gov (United States)

    Sroga, Julie; Patel, Sejal Dharia; Falcone, Tommaso

    2008-01-01

    In the past decade, robotic technology has been increasingly incorporated into various industries, including surgery and medicine. This chapter will review the history, development, current applications, and future of robotic technology in reproductive medicine. A literature search was performed for all publications regarding robotic technology in medicine, surgery, reproductive endocrinology, and its role in both surgical education and telepresence surgery. As robotic assisted surgery has emerged, this technology provides a feasible option for minimally invasive surgery, impacts surgical education, and plays a role in telepresence surgery.

  10. Robotic Art for Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2010-01-01

    on “simple” plug-and-play circuits, ranging from pure sensors-actuators schemes to artefacts with a smaller level of elaboration complexity. Indeed, modular robotic wearable focuses on enhancing the body perception and proprioperception by trying to substitute all of the traditional exoskeletons perceptive......We present the robot art and how it may inspire to create a new type of wearable termed modular robotic wearable. Differently from the related works, modular robotic wearable aims at making no use of mechatronic devices (as, for example, in Cyberpunk and related research branches) and mostly relies...

  11. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  12. The Ethics of Robotics

    OpenAIRE

    2010-01-01

    The three laws of Robotics first appeared together in Isaac Asimov's story 'Runaround' after being mentioned in some form or the other in previous works by Asimov. These three laws commonly known as the three laws of robotics are the earliest forms of depiction for the needs of ethics in Robotics. In simplistic language Isaac Asimov is able to explain what rules a robot must confine itself to in order to maintain societal sanctity. However, even though they are outdated they still represent s...

  13. Emerging role of robotics in urology

    Directory of Open Access Journals (Sweden)

    Kumar Rajeev

    2005-01-01

    Full Text Available Robotic assistance is one of the latest additions to the field of laparoscopic surgery. The most commonly used robotic device in Urology is the da Vinci ® system of which over 200 devices are installed worldwide including 3 in India. This robot consists of three or four arms, one of which is used to hold and manipulate the laparoscopic camera while the others are used to manipulate specialized laparoscopic instruments with endowrist ® technology that allows 7 degrees of freedom. The robot is currently used primarily for radical prostatectomies where complex dissection and reconstruction can be performed in less than 2 hours with excellent outcomes. There is a progressive increase in the number of surgeries being performed by this device which allows laparoscopy naοve surgeons to offer the benefits of minimally invasive surgery to their patients. The other surgeries where this device has been used to benefit are pyeloplasty, cystectomy with urinary diversion, nephrectomy and ureteric re-implant. The principal drawbacks of the device are the steep cost of machine and disposables. However, the benefits achieved in terms of improved surgical precision, magnified 3 dimensional vision, scaling of movements, remote surgery and as a teaching tools will help the robot establish a definitive place in the urologic armamentarium.

  14. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  15. Robotics in child neurosurgery.

    Science.gov (United States)

    Giorgi, C; Sala, R; Riva, D; Cossu, A; Eisenberg, H

    2000-11-01

    We felt there was a need for a new device with "minimal invasive" tracking hardware, to be used in image-guided neurosurgery, and the system we designed to fill this need is now presented. It combines precision of movement, stability and self-positioning capabilities together with optically tracked registration and procedural control within the structure of a surgical microscope. The results are reduced setup time and minimal "distraction" from the procedure itself, factors of special relevance in child neurosurgery. The system is composed of a six-axis industrial robot suitable for use in the operating room, carrying a surgical microscope. Three progressive scan-synchronized infrared cameras mounted around the lenses of the scope are used to register the patient's position and track surgical instruments with reference to the registered space. Orientation of the microscope during surgery is obtained with a six-axis joystick used as a microscope handle. The system has been clinically used in 14 cases, and it has proven itself to be reliable, providing the expected performance advantages. The implementation of a tracked ultrasound or endoscope intraoperative imaging source is also described.

  16. Robot-assisted urologic surgery in 2010 - Advancements and future outlook

    Directory of Open Access Journals (Sweden)

    Paurush Babbar

    2011-01-01

    Full Text Available Robotic surgery is a cutting edge and minimally invasive procedure, which has generated a great deal of excitement in the urologic community. While there has been much advancement in this emerging technology, it is safe to say that robotic urologic surgery holds tremendous potential for progress in the near future. Hence, it is paramount that urologists stay up-to-date regarding new developments in the realm of robotics with respect to novel applications, limitations and opportunities for incorporation into their practice. Robot-assisted surgery provides an enhanced 3D view, increased magnification of the surgical field, better manual dexterity, relatively bloodless field, elimination of surgeon′s tremor, reduction in a surgeon′s fatigue and mitigation of scattered light. All these factors translate into greater precision of surgical dissection, which is imperative in providing better intraoperative and postoperative outcomes. Pioneering work assessing the feasibility of robotic surgery in urology began in the early 2000′s with robot-assisted radical prostatectomy and has since expanded to procedures such as robot-assisted radical cystectomy, robot-assisted partial nephrectomy, robot-assisted nephroureterectomy and robot-assisted pyeloplasty. A MEDLINE search was used to identify recent articles (within the last two years and publications of specific importance, which highlighted the recent developments and future direction of robotics. This review will use the aforementioned urologic surgeries as vehicles to evaluate the current status and future role of robotics in the advancement of the field of urology.

  17. Robot-assisted urologic surgery in 2010 – Advancements and future outlook

    Science.gov (United States)

    Babbar, Paurush; Hemal, Ashok K

    2011-01-01

    Robotic surgery is a cutting edge and minimally invasive procedure, which has generated a great deal of excitement in the urologic community. While there has been much advancement in this emerging technology, it is safe to say that robotic urologic surgery holds tremendous potential for progress in the near future. Hence, it is paramount that urologists stay up-to-date regarding new developments in the realm of robotics with respect to novel applications, limitations and opportunities for incorporation into their practice. Robot-assisted surgery provides an enhanced 3D view, increased magnification of the surgical field, better manual dexterity, relatively bloodless field, elimination of surgeon′s tremor, reduction in a surgeon′s fatigue and mitigation of scattered light. All these factors translate into greater precision of surgical dissection, which is imperative in providing better intraoperative and postoperative outcomes. Pioneering work assessing the feasibility of robotic surgery in urology began in the early 2000's with robot-assisted radical prostatectomy and has since expanded to procedures such as robot-assisted radical cystectomy, robot-assisted partial nephrectomy, robot-assisted nephroureterectomy and robot-assisted pyeloplasty. A MEDLINE search was used to identify recent articles (within the last two years) and publications of specific importance, which highlighted the recent developments and future direction of robotics. This review will use the aforementioned urologic surgeries as vehicles to evaluate the current status and future role of robotics in the advancement of the field of urology. PMID:21346825

  18. A Practical Humanoid Robot Morphology for Operation in Civilian Environments

    OpenAIRE

    MCGINN, CONOR

    2014-01-01

    Despite recent progress in robotics research and development, the effective design of multi-purpose robotic solutions for civilian and domestic environments has proven particularly elusive. Mechanically simple systems are typically incapable of traversing stairs (a feature in most buildings) and lack the flexibility to undertake many tasks that may be desired while more complex solutions suffer from practical issues relating to excessive weight, size, power consumption and c...

  19. Knowing when to assist: developmental issues in lifelong assistive robotics.

    Science.gov (United States)

    Demiris, Yiannis

    2009-01-01

    Children and adults with sensorimotor disabilities can significantly increase their autonomy through the use of assistive robots. As the field progresses from short-term, task-specific solutions to long-term, adaptive ones, new challenges are emerging. In this paper a lifelong methodological approach is presented, that attempts to balance the immediate context-specific needs of the user, with the long-term effects that the robot's assistance can potentially have on the user's developmental trajectory.

  20. Knowing when to assist: Developmental issues in lifelong assistive robotics

    OpenAIRE

    Demiris1, Y.

    2009-01-01

    20.03.15 KB. Ok to add accepted version to spiral Children and adults with sensorimotor disabilities can significantly increase their autonomy through the use of assistive robots. As the field progresses from short-term, task-specific solutions to long-term, adaptive ones, new challenges are emerging. In this paper a lifelong methodological approach is presented, that attempts to balance the immediate context-specific needs of the user, with the long-term effects that the robots assistance...

  1. Experimental verification of a progressive damage model for composite laminates based on continuum damage mechanics. M.S. Thesis Final Report

    Science.gov (United States)

    Coats, Timothy William

    1994-01-01

    Progressive failure is a crucial concern when using laminated composites in structural design. Therefore the ability to model damage and predict the life of laminated composites is vital. The purpose of this research was to experimentally verify the application of the continuum damage model, a progressive failure theory utilizing continuum damage mechanics, to a toughened material system. Damage due to tension-tension fatigue was documented for the IM7/5260 composite laminates. Crack density and delamination surface area were used to calculate matrix cracking and delamination internal state variables, respectively, to predict stiffness loss. A damage dependent finite element code qualitatively predicted trends in transverse matrix cracking, axial splits and local stress-strain distributions for notched quasi-isotropic laminates. The predictions were similar to the experimental data and it was concluded that the continuum damage model provided a good prediction of stiffness loss while qualitatively predicting damage growth in notched laminates.

  2. Computer guidance system for single-incision bimanual robotic surgery.

    Science.gov (United States)

    Carbone, Marina; Turini, Giuseppe; Petroni, Gianluigi; Niccolini, Marta; Menciassi, Arianna; Ferrari, Mauro; Mosca, Franco; Ferrari, Vincenzo

    2012-01-01

    The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's body, have been proposed in order to enhance the surgical gesture in SILS procedures. However, the limited laparoscopic view and the focus on the end-effectors, together with the use of complex robotic devices inside the patient's abdomen, may lead to unexpected collisions, e.g., between the surrounding anatomical organs not involved in the intervention and the surgical robot. This paper describes a computer guidance system, based on patient-specific data, designed to provide intraoperative navigation and assistance in SILS robotic interventions. The navigator has been tested in simulations of some of the surgical tasks involved in a cholecystectomy, using a synthetic anthropomorphic mannequin. The results demonstrate the usability and efficacy of the navigation system, underlining the importance of avoiding unwanted collisions between the robot arms and critical organs. The proposed computer guidance software is able to integrate any bimanual surgical robot design.

  3. Robotic Surgery in Women With Ovarian Cancer: Surgical Technique and Evidence of Clinical Outcomes.

    Science.gov (United States)

    Minig, Lucas; Padilla Iserte, Pablo; Zorrero, Cristina; Zanagnolo, Vanna

    2016-01-01

    Robotic surgery is a new technology that has been progressively implemented to treat endometrial and cervical cancer. However, the use of robotic surgery for ovarian cancer is limited to a few series of cases and comparative studies with laparoscopy or laparotomy. The technical issues concerning robotic surgery, as well as clinical evidence, are described in this review. Robotic surgery in early stage, advanced stage, and relapsed ovarian cancer is discussed separately. In conclusion, evidence regarding the use of robotic-assisted surgical treatment for women with ovarian cancer is still scarce, but its use is progressively growing. Robotic-assisted staging in selected patients with early stage disease has an important role in referral institutions when well-trained gynecologists perform surgeries. However, minimally invasive surgery in patients with advanced stage or relapsed ovarian cancer requires further investigation, even in selected cases.

  4. 机器人云与机器人学校%Robotic Cloud and Robotic School

    Institute of Scientific and Technical Information of China (English)

    任福继

    2012-01-01

    在人工智能与机器人领域,融合智能和情感的研究提出了先进智能机器的概念,未来先进智能机器将应用服务于社会、家庭、个人等方面.从云计算、先进智能机器、人机人互动角度,阐述了机器人云概念,以及如何建立机器人云的理论框架和技术蓝图.提出了机器人学校概念,在机器人学校概念框架下,阐述了机器人学校的运行机制、机器人学位及其能力认证,机器人学校对未来社会发展、科技进步、人机关系的影响.%In the near future, robots with advanced intelligence will be used for the service of society, families, and individuals. The concept of advanced intelligence machine, as a device that uses both natural and artificial intelligence and is capable of affective recognition and generation of affective speech and behavior, is proposed. The concept of robotics cloud used by advanced intelligence machines in human-robot interactions is described and a theoretical framework and technology blueprint for the construction of a robotics cloud is provided. In addition, a robotics school for building robotics clouds is proposed and a framework for the school, its certification program, and a method for authentication of the school are described. The influence of robots on the development of society, scientific and technological progress, and human-robot relationships is also discussed.

  5. Robot-Assisted Crowd Evacuation under Emergency Situations: A Survey

    Directory of Open Access Journals (Sweden)

    Ibraheem Sakour

    2017-04-01

    Full Text Available In the case of emergency situations, robotic systems can play a key role and save human lives in recovery and evacuation operations. To realize such a potential, we have to address many scientific and technical challenges encountered during robotic search and rescue missions. This paper reviews current state-of-the-art robotic technologies that have been deployed in the simulation of crowd evacuation, including both macroscopic and microscopic models used in simulating a crowd. Existing work on crowd simulation is analyzed and the robots used in crowd evacuation are introduced. Finally, the paper demonstrates how autonomous robots could be effectively deployed in disaster evacuation, as well as search and rescue missions.

  6. Self-Motions of General 3-RPR Planar Parallel Robots

    CERN Document Server

    Briot, Sébastien; Chablat, Damien; Wenger, Philippe; Arakelian, Vigen

    2008-01-01

    This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented.

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

    Science.gov (United States)

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

    2015-01-01

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

  8. Robotics in Lower-Limb Rehabilitation after Stroke

    Directory of Open Access Journals (Sweden)

    Xue Zhang

    2017-01-01

    Full Text Available With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots.

  9. Robotics in Lower-Limb Rehabilitation after Stroke.

    Science.gov (United States)

    Zhang, Xue; Yue, Zan; Wang, Jing

    2017-01-01

    With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots.

  10. 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.

  11. Federal Assistance Program Quarterly Project Progress Report. Geothermal Energy Program: Information Dissemination, Public Outreach, and Technical Analysis Activities. Reporting Period: January 1 - March 31, 2001 [Final report

    Energy Technology Data Exchange (ETDEWEB)

    Lund, John W.

    2002-03-22

    The final report of the accomplishments of the geothermal energy program: information dissemination, public outreach and technical analysis activities by the project team consisting of the Geo-Heat Center, Geothermal Resources Council, Geothermal Education Office, Geothermal Energy Association and the Washington State University Energy Program.

  12. Investigating tactile event recognition in child-robot interaction for use in autism therapy.

    Science.gov (United States)

    Amirabdollahian, Farshid; Robins, Ben; Dautenhahn, Kerstin; Ji, Ze

    2011-01-01

    The work presented in this paper is part of our investigation in the ROBOSKIN project. The project aims to develop and demonstrate a range of new robot capabilities based on robot skin tactile feedback from large areas of the robot body. The main objective of the project is to develop cognitive mechanisms exploiting tactile feedback to improve human-robot interaction capabilities. The project aims also to investigate the possible use of this technology in robot-assisted play in the context of autism therapy. This article reports progress made in investigating tactile child-robot interactions where children with autism interacted with the humanoid robot KASPAR equipped with the first prototype of skin patches, introducing a new algorithm for tactile event recognition which will enhance the observational data analysis that has been used in the past.

  13. Design and Development of Mechanical Structure and Control System for Tracked Trailing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Hongchuan Xu

    2013-02-01

    Full Text Available Along with the science and technology unceasing progress, the uses of tracing robots become more and more widely. Tracked tracing robot was adopted as the research object in this paper, mechanical structure and control system of robot was designed and developmented. In mechanical structure design part, structure designed and positioned  were completed, including design of robot body, wheel, underpan, transmission structure and the positioning of batteries, control panel, sensors, etc, and then robot dynamics was analyzed; In control section, M30245 was used as the core, according to the characteristics of tracked tracing robot differential drive, realization scheme of motion control system was put forward, system drive circuit, detection module, control program were developed. System were discussed and checked through test. From this paper tracked tracing robot was researched, and a certain design and experimental basis can be provided in future research.

  14. Embodiment design of soft continuum robots

    Directory of Open Access Journals (Sweden)

    Rongjie Kang

    2016-04-01

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

  15. Robot operating system (ROS) the complete reference

    CERN Document Server

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

  16. 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.

  17. Clinical Robotic Surgery Association Fifth Worldwide Congress, Washington DC, 3-5 October 2013: Robotic Colorectal Surgery.

    Science.gov (United States)

    Bianchi, Paolo Pietro; Pigazzi, Alessio; Choi, Gyu Seog

    2014-01-01

    The colorectal session was one of the most successful and well attended sessions at the Fifth Worldwide Clinical Robotic Surgery Association Congress because of the increasing interest and diffusion of robotic techniques in this specific field. This session was structured as follows: two technical focuses, one on rectal resection and the other on right colectomies; a journal club with two hot topic papers presented by the authors; a face-to-face on single-port laparoscopic versus robotic surgery; an update on the transanal approach; and three lectures, on the oncologic safety of robotic total mesorectal excision, on the use of fluorescence in colorectal surgery, and finally an update on the ongoing ROLARR trial (laparoscopic versus robotic rectal resection).

  18. Ocular interaction with robots: an aid to the disabled; Interaccion ocular con robots, una ayuda para discapacitados

    Energy Technology Data Exchange (ETDEWEB)

    Azorin, J.M.; Ianez, E.; Fernandez Jover, E.; Sabater, J.M.

    2010-07-01

    This paper describes a technique to control remotely a robot arm from his eyes movement. This method will help disabled people to control a robot in order to aid them to perform tasks in their daily lives. The electrooculography technique (EOG) is used to detect the eyes movement. EOG registers the potential difference between the cornea and the retina using electrodes. The eyes movement is used to control a remote robot arm of 6 degrees of freedom. First, the paper introduces several eye movement techniques to interact with devices, focusing on the EOG one. Then, the paper describes the system that allows interacting with a robot through the eyes movement. Finally, the paper shows some experimental results related to the robot controlled by the EOG-based interface. (Author).

  19. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

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

  20. Going Green Robots

    Science.gov (United States)

    Nelson, Jacqueline M.

    2011-01-01

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

  1. Robotic mitral valve replacement.

    Science.gov (United States)

    Senay, Sahin; Gullu, Ahmet Umit; Kocyigit, Muharrem; Degirmencioglu, Aleks; Karabulut, Hasan; Alhan, Cem

    2014-01-01

    Robotic surgical techniques allow surgeons to perform mitral valve surgery. This procedure has gained acceptance, particularly for mitral valve repair in degenerative mitral disease. However, mitral repair may not always be possible, especially in severely calcified mitral valve of rheumatic origin. This study demonstrates the basic concepts and technique of robotic mitral valve replacement for valve pathologies that are not suitable for repair.

  2. Robotics in gynecologic surgery.

    Science.gov (United States)

    Frick, A C; Falcone, T

    2009-06-01

    Robotic surgery has evolved from an investigational surgical approach to a clinically useful adjunct in multiple surgical specialties over the past decade. Advocates of robotic-assisted gynecologic surgery revere the system's wristed instrumentation, ergonomic positioning, and three-dimensional high-definition vision system as significant improvements over laparoscopic equipment's four degrees of freedom and two-dimensional laparoscope that demand the surgeon stand throughout a procedure. The cost, lack of haptic feedback, and the bulky size of the equipment make robotics less attractive to others. Studies evaluating outcomes in robotic-assisted gynecologic surgery are limited. Multiple small retrospective studies demonstrate the safety and feasibility of robotic hysterectomy. With increased surgeon experience, operative times are similar to, or shorter than, laparoscopic cases. Robotic assistance can facilitate suturing in laparoscopic myomectomies, and is associated with decreased blood loss and a shorter hospital stay, although may require longer operative times. Robotic assistance has also been applied to multiple procedures in the subspecialties of infertility, urogynecology and gynecologic oncology with good success and relatively low morbidity. However, further research is warranted to better evaluate the relative benefits and costs of robotic assisted gynecologic surgery.

  3. Motivating Students with Robotics

    Science.gov (United States)

    Brand, Brenda; Collver, Michael; Kasarda, Mary

    2008-01-01

    In recent years, the need to advance the number of individuals pursuing science, technology, engineering, and mathematics fields has gained much attention. The Montgomery County/Virginia Tech Robotics Collaborative (MCVTRC), a yearlong high school robotics program housed in an educational shop facility in Montgomery County, Virginia, seeks to…

  4. Motivating Students with Robotics

    Science.gov (United States)

    Brand, Brenda; Collver, Michael; Kasarda, Mary

    2008-01-01

    In recent years, the need to advance the number of individuals pursuing science, technology, engineering, and mathematics fields has gained much attention. The Montgomery County/Virginia Tech Robotics Collaborative (MCVTRC), a yearlong high school robotics program housed in an educational shop facility in Montgomery County, Virginia, seeks to…

  5. 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.

  6. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

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

    1997-01-01

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

  7. Robots that care

    NARCIS (Netherlands)

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

    2010-01-01

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

  8. Robot Vision Library

    Science.gov (United States)

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

    2009-01-01

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

  9. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

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

  10. Robots and communication

    CERN Document Server

    Sandry, E

    2015-01-01

    This book explores communication between humans and robots. Using a range of communication theories, it highlights how each theory provides a different perspective on the communication that occurs. The analysis of human interactions with a variety of forms of robot suggests new ways to perceive what communication, and being a communicator, entails.

  11. Robots Cannot Lie

    DEFF Research Database (Denmark)

    Borggreen, Gunhild

    2014-01-01

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

  12. Robot adventures at CERN

    CERN Multimedia

    2015-01-01

    Imagine if the CERN robots had an end-of-year party... From retrieving data tapes to handling material safely, the robots at CERN fulfill numerous tasks. Find out more: http://cern.ch/go/VjX7 Produced by: CERN Video Productions Director: Christoph M. Madsen Copyright © 2015 CERN. Terms of use: http://copyright.web.cern.ch/

  13. A Future With Robots

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    Robots are increasingly coming on the market in China, though their costs remain high T’here is nothing novel about robots nowadays, but they are still a source of mystery and curiosity to many people. The annual China Beijing International

  14. Robots that care

    NARCIS (Netherlands)

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

    2010-01-01

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

  15. Modular Countermine Payload for Small Robots

    Energy Technology Data Exchange (ETDEWEB)

    Herman Herman; Doug Few; Roelof Versteeg; Jean-Sebastien Valois; Jeff McMahill; Michael Licitra; Edward Henciak

    2010-04-01

    Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multi-mission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

  16. An autonomous vision-based mobile robot

    Science.gov (United States)

    Baumgartner, Eric Thomas

    This dissertation describes estimation and control methods for use in the development of an autonomous mobile robot for structured environments. The navigation of the mobile robot is based on precise estimates of the position and orientation of the robot within its environment. The extended Kalman filter algorithm is used to combine information from the robot's drive wheels with periodic observations of small, wall-mounted, visual cues to produce the precise position and orientation estimates. The visual cues are reliably detected by at least one video camera mounted on the mobile robot. Typical position estimates are accurate to within one inch. A path tracking algorithm is also developed to follow desired reference paths which are taught by a human operator. Because of the time-independence of the tracking algorithm, the speed that the vehicle travels along the reference path is specified independent from the tracking algorithm. The estimation and control methods have been applied successfully to two experimental vehicle systems. Finally, an analysis of the linearized closed-loop control system is performed to study the behavior and the stability of the system as a function of various control parameters.

  17. Modular countermine payload for small robots

    Science.gov (United States)

    Herman, Herman; Few, Doug; Versteeg, Roelof; Valois, Jean-Sebastien; McMahill, Jeff; Licitra, Michael; Henciak, Edward

    2010-04-01

    Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

  18. Mobile Robot Collision Avoidance in Human Environments

    Directory of Open Access Journals (Sweden)

    Lingqi Zeng

    2013-01-01

    Full Text Available Collision avoidance is a fundamental requirement for mobile robots. Avoiding moving obstacles (also termed dynamic obstacles with unpredictable direction changes, such as humans, is more challenging than avoiding moving obstacles whose motion can be predicted. Precise information on the future moving directions of humans is unobtainable for use in navigation algorithms. Furthermore, humans should be able to pursue their activities unhindered and without worrying about the robots around them. In this paper, both active and critical regions are used to deal with the uncertainty of human motion. A procedure is introduced to calculate the region sizes based on worst‐case avoidance conditions. Next, a novel virtual force field‐based mobile robot navigation algorithm (termed QVFF is presented. This algorithm may be used with both holonomic and nonholonomic robots. It incorporates improved virtual force functions for avoiding moving obstacles and its stability is proven using a piecewise continuous Lyapunov function. Simulation and experimental results are provided for a human walking towards the robot and blocking the path to a goal location. Next, the proposed algorithm is compared with five state‐of‐the‐art navigation algorithms for an environment with one human walking with an unpredictable change in direction. Finally, avoidance results are presented for an environment containing three walking humans. The QVFF algorithm consistently generated collision‐free paths to the goal.

  19. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

    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 modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis...... 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...

  20. Quantum Robots and Environments

    CERN Document Server

    Benioff, P

    1998-01-01

    Quantum robots and their interactions with environments of quantum systems are described and their study justified. A quantum robot is a mobile quantum system that includes a quantum computer and needed ancillary systems on board. Quantum robots carry out tasks whose goals include specified changes in the state of the environment or carrying out measurements on the environment. Each task is a sequence of alternating computation and action phases. Computation phase activities include determination of the action to be carried out in the next phase and possible recording of information on neighborhood environmental system states. Action phase activities include motion of the quantum robot and changes of neighborhood environment system states. Models of quantum robots and their interactions with environments are described using discrete space and time. To each task is associated a unitary step operator T that gives the single time step dynamics. T = T_{a}+T_{c} is a sum of action phase and computation phase step ...

  1. Honda humanoid robots development.

    Science.gov (United States)

    Hirose, Masato; Ogawa, Kenichi

    2007-01-15

    Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism and the control system. ASIMO's configuration allows it to operate freely in the human living space. It could be of practical help to humans with its ability of five-finger arms as well as its walking function. The target of further development of ASIMO is to develop a robot to improve life in human society. Much development work will be continued both mechanically and electronically, staying true to Honda's 'challenging spirit'.

  2. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

    Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new...... products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self......-asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated...

  3. Three Laws of Robotics

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    经典的机器人三大定律,来自于科幻之父阿西莫夫的名著《I,Robot》The late Isaac Asimov(1920—1992),the prolific author of science fictionand books popularizing science,claimed credit for"robotics"as a term for thescience and technology of robots.In his 1942 sci-fi story"Runaround,"Asimovstated the ethical guidelines he called the"Three Laws of Robotics":1.A robot must not injure a human being,or,through inaction,allow a hu-man being to come to harm.2.A robot must obey the orders given it by human beings except wherethose orders would ...

  4. Intelligent Articulated Robot

    Science.gov (United States)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

  5. Mining and robotized equipment

    Energy Technology Data Exchange (ETDEWEB)

    Krisztian, B.

    1984-01-01

    The general concepts about the expedience of using industrial robots (PR) in mining and about the most rational fields of their use are cited. The achievements in creating industrial robots for the needs of the mining industry in the USSR, Sweden (the ASEA Company), in the United States (Westinghouse Electric and Cincinnati Milacron Companies) and in Japan (the Fupitsu Fanuk Company) are noted. The necessity in a whole number of cases of a fundamental restructuring of the productive processes with respect to the planned introduction of industrial robots in mining enterprises is stressed. The questions associated with the necessity for changes introduced into systems for automating industrial processes with the introduction of industrial robots into them are also discussed. The prospects for the development, creation and introduction of industrial robots in the Hungarian (VNR) mining industry are indicated in conclusion.

  6. [The robotic surgeon training].

    Science.gov (United States)

    Crestani, Alessandro; Rossanese, Marta; Abbinante, Maria; Calandriello, Mattia; Kungulli, Afrovita; Giannarini, Gianluca; Ficarra, Vincenzo

    2015-10-01

    The widespread robotic surgery in the world highlighted the relevance of the training programs for young urologists and residents. In the last years, urologic societies and some independent robotic surgeons strongly worked to standardize some general and specific training modules. Theoretical and practical sections of robotic training programs have been recently specified. The role of simulators, dry and wet laboratories, bedside assistance, and modular (step-by-step) training at console represent the most relevant elements of robotic surgeon training. Ideally, these didactic tools should be available in modern training centers. The development of structured robotic training programs should be considered as one of the priorities that the urologic community must take into account in the near future.

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

    Directory of Open Access Journals (Sweden)

    Syed Amjad Ali

    2015-01-01

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

  8. Motion Control of the Soccer Robot Based on Fuzzy Logic

    Science.gov (United States)

    Coman, Daniela; Ionescu, Adela

    2009-08-01

    Robot soccer is a challenging platform for multi-agent research, involving topics such as real-time image processing and control, robot path planning, obstacle avoidance and machine learning. The conventional robot control consists of methods for path generation and path following. When a robot moves away the estimated path, it must return immediately, and while doing so, the obstacle avoidance behavior and the effectiveness of such a path are not guaranteed. So, motion control is a difficult task, especially in real time and high speed control. This paper describes the use of fuzzy logic control for the low level motion of a soccer robot. Firstly, the modelling of the soccer robot is presented. The soccer robot based on MiroSoT Small Size league is a differential-drive mobile robot with non-slipping and pure-rolling. Then, the design of fuzzy controller is describes. Finally, the computer simulations in MATLAB Simulink show that proposed fuzzy logic controller works well.

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

    Science.gov (United States)

    2015-09-01

    OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples...Master’s Thesis 4. TITLE AND SUBTITLE UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL 5. FUNDING NUMBERS 6. AUTHOR(S) Lum, Joshua S...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) The Robot Operating System (ROS) is an open-source framework that allows robot developers to create

  10. Robust autonomy for interactive robots

    NARCIS (Netherlands)

    Brodskiy, Yury

    2014-01-01

    The growing trend in robotics towards applications in an unstructured environment brings new challenges in robotic software and control. Assisting, interacting and serving humans, new robots will literally touch people and their lives. Performing tasks devised for such new robots demands high levels

  11. [Application of robots in stomatology].

    Science.gov (United States)

    Zhou, Meng-Qi; Zhang, Jin-Ning; Hong, Jin

    2016-10-01

    Recently, the robot technology has been developed rapidly and the medical robot has been used in many clinical areas, especially in the field of stomatology. The application of robot in stomatology will break the traditional mode of treatment and bring a new technological revolution. This paper introduced the advantages, the current situation and the development prospect of applying robot in stomatology.

  12. Algorithmic Coordination in Robotic Networks

    Science.gov (United States)

    2010-11-29

    IEEE Transactions on Robotics and...34Discrete partitioning and coverage control for gossiping robots," IEEE Transactions on Robotics , Nov. 2010. Submitted iv Papers published in peer...and J. P. Hespanha, "On discrete-time pursuit-evasion games with sensing limitations," IEEE Transactions on Robotics , vol. 24, no. 6, pp. 1429

  13. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

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

  14. Robotics in space; Uchu de katsuyakusuru robot

    Energy Technology Data Exchange (ETDEWEB)

    Ikuta, S.; Kawashima, N.; Shirotani, T. [Toshiba Corp., Tokyo (Japan)

    1999-06-01

    Space robots will be an indispensable element of future space missions such as the construction of large-scale structures in space, maintenance of satellites in orbit, lunar and planetary exploration, and experiments on the international space station. These mission objectives require various types of space robots. It is considered that there are five key technologies in common for the development of these robots: those for achieving small size and light weight, high-accuracy measurement, high-level control, remote control, and standardization. Some of these technologies have been demonstrated in orbit by the experimental operations of the Engineering Test Satellite VII (ETS-VII) developed by the National Space Development Agency of Japan (NASDA). Toshiba continues to study these key technologies. (author)

  15. Muecas: a multi-sensor robotic head for affective human robot interaction and imitation.

    Science.gov (United States)

    Cid, Felipe; Moreno, Jose; Bustos, Pablo; Núñez, Pedro

    2014-04-28

    This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language modalities: speech, body language and facial expressions. The robotic head has 12 degrees of freedom, in a human-like configuration, including eyes, eyebrows, mouth and neck, and has been designed and built entirely by IADeX (Engineering, Automation and Design of Extremadura) and RoboLab. A detailed description of its kinematics is provided along with the design of the most complex controllers. Muecas can be directly controlled by FACS (Facial Action Coding System), the de facto standard for facial expression recognition and synthesis. This feature facilitates its use by third party platforms and encourages the development of imitation and of goal-based systems. Imitation systems learn from the user, while goal-based ones use planning techniques to drive the user towards a final desired state. To show the flexibility and reliability of the robotic head, the paper presents a software architecture that is able to detect, recognize, classify and generate facial expressions in real time using FACS. This system has been implemented using the robotics framework, RoboComp, which provides hardware-independent access to the sensors in the head. Finally, the paper presents experimental results showing the real-time functioning of the whole system, including recognition and imitation of human facial expressions.

  16. Muecas: A Multi-Sensor Robotic Head for Affective Human Robot Interaction and Imitation

    Directory of Open Access Journals (Sweden)

    Felipe Cid

    2014-04-01

    Full Text Available This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language modalities: speech, body language and facial expressions. The robotic head has 12 degrees of freedom, in a human-like configuration, including eyes, eyebrows, mouth and neck, and has been designed and built entirely by IADeX (Engineering, Automation and Design of Extremadura and RoboLab. A detailed description of its kinematics is provided along with the design of the most complex controllers. Muecas can be directly controlled by FACS (Facial Action Coding System, the de facto standard for facial expression recognition and synthesis. This feature facilitates its use by third party platforms and encourages the development of imitation and of goal-based systems. Imitation systems learn from the user, while goal-based ones use planning techniques to drive the user towards a final desired state. To show the flexibility and reliability of the robotic head, the paper presents a software architecture that is able to detect, recognize, classify and generate facial expressions in real time using FACS. This system has been implemented using the robotics framework, RoboComp, which provides hardware-independent access to the sensors in the head. Finally, the paper presents experimental results showing the real-time functioning of the whole system, including recognition and imitation of human facial expressions.

  17. Avoiding moving obstacles by deviation from a mobile robot`s nominal path

    Energy Technology Data Exchange (ETDEWEB)

    Tsoularis, A.; Kambhampati, C. [Univ. of Reading, Whiteknights (United Kingdom). Dept. of Cybernetics

    1999-05-01

    This paper deals with the problem of obstacle avoidance by deviation from the nominal path. Deviation is the only option available to the robot when the acceleration or deceleration plan on the nominal path fails to produce a viable avoidance strategy. The obstacle avoidance on the nominal path was dealt with in the authors` previous development, where the robot`s motion was only subject to an upper bound on its speed. When the robot has to deviate, its motion is subject to a maximum steering constraint and a maximum deviation constraint in addition to the maximum speed constraint. The problem is solved geometrically by identifying final states for the robot that are reachable, satisfy all the constraints, and guarantee collision avoidance. The final state-reachability conditions that the authors obtain in the process ensure that no unnecessary deviation plan is initiated. These conditions, along with the simplicity of the geometric arguments they employ, make the scheme an attractive option for on-line implementation. The only significant complexity arises when minimizing the performance index. They have suggested dynamic programming as an optimization took, but any other nonlinear optimization technique can be adopted.

  18. A Survey of Space Robotics

    Science.gov (United States)

    Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

    2003-01-01

    In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

  19. Motion control simulation based on VR for humanoid robot

    Science.gov (United States)

    He, Huaiqing; Tang, Haoxuan

    2004-03-01

    This paper describes the motion control simulation based on VR for humanoid robot aiming at walking and running. To insure that the motion rhythm of humanoid robot conforms to the motion laws of humans, the body geometrical model based on skeleton and its kinematics models based on the graph of time sequences are presented firstly. Then a control algorithm based on Jacobian matrix is proposed to generate the periodical walking and running. Finally, computer simulation experiments demonstrate the feasibility of the models and the algorithm. The simulation system developed makes us interactively regulate the motion direction and velocity for humanoid robot.

  20. Robotic Surgery for Thoracic Disease.

    Science.gov (United States)

    Yamashita, Shin-Ichi; Yoshida, Yasuhiro; Iwasaki, Akinori

    2016-01-01

    Robotic surgeries have developed in the general thoracic field over the past decade, and publications on robotic surgery outcomes have accumulated. However, controversy remains about the application of robotic surgery, with a lack of well-established evidence. Robotic surgery has several advantages such as natural movement of the surgeon's hands when manipulating the robotic arms and instruments controlled by computer-assisted systems. Most studies have reported the feasibility and safety of robotic surgery based on acceptable morbidity and mortality compared to open or video-assisted thoracic surgery (VATS). Furthermore, there are accumulated data to indicate longer operation times and shorter hospital stay in robotic surgery. However, randomized controlled trials between robotic and open or VATS procedures are needed to clarify the advantage of robotic surgery. In this review, we focused the literature about robotic surgery used to treat lung cancer and mediastinal tumor.