WorldWideScience

Sample records for robots form part

  1. Influence of part orientation on the geometric accuracy in robot-based incremental sheet metal forming

    Science.gov (United States)

    Störkle, Denis Daniel; Seim, Patrick; Thyssen, Lars; Kuhlenkötter, Bernd

    2016-10-01

    This article describes new developments in an incremental, robot-based sheet metal forming process (`Roboforming') for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet metal forming (ISF) machines, this system offers high geometrical form flexibility without the need of any part-dependent tools. The industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors present the influence of the part orientation and the forming sequence on the geometric accuracy. Their influence is illustrated with the help of various experimental results shown and interpreted within this article.

  2. 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

  3. ROBOT CHARACTER DESIGN SIMULATION SYSTEM USING 3D PARTS MODELS

    National Research Council Canada - National Science Library

    茂木, 龍太; Tsuji, Shota; Kanematsu, Yoshihisa; Mikami, Koji; Kondo, Kunio

    2017-01-01

    The purpose of this research is the design support for robot on animation. We have developed a simulation system that canto make a new robot design with a combine of the 3DCG robot parts and a deforming each part...

  4. New Inverse Kinematics Algorithms Combining Closed Form Solutions with Nonlinear Optimization for Highly Redundant Robotic Systems

    OpenAIRE

    Konietschke, Rainer; Hirzinger, Gerd

    2009-01-01

    This paper presents inverse position kinematics algorithms with real time capability for Justin, a robotic system with high redundancy and many degrees of freedom. The combination of closed form solutions for parts of the kinematic chain embedded in a nonlinear equation solver is shown to be advantageous. The algorithms are evaluated with the DLR service robot Justin both in simulation and reality. Calculation times of 1 ms are achieved, including various optimization criteria for redundancy ...

  5. Robot-based additive manufacturing for flexible die-modelling in incremental sheet forming

    Science.gov (United States)

    Rieger, Michael; Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

    2017-10-01

    The paper describes the application concept of additive manufactured dies to support the robot-based incremental sheet metal forming process (`Roboforming') for the production of sheet metal components in small batch sizes. Compared to the dieless kinematic-based generation of a shape by means of two cooperating industrial robots, the supporting robot models a die on the back of the metal sheet by using the robot-based fused layer manufacturing process (FLM). This tool chain is software-defined and preserves the high geometrical form flexibility of Roboforming while flexibly generating support structures adapted to the final part's geometry. Test series serve to confirm the feasibility of the concept by investigating the process challenges of the adhesion to the sheet surface and the general stability as well as the influence on the geometric accuracy compared to the well-known forming strategies.

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

    Science.gov (United States)

    Kulkarni, Parth

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

  7. [History of robotics: from archytas of tarentum until Da Vinci robot. (Part II)].

    Science.gov (United States)

    Sánchez-Martín, F M; Jiménez Schlegl, P; Millán Rodríguez, F; Salvador-Bayarri, J; Monllau Font, V; Palou Redorta, J; Villavicencio Mavrich, H

    2007-03-01

    Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. At 1942 Asimov published the three robotics laws. Mechanics, electronics and informatics advances at XXth century developed robots to be able to do very complex self governing works. At 1985 the robot PUMA 560 was employed to introduce a needle inside the brain. Later on, they were designed surgical robots like World First, Robodoc, Gaspar o Acrobot, Zeus, AESOP, Probot o PAKI-RCP. At 2000 the FDA approved the da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons. Currently urological procedures like prostatectomy, cystectomy and nephrectomy are performed with the da Vinci, so urology has become a very suitable speciality to robotic surgery.

  8. Using Object’s Contour, Form and Depth to Embed Recognition Capability into Industrial Robots

    Directory of Open Access Journals (Sweden)

    I. López-Juárez

    2013-02-01

    Full Text Available Robot vision systems can differentiate parts by pattern matching irrespective of part orientation and location. Some manufacturers offer 3D guidance systems using robust vision and laser systems so that a 3D programmed point can be repeated even if the part is moved varying its location, rotation and orientation within the working space. Despite these developments, current industrial robots are still unable to recognize objects in a robust manner; that is, to distinguish an object among equally shaped objects taking into account not only the object’s contour but also its form and depth information, which is precisely the major contribution of this research. Our hypothesis establishes that it is possible to integrate a robust invariant object recognition capability into industrial robots by using image features from the object’s contour (boundary object information, its form (i.e., type of curvature or topographical surface information and depth information (from stereo disparity maps. These features can be concatenated in order to form an invariant vector descriptor which is the input to an artificial neural network (ANN for learning and recognition purposes. In this paper we present the recognition results under different working conditions using a KUKA KR16 industrial robot, which validated our approach.

  9. Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Ikhsan Eka Prasetia

    2015-03-01

    Full Text Available In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desired position by Denso robot manipulator. Forward kinematics produce the desired position by the end-effector. Inverse kinematics produce joint angle, where the inverse kinematics produce eight conditions obtained from closed form solution with geometry approach to reach the desired position by the end-effector.

  10. Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

    OpenAIRE

    Ikhsan Eka Prasetia; Trihastuti Agustinah

    2015-01-01

    In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desire...

  11. Inverse Kinematics with Closed Form Solution for Denso Robot Manipulator

    OpenAIRE

    Prasetia, Ikhsan Eka; Agustinah, Trihastuti

    2015-01-01

    In this paper, the forward kinematics and inverse kinematics used on the Denso robot manipulator which has a 6-DOF. The forward kinematics will result in the desired position by end-effector, while inverse kinematics produce angel on each joint. Inverse kinematics problem are very difficult, therefor to obtain the solution of inverse kinematics using closed form solution with geometry approach. The simulation result obtained from forward kinematics and inverse kinematics is determining desire...

  12. Using Object's Contour, Form and Depth to Embed Recognition Capability into Industrial Robots

    Directory of Open Access Journals (Sweden)

    R.Osorio-Comparan

    2013-01-01

    Full Text Available Robot vision systems can differentiate parts by pattern matching irrespective of part orientation and location. Somemanufacturers offer 3D guidance systems using robust vision and laser systems so that a 3D programmed point canbe repeated even if the part is moved varying its location, rotation and orientation within the working space. Despitethese developments, current industrial robots are still unable to recognize objects in a robust manner; that is, todistinguish an object among equally shaped objects taking into account not only the object’s contour but also its formand depth information, which is precisely the major contribution of this research. Our hypothesis establishes that it ispossible to integrate a robust invariant object recognition capability into industrial robots by using image features fromthe object’s contour (boundary object information, its form (i.e., type of curvature or topographical surfaceinformation and depth information (from stereo disparity maps. These features can be concatenated in order to forman invariant vector descriptor which is the input to an artificial neural network (ANN for learning and recognitionpurposes. In this paper we present the recognition results under different working conditions using a KUKA KR16industrial robot, which validated our approach.

  13. Robotics: self-replication from random parts.

    Science.gov (United States)

    Griffith, Saul; Goldwater, Dan; Jacobson, Joseph M

    2005-09-29

    Autonomously self-replicating machines have long caught the imagination but have yet to acquire the sophistication of biological systems, which assemble structures from disordered building blocks. Here we describe the autonomous self-replication of a reconfigurable string of parts from randomly positioned input components. Such components, if suitably miniaturized and mass-produced, could constitute self-fabricating systems whose assembly is brought about by the parts themselves.

  14. A dragline-forming mobile robot inspired by spiders.

    Science.gov (United States)

    Wang, Liyu; Culha, Utku; Iida, Fumiya

    2014-03-01

    Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the draglines. Experimental results show that a dragline diameter range of 1.17-5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min(-1). With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable dragline formation with a relative deviation within -4% and a length close to the metre scale.

  15. KNOWLEDGE-BASED ROBOT VISION SYSTEM FOR AUTOMATED PART HANDLING

    Directory of Open Access Journals (Sweden)

    J. Wang

    2012-01-01

    Full Text Available

    ENGLISH ABSTRACT: This paper discusses an algorithm incorporating a knowledge-based vision system into an industrial robot system for handling parts intelligently. A continuous fuzzy controller was employed to extract boundary information in a computationally efficient way. The developed algorithm for on-line part recognition using fuzzy logic is shown to be an effective solution to extract the geometric features of objects. The proposed edge vector representation method provides enough geometric information and facilitates the object geometric reconstruction for gripping planning. Furthermore, a part-handling model was created by extracting the grasp features from the geometric features.

    AFRIKAANSE OPSOMMING: Hierdie artikel beskryf ‘n kennis-gebaseerde visiesisteemalgoritme wat in ’n industriёle robotsisteem ingesluit word om sodoende intelligente komponenthantering te bewerkstellig. ’n Kontinue wasige beheerder is gebruik om allerlei objekinligting deur middel van ’n effektiewe berekeningsmetode te bepaal. Die ontwikkelde algoritme vir aan-lyn komponentherkenning maak gebruik van wasige logika en word bewys as ’n effektiewe metode om geometriese inligting van objekte te bepaal. Die voorgestelde grensvektormetode verskaf voldoende inligting en maak geometriese rekonstruksie van die objek moontlik om greepbeplanning te kan doen. Voorts is ’n komponenthanteringsmodel ontwikkel deur die grypkenmerke af te lei uit die geometriese eienskappe.

  16. A Genetic Algorithm-based Heuristic for Part-Feeding Mobile Robot Scheduling Problem

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Bocewicz, Grzegorz

    2012-01-01

    This present study deals with the problem of sequencing feeding tasks of a single mobile robot with manipulation arm which is able to provide parts or components for feeders of machines in a manufacturing cell. The mobile robot has to be scheduled in order to keep machines within the cell producing...... products without any shortage of parts. A method based on the characteristics of feeders and inspired by the (s, Q) inventory system, is thus applied to define time windows for feeding tasks of the robot. The performance criterion is to minimize total traveling time of the robot in a given planning horizon...

  17. ISOLDE target zone GPS robot Camera B Part1

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  18. ISOLDE target zone GPS robot, Camera B Part2

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  19. ISOLDE target zone GPS robot, Camera B Part2 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  20. ISOLDE target zone GPS robot Camera B Part1 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements mainly in close up moving a target along the corridor and onto a shelf position and vice versa. Close up GPS robot handling at exchange point. Movement GPS robot with target through the corridor. Close up robot cable guidance system. Close up posing target on the shelf position. Close up picking up a target from the shelf position and passing through corridor. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Checking activation: GPS robot picking up a target from the shelf and moving it in front of the radiation monitor and close up.

  1. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  2. Interactive language learning by robots: the transition from babbling to word forms.

    Science.gov (United States)

    Lyon, Caroline; Nehaniv, Chrystopher L; Saunders, Joe

    2012-01-01

    The advent of humanoid robots has enabled a new approach to investigating the acquisition of language, and we report on the development of robots able to acquire rudimentary linguistic skills. Our work focuses on early stages analogous to some characteristics of a human child of about 6 to 14 months, the transition from babbling to first word forms. We investigate one mechanism among many that may contribute to this process, a key factor being the sensitivity of learners to the statistical distribution of linguistic elements. As well as being necessary for learning word meanings, the acquisition of anchor word forms facilitates the segmentation of an acoustic stream through other mechanisms. In our experiments some salient one-syllable word forms are learnt by a humanoid robot in real-time interactions with naive participants. Words emerge from random syllabic babble through a learning process based on a dialogue between the robot and the human participant, whose speech is perceived by the robot as a stream of phonemes. Numerous ways of representing the speech as syllabic segments are possible. Furthermore, the pronunciation of many words in spontaneous speech is variable. However, in line with research elsewhere, we observe that salient content words are more likely than function words to have consistent canonical representations; thus their relative frequency increases, as does their influence on the learner. Variable pronunciation may contribute to early word form acquisition. The importance of contingent interaction in real-time between teacher and learner is reflected by a reinforcement process, with variable success. The examination of individual cases may be more informative than group results. Nevertheless, word forms are usually produced by the robot after a few minutes of dialogue, employing a simple, real-time, frequency dependent mechanism. This work shows the potential of human-robot interaction systems in studies of the dynamics of early language

  3. ISOLDE target zone GPS robot, Camera A Part1

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  4. ISOLDE target zone GPS robot, Camera A Part2 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  5. ISOLDE target zone GPS robot, Camera A Part2

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  6. ISOLDE target zone GPS robot, Camera A Part1 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE GPS robot movements along the corridor picking up an ISOLDE target from one of the shelfs behind the lead shielding doors and moving it to the exchange point. Several movements of the ISOLDE GPS robot from different angles with and without target along the corridor as well as posing and taking the target from the shelf and posing it onto the exchange point.

  7. [History of robotics: from Archytas of Tarentum until da Vinci robot. (Part I)].

    Science.gov (United States)

    Sánchez Martín, F M; Millán Rodríguez, F; Salvador Bayarri, J; Palou Redorta, J; Rodríguez Escovar, F; Esquena Fernández, S; Villavicencio Mavrich, H

    2007-02-01

    Robotic surgery is the newst technologic option in urology. To understand how new robots work is interesting to know their history. The desire to design machines imitating humans continued for more than 4000 years. There are references to King-su Tse (clasic China) making up automaton at 500 a. C. Archytas of Tarentum (at around 400 a.C.) is considered the father of mechanical engineering, and one of the occidental robotics classic referents. Heron of Alexandria, Hsieh-Fec, Al-Jazari, Roger Bacon, Juanelo Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors in the middle age, renaissance and classicism. At the XIXth century, automaton production underwent a peak and all engineering branches suffered a great development. At 1942 Asimov published the three robotics laws, based on mechanics, electronics and informatics advances. At XXth century robots able to do very complex self governing works were developed, like da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons.

  8. Historia de la robótica: de Arquitas de Tarento al robot da Vinci (Parte II)

    OpenAIRE

    F. M. Sánchez-Martín; Jimenez Schlegl, Pablo; Millán, Félix; Salvador-Bayarri, Jose; Monllau, V.; Palou, Juan; Villavicencio, Humberto

    2007-01-01

    HISTORY OF ROBOTICS: FROM ARCHYTAS OF TARENTUM UNTIL DA VINCI ROBOT. (PART II) Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. ...

  9. Multibarrier waste forms. Part I. Development

    Energy Technology Data Exchange (ETDEWEB)

    Rusin, J.M.; Lokken, R.O.; Lukacs, J.M.; Sump, K.R.; Browning, M.F.; McCarthy, G.J.

    1978-09-01

    The multibarrier concept produces a composite waste form with enhanced inertness through improvements in thermal stability, mechanical strength, and leachability by the use of coatings and metal matrices. This report describes research and development activities resulting in the demonstration of the multibarrier concept for nonradioactive simulated waste compositions. The multibarrier concept is to utilize up to three barriers to isolate radionuclides from the environment: a solid waste inner core, an impervious coating, and a metal matrix. Two inner core materials, sintered supercalcine and glass marbles, have been demonstrated. The coating barrier provides enhanced leach, impact, and oxidation resistance as well as thermal protection during encapsulation in the metal matrix. Py/Al/sub 2/O/sub 3/ coatings deposited by chemical vapor deposition (CVD) and glass coatings have been applied to supercalcine cores to improve inertness. The purpose of the metal matrix is to improve impact resistance, protect the inner core rom any adverse environments, provide radiation shielding, and increase thermal conductivity, yielding lower internal temperatures. The development of gravity sintering and vacuum casting techniques for matrix encapsulation are discussed. Four multibarrier products were demonstrated: (1) Glass marbles encapsulated in vacuum-cast Pb-10Sn; (2) uncoated, sintered supercalcine pellets encapsulated in vacuum-cast Al-12Si; (3) glass-coated, sintered supercalcine pellets encapsulated in vacuum-cast Al-12Si; and (4) PyC/Al/sub 2/O/sub 3/-coated supercalcine encapsulated in gravity-sintered Cu. 23 figs., 20 tables.

  10. 32 CFR Appendix C to Part 45 - DD Form 215

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false DD Form 215 C Appendix C to Part 45 National... CERTIFICATE OF RELEASE OR DISCHARGE FROM ACTIVE DUTY (DD FORM 214/5 SERIES) Pt. 45, App. C Appendix C to Part 45—DD Form 215 EC21OC91.050 ...

  11. 32 CFR Appendix A to Part 45 - DD Form 214

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false DD Form 214 A Appendix A to Part 45 National... CERTIFICATE OF RELEASE OR DISCHARGE FROM ACTIVE DUTY (DD FORM 214/5 SERIES) Pt. 45, App. A Appendix A to Part 45—DD Form 214 EC23OC91.003 EC23OC91.004 EC23OC91.005 EC23OC91.006 ...

  12. Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications

    OpenAIRE

    Marie, Stéphane; Courteille, Eric; Maurine, Patrick

    2013-01-01

    International audience; This paper proposes an original elasto-geometrical calibration method to improve the static pose accuracy of industrial robots involved in machining, forming or assembly applications. Two approaches are presented respectively based on an analytical parametric modeling and a Takagi-Sugeno fuzzy inference system. These are described and then discussed. This allows to list the main drawbacks and advantages of each of them with respect to the task and the user requirements...

  13. Low-cost EOD robot using off-the-shelf parts: revisions and performance testing results

    Science.gov (United States)

    Czop, Andrew; Hacker, Kurt; Murphy, James; Zimmerman, Todd

    2006-05-01

    With the large number of Improvised Explosive Devices (IEDs) and Unexploded Ordnance (UXO) being encountered during recent military operations, there exists a need for Explosive Ordnance Disposal (EOD) mobile robots. These robots are predominately used for surveillance and neutralization of these explosive threats from a safe distance. The nature of the mission means that these vehicles are prone to being damaged or destroyed. Current commercially available systems, although capable of performing the mission, are costly and in too short of supply to be lost or damaged in large numbers. At last year's SPIE conference the NAVEODTECHDIV proposed an alternative: a low cost, mobile robot which used commercial off-the-shelf (COTS) parts and was tailored to the types of missions that EOD soldiers commonly perform. The prototype of this low-cost robot, the RAMBOT (Readily Available Maintainable Robot), has been continuously improved over the past year. There have been significant improvements to the original design in the areas of communication, manipulation, and electronics. The result of this work is a final prototype design, which is currently undergoing extensive testing to characterize its capabilities. Some of these tests include vehicle characteristics such as vehicle speed and mobility, vehicle weight and size, as well as maximum effective communication range, susceptibility to temperature, manipulator load limitations, and battery longevity. This conference paper will present the design changes to the robot and fully report on the results from the test series conducted thus far.

  14. On the increase of geometric accuracy with the help of stiffening elements for robot-based incremental sheet metal forming

    Science.gov (United States)

    Thyssen, Lars; Seim, Patrick; Störkle, Denis D.; Kuhlenkötter, Bernd

    2016-10-01

    This paper describes new developments in an incremental, robot-based sheet metal forming process (`Roboforming') for the production of sheet metal components for small lot sizes and prototypes. The incremental sheet forming (ISF) offers high geometrical form flexibility without the need of any part-dependent tools. To transfer the ISF to industrial applications, it is necessary to respond to the still existing constraints, e.g. the low geometrical accuracy. Especially the subsequent deformation resulting from the interaction of differently shaped elements causes geometrical deviations, which are limiting the scope of formable parts. The impact of the resulting forming forces will vary according to the shape of the individual elements. For this, the paper proposes and examines a new approach to stabilize the geometrical accuracy without losing the universal approach of Roboforming by inserting stiffening elements. Those elements with varying cross-sections at the initial area of various orientations must be examined on their stabilizing or subsequent distorting impact. Especially the different impacts of the subsequent forming of stiffness features in contrast to the direct forming are studied precisely.

  15. Robotics

    Indian Academy of Sciences (India)

    explaining how the robot functioning is controlled. A brief description of the measurements involved is also discussed. Introduction. Basically, the developments in two other related subjects, in- strumentation and control engineering played a major role in aiding the rapid development of the field of robotics. By instru-.

  16. Cold rolling precision forming of shaft parts theory and technologies

    CERN Document Server

    Song, Jianli; Li, Yongtang

    2017-01-01

    This book presents in detail the theory, processes and equipment involved in cold rolling precision forming technologies, focusing on spline and thread shaft parts. The main topics discussed include the status quo of research on cold rolling precision forming technologies; the design and calculation of process parameters; the numerical simulation of cold rolling forming processes; and the equipment used in cold rolling forming. The mechanism of cold rolling forming is extremely complex, and research on the processes, theory and mechanical analysis of spline cold rolling forming has remained very limited to date. In practice, the forming processes and production methods used are mainly chosen on the basis of individual experience. As such, there is a marked lack of both systematic, theory-based guidelines, and of specialized books covering theoretical analysis, numerical simulation, experiments and equipment used in spline cold rolling forming processes – all key points that are included in this book and ill...

  17. Experiments in Aligning Threaded Parts Using a Robot Hand

    Science.gov (United States)

    Diftler, M. A.; Walker, I. D.

    1999-01-01

    Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for align- ing threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt "falls" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingers Stanford/JPL hand are presented.

  18. Explosive force of primacord grid forms large sheet metal parts

    Science.gov (United States)

    1966-01-01

    Primacord which is woven through fish netting in a grid pattern is used for explosive forming of large sheet metal parts. The explosive force generated by the primacord detonation is uniformly distributed over the entire surface of the sheet metal workpiece.

  19. A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

    Science.gov (United States)

    Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun

    2017-10-01

    This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

  20. 3D geometrical inspection of complex geometry parts using a novel laser triangulation sensor and a robot

    National Research Council Canada - National Science Library

    Brosed, Francisco Javier; Aguilar, Juan José; Guillomía, David; Santolaria, Jorge

    This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting...

  1. Mergeable nervous systems for robots.

    Science.gov (United States)

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

    2017-09-12

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

  2. Waste Management Strategy in The Netherlands. Part 1. Waste Forms

    Energy Technology Data Exchange (ETDEWEB)

    Haverkate, B.R.W

    2002-05-08

    This report reflects the input prepared in the framework of work package 1 of the thematic network COMPAS, which deals with the identification of waste forms in EU member states and their applicant countries. In accordance with the COMPAS project plan a brief introduction of the nuclear industry in The Netherlands and some historical milestones in radioactive waste research are given first (in chapter 1), after which the current waste management policy is described (in chapter 2). Those aspects that could play a role in identifying alternative waste management strategies and influencing strategy issues have been emphasised. The current and projected radioactive waste forms will be part of this (decision) process and consequently are summarised in (chapter 3 of) this report. Finally, advanced waste reduction technologies are addressed (in chapter 4), because they could influence (future) waste management strategies. Naturally radioactive materials are also discussed in (chapter 5 of) this report.

  3. An Integrated Modelling and Toolpathing Approach for a Frameless Stressed Skin Structure, Fabricated Using Robotic Incremental Sheet Forming

    DEFF Research Database (Denmark)

    Nicholas, Paul; Stasiuk, David; Nørgaard, Esben Clausen

    2016-01-01

    For structural assemblies that depend upon robotic incremental sheet forming (ISF) the rigidity, connectivity, customization and aesthetics play an important role for an integrated and accurate modeling process. Furthermore, it is critical to consider fabrication and forming parameters jointly wi...... with calculated and observed micro behaviour; the organisation and extraction of toolpaths; and rig setup logics for fabrication. Finally, the validity of these models is evaluated for structural performance, and for geometric accuracy at multiple scales....

  4. Emergent trends in robotics and intelligent systems where is the role of intelligent technologies in the next generation of robots?

    CERN Document Server

    Hartono, Pitoyo; Virčíková, Mária; Vaščák, Ján; Jakša, Rudolf

    2015-01-01

    What is the Role of Intelligent Technologies in the Next Generation of Robots ? This monograph gives answers to this question and presents emergent trends of Intelligent Systems and Robotics. After an introductory chapter celebrating 70 year of publishing the McCulloch Pitts model the book consists of the 2 parts „Robotics“ and „Intelligent Systems“. The aim of the book is to contribute to shift conventional robotics in which the robots perform repetitive, pre-programmed tasks to its intelligent form, where robots possess new cognitive skills with ability to learn and adapt to changing environment. A main focus is on Intelligent Systems, which show notable achievements in solving various problems in intelligent robotics. The book presents current trends and future directions bringing together Robotics and Computational Intelligence. The contributions include widespread experimental and theoretical results on intelligent robotics such as e.g. autonomous robotics, new robotic platforms, or talking robot...

  5. Simple robust control laws for robot manipulators. Part 2: Adaptive case

    Science.gov (United States)

    Bayard, D. S.; Wen, J. T.

    1987-01-01

    A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive control theory to robotic manipulators, this analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and utilizes a parameterization based on physical (time-invariant) quantities. This approach is made possible by using energy-like Lyapunov functions which retain the nonlinear character and structure of the dynamics, rather than simple quadratic forms which are ubiquitous to the adaptive control literature, and which have bound the theory tightly to linear systems with unknown parameters. It is a unique feature of these results that the adaptive forms arise by straightforward certainty equivalence adaptation of their nonadaptive counterparts found in the companion to this paper (i.e., by replacing unknown quantities by their estimates) and that this simple approach leads to asymptotically stable closed-loop adaptive systems. Furthermore, it is emphasized that this approach does not require convergence of the parameter estimates (i.e., via persistent excitation), invertibility of the mass matrix estimate, or measurement of the joint accelerations.

  6. Robotics

    Science.gov (United States)

    Ambrose, Robert O.

    2007-01-01

    Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and

  7. 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.

  8. FIDELITY TOWARDS FORMS: AN ONTOLOGICAL APPROACH – PART I

    Directory of Open Access Journals (Sweden)

    ANA BAZAC

    2014-11-01

    Full Text Available The paper opposes to a common attitude towards forms – as being something non-important, superficial, “formal” – Plato and Aristotle’s philosophy, according to which things exist because of forms. From the inquiry of their logic that mixes the epistemological and the ontological standpoint, the analysis goes on to the problem of the understanding of forms as events: as mirrors of the manner we see the world/as mirrors of the way of thinking. I contrast the event to the situation – in Alain Badiou’s manner – and I show that there is a logic of continuity between Aristotle’s insistence on the concrete face of form (σύνoλoν and Badiou’s concept of fidelity: because this concept always relates to the concrete which deserves to be faithful towards. The value of things we support gives their “forms”. If so, fidelity towards forms is something more complete and suggestive than to follow essences: forms are as important as essences; this is obvious when the forms change but the essence do not; in fact, it is not a real change. The real change is when the form changes bringing also the change of the essence.

  9. Forming health culture as part of general education

    Directory of Open Access Journals (Sweden)

    Andreeva Irina

    2016-01-01

    Full Text Available The paper outlines methods of forming health culture in the content of education as a theoretical-methodological area aimed at fostering a positive attitude, sustained motivation for health and personal responsibility for its preservation.

  10. Automobile sheet metal part production with incremental sheet forming

    Directory of Open Access Journals (Sweden)

    İsmail DURGUN

    2016-02-01

    Full Text Available Nowadays, effect of global warming is increasing drastically so it leads to increased interest on energy efficiency and sustainable production methods. As a result of adverse conditions, national and international project platforms, OEMs (Original Equipment Manufacturers, SMEs (Small and Mid-size Manufacturers perform many studies or improve existing methodologies in scope of advanced manufacturing techniques. In this study, advanced manufacturing and sustainable production method "Incremental Sheet Metal Forming (ISF" was used for sheet metal forming process. A vehicle fender was manufactured with or without die by using different toolpath strategies and die sets. At the end of the study, Results have been investigated under the influence of method and parameters used.Keywords: Template incremental sheet metal, Metal forming

  11. Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications.

    Science.gov (United States)

    Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V

    2014-09-01

    Intra-operative imaging is widely used to provide visual feedback to a clinician when he/she performs a procedure. In visual servoing, surgical instruments and parts of tissue/body are tracked by processing the acquired images. This information is then used within a control loop to manoeuvre a robotic manipulator during a procedure. A comprehensive search of electronic databases was completed for the period 2000-2013 to provide a survey of the visual servoing applications in medical robotics. The focus is on medical applications where image-based tracking is used for closed-loop control of a robotic system. Detailed classification and comparative study of various contributions in visual servoing using endoscopic or direct visual images are presented and summarized in tables and diagrams. The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field. Copyright © 2013 John Wiley & Sons, Ltd.

  12. 3D geometrical inspection of complex geometry parts using a novel laser triangulation sensor and a robot.

    Science.gov (United States)

    Brosed, Francisco Javier; Aguilar, Juan José; Guillomía, David; Santolaria, Jorge

    2011-01-01

    This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting of a laser triangulation sensor and a motorized linear stage. First, the geometric model incorporating an automatic simple module for long term stability improvement will be outlined in the article. The new method used in the automatic module allows the sensor set up, including the motorized linear stage, for the scanning avoiding external measurement devices. In the measurement model the robot is just a positioning of parts with high repeatability. Its position and orientation data are not used for the measurement and therefore it is not directly "coupled" as an active component in the model. The function of the robot is to present the various surfaces of the workpiece along the measurement range of the vision system, which is responsible for the measurement. Thus, the whole system is not affected by the robot own errors following a trajectory, except those due to the lack of static repeatability. For the indirect link between the vision system and the robot, the original model developed needs only one first piece measuring as a "zero" or master piece, known by its accurate measurement using, for example, a Coordinate Measurement Machine. The strategy proposed presents a different approach to traditional laser triangulation systems on board the robot in order to improve the measurement accuracy, and several important cues for self-recalibration are explored using only a master piece. Experimental results are also presented to demonstrate the technique and the final 3D measurement accuracy.

  13. 3D Geometrical Inspection of Complex Geometry Parts Using a Novel Laser Triangulation Sensor and a Robot

    Directory of Open Access Journals (Sweden)

    David Guillomía

    2010-12-01

    Full Text Available This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting of a laser triangulation sensor and a motorized linear stage. First, the geometric model incorporating an automatic simple module for long term stability improvement will be outlined in the article. The new method used in the automatic module allows the sensor set up, including the motorized linear stage, for the scanning avoiding external measurement devices. In the measurement model the robot is just a positioning of parts with high repeatability. Its position and orientation data are not used for the measurement and therefore it is not directly “coupled” as an active component in the model. The function of the robot is to present the various surfaces of the workpiece along the measurement range of the vision system, which is responsible for the measurement. Thus, the whole system is not affected by the robot own errors following a trajectory, except those due to the lack of static repeatability. For the indirect link between the vision system and the robot, the original model developed needs only one first piece measuring as a “zero” or master piece, known by its accurate measurement using, for example, a Coordinate Measurement Machine. The strategy proposed presents a different approach to traditional laser triangulation systems on board the robot in order to improve the measurement accuracy, and several important cues for self-recalibration are explored using only a master piece. Experimental results are also presented to demonstrate the technique and the final 3D measurement accuracy.

  14. Robotics as science (re)form: Exploring power, learning and gender(ed) identity formation in a "community of practice"

    Science.gov (United States)

    Hurner, Sheryl Marie

    "Robotics as Science (re)Form" utilizes qualitative research methods to examine the career trajectories and gender identity formation of female youth participating as members of an all-girl, academic team within the male-dominated environment of the FIRST Robotics competition. Following the constant comparative approach (Glaser & Strauss, 1967), my project relies upon triangulating ethnographic data drawn from extensive field notes, semi-structured interviews, and digital and video imagery compiled over two years of participant observation. Drawing upon the sociolinguistic "community of practice" (CoP) framework (Eckert & McConnell-Ginet, 1992; Lave & Wenger, 1991; Wenger, 1998), this study maps the range of gendered "identities" available to girls involved in non-traditional academic and occupational pursuits within a local context, and reveals the nature, structure and impact of power operating within this CoP, a significantly underdeveloped construct within the language and gender literature. These research findings (1) contribute to refining theories of situated or problem based learning with a focus on female youth (Lave & Wenger, 1991; Wenger, 1998); (2) reveal affordances and barriers within the local program design that enable (and preclude) women and minority youth entering the engineering pipeline; and (3) enrich our understanding of intragroup language and gendered "practices" to counter largely essentializing generalizations based upon quantitative analysis. Keywords: Robotics, gender, identity formation, science, STEM, communities of practice

  15. Multibarrier waste forms. Part II. Characterization and evaluation.

    Energy Technology Data Exchange (ETDEWEB)

    Rusin, J.M.; Gray, W.J.; Wald, J.W.

    1979-08-01

    The multibarrier concept for the storage of radioactive waste is to use up to three barriers to isolate radionuclides from the environment: a solidified waste inner core, an impervious coating, and a metal matrix. The four multibarrier waste forms were evaluated for thermal stability (volatility), mechanical strength (impact resistance), and leach resistance. This report discusses the characterization of the multibarrier waste forms and compares them to reference calcine and glass waste forms. The weight loss of supercalcine-ceramics after 4 h in dry air ranges between 0.01 and 1.6 wt % from 1000 to 1200/sup 0/C and is dependent upon composition. Glass marbles in a cast lead alloy offer approximately an order of magnitude decease in the wt % fines < 37 ..mu..m released after impact as compared to a glass monolith. CVD-coated supercalcine in a sintered 410 SS matrix offers up to two orders of magnitude decrease. Hot-pressed supercalcine ceramics may offer no increase in impact resistance or leach resistance over that of a glass monolith. Supercalcine may offer no advantage over waste glasses in leach resistance. Glass and PyC/Al/sub 2/O/sub 3/ coatings provide effective inert leaching barriers.

  16. Designing the optimal robotic milking barn, part 2: behaviour-based simulation

    NARCIS (Netherlands)

    Halachmi, I.

    2000-01-01

    Robotic milking affects factors that determine the barn layout, such as cow behaviour, farm routine, feeding procedure and management practices. As there is hardly any experience with robotic barns, and each farmer has his own management attitude, depending on his personality and local conditions;

  17. 32 CFR Appendix B to Part 45 - DD Form 214ws

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false DD Form 214ws B Appendix B to Part 45 National... CERTIFICATE OF RELEASE OR DISCHARGE FROM ACTIVE DUTY (DD FORM 214/5 SERIES) Pt. 45, App. B Appendix B to Part 45—DD Form 214ws EC23OC91.007 ...

  18. Distributed Robotics Education

    OpenAIRE

    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...

  19. Perception and estimation challenges for humanoid robotics: DARPA Robotics Challenge and NASA Valkyrie

    Science.gov (United States)

    Fallon, Maurice

    2016-10-01

    This paper describes ongoing work at the University of Edinburgh's Humanoid Robotics Project. University of Edinburgh have formed a collaboration with the United States' National Aeronautics and Space Administration (NASA) around their R5 humanoid robot commonly known as Valkyrie. Also involved are MIT, Northeastern University and the Florida Institute for Human and Machine Cognition (IHMC) as part of NASA's Space Robotics Challenge. We will outline the development of state estimation and localization algorithms being developed for Valkyrie.

  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. 45 CFR Appendix B to Part 604 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-10-01

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    Science.gov (United States)

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  17. 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?".

  18. Robot Wars: US Empire and geopolitics in the robotic age.

    Science.gov (United States)

    Shaw, Ian Gr

    2017-10-01

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

  19. 18 CFR Appendix B to Part 1315 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-04-01

    ... Report Lobbying B Appendix B to Part 1315 Conservation of Power and Water Resources TENNESSEE VALLEY AUTHORITY NEW RESTRICTIONS ON LOBBYING Part 1315, App. B Appendix B to Part 1315—Disclosure Form To Report Lobbying EC05OC91.023 EC05OC91.024 EC05OC91.025 ...

  20. 12 CFR Appendix C to Part 717 - Model Forms for Opt-Out Notices

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 6 2010-01-01 2010-01-01 false Model Forms for Opt-Out Notices C Appendix C to Part 717 Banks and Banking NATIONAL CREDIT UNION ADMINISTRATION REGULATIONS AFFECTING CREDIT UNIONS... (Joint Notice) C-5Model Form for Voluntary “No Marketing” Notice C-1—Model Form for Initial Opt-out...

  1. 12 CFR Appendix C to Part 571 - Model Forms for Opt-Out Notices

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 5 2010-01-01 2010-01-01 false Model Forms for Opt-Out Notices C Appendix C to Part 571 Banks and Banking OFFICE OF THRIFT SUPERVISION, DEPARTMENT OF THE TREASURY FAIR CREDIT...-Affiliate Notice) C-4Model Form for Renewal Notice (Joint Notice) C-5Model Form for Voluntary “No Marketing...

  2. 12 CFR Appendix C to Part 334 - Model Forms for Opt-Out Notices

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 4 2010-01-01 2010-01-01 false Model Forms for Opt-Out Notices C Appendix C to Part 334 Banks and Banking FEDERAL DEPOSIT INSURANCE CORPORATION REGULATIONS AND STATEMENTS OF GENERAL... Form for Voluntary “No Marketing” Notice C-1—Model Form for Initial Opt-out Notice (Single-Affiliate...

  3. Localised and Learnt Applications of Machine Learning for Robotic Incremental Sheet Forming

    DEFF Research Database (Denmark)

    Nicholas, Paul; Zwierzycki, Mateusz; Ramsgaard Thomsen, Mette

    2017-01-01

    Sheet Forming (ISF) and exemplified in the fabrication of a bridge structure. The methods we describe compensate for springback and improve forming tolerance by using localised in-process distance sensing to adapt tool-paths, and by using pre-process supervised machine learning to predict stringback...

  4. A compensation strategy for geometric inaccuracies of hot incrementally formed parts

    Science.gov (United States)

    Thyssen, Lars; Störkle, Denis D.; Kuhlenkötter, Bernd

    2017-10-01

    The incremental sheet forming (ISF) offers high geometrical form flexibility without the need of any part-dependent tools. However, the industrial application of incremental sheet metal forming is still limited by certain constraints, e.g. the low geometrical accuracy and the small number of formable alloys. One method to overcome the stated constraints is to use the advantages of metal forming at elevated temperatures. Literature shows the benefits of hot forming, e.g. to decrease the resulting forming forces, to increase the number of formable materials, and to enlarge the achievable deformation, but also the negative effects of forming at elevated temperatures. One of those negative effects is that hot formed parts tend to be smaller than parts which have been formed at room temperature. The paper presents a new approach to compensate the resulting inaccuracies of hot formed parts. More precisely, an online compensation strategy is presented which continuously calculates the present part deviation for each point of the tool path according to the actual process parameters and which adds a movement in the opposite direction of the deviation.

  5. The debate over robotics in benign gynecology.

    Science.gov (United States)

    Rardin, Charles R

    2014-05-01

    The debate over the role of the da Vinci surgical robotic platform in benign gynecology is raging with increasing fervor and, as product liability issues arise, greater financial stakes. Although the best currently available science suggests that, in the hands of experts, robotics offers little in surgical advantage over laparoscopy, at increased expense, the observed decrease in laparotomy for hysterectomy is almost certainly, at least in part, attributable to the availability of the robot. In this author's opinion, the issue is not whether the robot has any role but rather to define the role in an institutional environment that also supports the safe use of vaginal and laparoscopic approaches in an integrated minimally invasive surgery program. Programs engaging robotic surgery should have a clear and self-determined regulatory process and should resist pressures in place that may preferentially support robotics over other forms of minimally invasive surgery. Copyright © 2014 Mosby, Inc. All rights reserved.

  6. Anthropomorphic Robot Design and User Interaction Associated with Motion

    Science.gov (United States)

    Ellis, Stephen R.

    2016-01-01

    robot limbs and body positions, 2) improve users ability to detect anomalous robot behavior which could signal malfunction, and 3) enable users to be better able to infer the intent of robot movement. These three benefits of anthropomorphic design are inherent implications of the anthropomorphic form but they need to be recognized by designers as part of anthropomorphic design and explicitly enhanced to maximize their beneficial impact. Examples of such enhancements are provided in this report. If implemented, these benefits of anthropomorphic design can help reduce the risk of Inadequate Design of Human and Automation Robotic Integration (HARI) associated with the HARI-01 gap by providing efficient and dexterous operator control over robots and by improving operator ability to detect malfunctions and understand the intention of robot movement.

  7. 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.

  8. Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

    Science.gov (United States)

    Wen, J. T.; Bayard, D. S.

    1987-01-01

    A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

  9. Adaptive scallop height tool path generation for robot-based incremental sheet metal forming

    Science.gov (United States)

    Seim, Patrick; Möllensiep, Dennis; Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

    2016-10-01

    Incremental sheet metal forming is an emerging process for the production of individualized products or prototypes in low batch sizes and with short times to market. In these processes, the desired shape is produced by the incremental inward motion of the workpiece-independent forming tool in depth direction and its movement along the contour in lateral direction. Based on this shape production, the tool path generation is a key factor on e.g. the resulting geometric accuracy, the resulting surface quality, and the working time. This paper presents an innovative tool path generation based on a commercial milling CAM package considering the surface quality and working time. This approach offers the ability to define a specific scallop height as an indicator of the surface quality for specific faces of a component. Moreover, it decreases the required working time for the production of the entire component compared to the use of a commercial software package without this adaptive approach. Different forming experiments have been performed to verify the newly developed tool path generation. Mainly, this approach serves to solve the existing conflict of combining the working time and the surface quality within the process of incremental sheet metal forming.

  10. 43 CFR Appendix B to Part 18 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-10-01

    ... 43 Public Lands: Interior 1 2010-10-01 2010-10-01 false Disclosure Form To Report Lobbying B Appendix B to Part 18 Public Lands: Interior Office of the Secretary of the Interior NEW RESTRICTIONS ON LOBBYING Pt. 18, App. B Appendix B to Part 18—Disclosure Form To Report Lobbying EC01JA91.000 EC01JA91.001...

  11. 15 CFR Appendix B to Part 28 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-01-01

    ... 15 Commerce and Foreign Trade 1 2010-01-01 2010-01-01 false Disclosure Form To Report Lobbying B Appendix B to Part 28 Commerce and Foreign Trade Office of the Secretary of Commerce NEW RESTRICTIONS ON LOBBYING Pt. 28, App. B Appendix B to Part 28—Disclosure Form To Report Lobbying EC20SE91.001 EC20SE91.002...

  12. 49 CFR Appendix B to Part 20 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 1 2010-10-01 2010-10-01 false Disclosure Form To Report Lobbying B Appendix B to Part 20 Transportation Office of the Secretary of Transportation NEW RESTRICTIONS ON LOBBYING Pt. 20, App. B Appendix B to Part 20—Disclosure Form To Report Lobbying EC02FE91.097 EC02FE91.098 EC02FE91.099 ...

  13. 29 CFR Appendix B to Part 93 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 1 2010-07-01 2010-07-01 true Disclosure Form To Report Lobbying B Appendix B to Part 93 Labor Office of the Secretary of Labor NEW RESTRICTIONS ON LOBBYING Pt. 93, App. B Appendix B to Part 93—Disclosure Form To Report Lobbying EC21OC91.005 EC21OC91.006 EC21OC91.007 ...

  14. 22 CFR Appendix B to Part 519 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-04-01

    ... 22 Foreign Relations 2 2010-04-01 2010-04-01 true Disclosure Form To Report Lobbying B Appendix B to Part 519 Foreign Relations BROADCASTING BOARD OF GOVERNORS NEW RESTRICTIONS ON LOBBYING Pt. 519, App. B Appendix B to Part 519—Disclosure Form To Report Lobbying EC13OC91.003 EC13OC91.004 EC13OC91...

  15. 22 CFR Appendix B to Part 311 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-04-01

    ... 22 Foreign Relations 2 2010-04-01 2010-04-01 true Disclosure Form To Report Lobbying B Appendix B to Part 311 Foreign Relations PEACE CORPS NEW RESTRICTIONS ON LOBBYING Pt. 311, App. B Appendix B to Part 311—Disclosure Form To Report Lobbying EC13OC91.000 EC13OC91.001 EC13OC91.002 ...

  16. 34 CFR Appendix B to Part 82 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-07-01

    ... 34 Education 1 2010-07-01 2010-07-01 false Disclosure Form To Report Lobbying B Appendix B to Part 82 Education Office of the Secretary, Department of Education NEW RESTRICTIONS ON LOBBYING Pt. 82, App. B Appendix B to Part 82—Disclosure Form To Report Lobbying EC21OC91.056 EC21OC91.057 EC21OC91.058 ...

  17. 22 CFR Appendix B to Part 138 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-04-01

    ... 22 Foreign Relations 1 2010-04-01 2010-04-01 false Disclosure Form To Report Lobbying B Appendix B to Part 138 Foreign Relations DEPARTMENT OF STATE MISCELLANEOUS NEW RESTRICTIONS ON LOBBYING Pt. 138, App. B Appendix B to Part 138—Disclosure Form To Report Lobbying EC06OC91.000 EC06OC91.001 EC06OC91...

  18. 12 CFR Appendix B to Part 411 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 4 2010-01-01 2010-01-01 false Disclosure Form To Report Lobbying B Appendix B to Part 411 Banks and Banking EXPORT-IMPORT BANK OF THE UNITED STATES NEW RESTRICTIONS ON LOBBYING Pt. 411, App. B Appendix B to Part 411—Disclosure Form To Report Lobbying EC23SE91.003 EC23SE91.004...

  19. 32 CFR Appendix C to Part 113 - Sample DD Form 2653, “Involuntary Allotment Application”

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false Sample DD Form 2653, âInvoluntary Allotment Applicationâ C Appendix C to Part 113 National Defense Department of Defense OFFICE OF THE SECRETARY OF DEFENSE... Part 113—Sample DD Form 2653, “Involuntary Allotment Application” ER05JA95.002 ER05JA95.003 ...

  20. A New Approach for Handling of Micro Parts in Bulk Metal Forming

    DEFF Research Database (Denmark)

    Mahshid, Rasoul; Hansen, Hans Nørgaard; Arentoft, M.

    2012-01-01

    systems are critical elements to complete micro forming technology for transferring knowledge to industries and toward miniature manufacturing systems (micro factory) [2]. Since most metal forming processes are multi stage, making a new handling system with high reliability on accuracy and speed...... of production [1]. This can fulfill the demands for mass production and miniaturization in industries and academic communities. According to the recent studies, topics related to materials, process and simulation have been investigated intensively and well documented. Machines, forming tools and handling...... have been optimized or handling systems based on new concepts for gripping and releasing micro parts have been proposed. Making a handling system for micro parts made by sheet metals or foils is easier than those in bulk metal forming because parts are attached to the sheet during the forming process...

  1. 10 CFR Appendix A to Part 850 - Chronic Beryllium Disease Prevention Program Informed Consent Form

    Science.gov (United States)

    2010-01-01

    ... 10 Energy 4 2010-01-01 2010-01-01 false Chronic Beryllium Disease Prevention Program Informed Consent Form A Appendix A to Part 850 Energy DEPARTMENT OF ENERGY CHRONIC BERYLLIUM DISEASE PREVENTION PROGRAM Pt. 850, App. A Appendix A to Part 850—Chronic Beryllium Disease Prevention Program Informed...

  2. 44 CFR Appendix B to Part 18 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-10-01

    ... Lobbying B Appendix B to Part 18 Emergency Management and Assistance FEDERAL EMERGENCY MANAGEMENT AGENCY, DEPARTMENT OF HOMELAND SECURITY GENERAL NEW RESTRICTIONS ON LOBBYING Pt. 18, App. B Appendix B to Part 18—Disclosure Form To Report Lobbying EC02FE91.075 EC02FE91.076 EC02FE91.077 ...

  3. 38 CFR Appendix B to Part 45 - Disclosure Form to Report Lobbying

    Science.gov (United States)

    2010-07-01

    ... Lobbying B Appendix B to Part 45 Pensions, Bonuses, and Veterans' Relief DEPARTMENT OF VETERANS AFFAIRS (CONTINUED) NEW RESTRICTIONS ON LOBBYING Pt. 45, App. B Appendix B to Part 45—Disclosure Form to Report Lobbying EC21OC91.022 EC21OC91.023 EC21OC91.024 ...

  4. 41 CFR Appendix B to Part 105 - 69-Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-07-01

    ... Report Lobbying B Appendix B to Part 105 Public Contracts and Property Management Federal Property... Administration 69-NEW RESTRICTIONS ON LOBBYING Pt. 105-69, App. B Appendix B to Part 105-69—Disclosure Form To Report Lobbying EC21OC91.008 EC21OC91.009 EC21OC91.010 ...

  5. 33 CFR Appendix A to Part 105 - Facility Vulnerability and Security Measures Summary (Form CG-6025)

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Facility Vulnerability and Security Measures Summary (Form CG-6025) A Appendix A to Part 105 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY MARITIME SECURITY MARITIME SECURITY: FACILITIES Pt. 105, App. A Appendix A to Part 105—Facility Vulnerability an...

  6. 7 CFR Appendix B to Part 3018 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 15 2010-01-01 2010-01-01 false Disclosure Form To Report Lobbying B Appendix B to... FINANCIAL OFFICER, DEPARTMENT OF AGRICULTURE NEW RESTRICTIONS ON LOBBYING Pt. 3018, App. B Appendix B to Part 3018—Disclosure Form To Report Lobbying EC13SE91.000 EC13SE91.001 EC13SE91.002 ...

  7. 24 CFR Appendix B to Part 87 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-04-01

    ... 24 Housing and Urban Development 1 2010-04-01 2010-04-01 false Disclosure Form To Report Lobbying... and Urban Development NEW RESTRICTIONS ON LOBBYING Pt. 87, App. B Appendix B to Part 87—Disclosure Form To Report Lobbying EC12OC91.004 EC12OC91.005 EC12OC91.006 ...

  8. 40 CFR Appendix B to Part 34 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Disclosure Form To Report Lobbying B... ASSISTANCE NEW RESTRICTIONS ON LOBBYING Pt. 34, App. B Appendix B to Part 34—Disclosure Form To Report Lobbying 34-437.eps 34-438.eps 34-439.eps ...

  9. 32 CFR Appendix B to Part 28 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false Disclosure Form To Report Lobbying B Appendix B... AGREEMENT REGULATIONS NEW RESTRICTIONS ON LOBBYING Pt. 28, App. B Appendix B to Part 28—Disclosure Form To Report Lobbying EC23OC91.000 EC23OC91.001 EC23OC91.002 ...

  10. 12 CFR Appendix C to Part 222 - Model Forms for Opt-Out Notices

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 3 2010-01-01 2010-01-01 false Model Forms for Opt-Out Notices C Appendix C to Part 222 Banks and Banking FEDERAL RESERVE SYSTEM (CONTINUED) BOARD OF GOVERNORS OF THE FEDERAL RESERVE...) C-5 Model Form for Voluntary “No Marketing” Notice C-1—Model Form for Initial Opt-out Notice (Single...

  11. Concept for practical exercises for studying autonomous flying robots in a university environment: part II

    Science.gov (United States)

    Gageik, Nils; Dilger, Erik; Montenegro, Sergio; Schön, Stefan; Wildenhein, Rico; Creutzburg, Reiner; Fischer, Arno

    2015-03-01

    The present paper demonstrates the application of quadcopters as educational material for students in aerospace computer science, as it is already in usage today. The work with quadrotors teaches students theoretical and practical knowledge in the fields of robotics, control theory, aerospace and electrical engineering as well as embedded programming and computer science. For this the material, concept, realization and future view of such a course is discussed in this paper. Besides that, the paper gives a brief overview of student research projects following the course, which are related to the research and development of fully autonomous quadrotors.

  12. ISOLDE target zone HRS robot, Camera A+B Part2

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  13. ISOLDE target zone HRS robot, Camera A+B Part1

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  14. ISOLDE target zone HRS robot, Camera A+B Part2 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  15. ISOLDE target zone HRS robot, Camera A+B Part1 HD

    CERN Multimedia

    2016-01-01

    Sequences of the ISOLDE HRS robot picking up a target from the exchange point seen from different angles. Posing a target onto a shelf position behind the lead shielding doors and picking it up again bringing it back to the exchange point. Close up picking up a target from the exchange point. Close up posing a target onto a shelf position. Picking up a target from a shelf position seen from the target front end towards the zone entrance and taking it to the exchange point and vice versa. Target handling at the exchange point position from a different angle.

  16. 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...

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

    OpenAIRE

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

    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...

  18. Y-12 Plant remedial action Technology Logic Diagram: Volume 3, Technology evaluation data sheets: Part B, Characterization; robotics/automation

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-09-01

    The Y-12 Plant Remedial Action Technology Logic Diagram (TLD) was developed to provide a decision-support tool that relates environmental restoration (ER) problems at the Y-12 Plant to potential technologies that can remediate theses problems. The TLD identifies the research, development, demonstration, testing, and evaluation needed for sufficient development of these technologies to allow for technology transfer and application to remedial action (RA) activities. The TLD consists of three volumes. Volume 1 contains an overview of the TLD, an explanation of the program-specific responsibilities, a review of identified technologies, and the rankings of remedial technologies. Volume 2 contains the logic linkages among environmental management goals, environmental problems, and the various technologies that have the potential to solve these problems. Volume 3 contains the TLD data sheets. This report is Part B of Volume 3 and contains the Characterization and Robotics/Automation sections.

  19. 45 CFR Appendix B to Part 1158 - Disclosure Form to Report Lobbying

    Science.gov (United States)

    2010-10-01

    ... 45 Public Welfare 3 2010-10-01 2010-10-01 false Disclosure Form to Report Lobbying B Appendix B to... ARTS AND THE HUMANITIES NATIONAL ENDOWMENT FOR THE ARTS NEW RESTRICTIONS ON LOBBYING Pt. 1158, App. B Appendix B to Part 1158—Disclosure Form to Report Lobbying EC01JA91.010 EC01JA91.011 EC01JA91.012 ...

  20. 45 CFR Appendix B to Part 1168 - Disclosure Form To Report Lobbying

    Science.gov (United States)

    2010-10-01

    ... 45 Public Welfare 3 2010-10-01 2010-10-01 false Disclosure Form To Report Lobbying B Appendix B to... ARTS AND THE HUMANITIES NATIONAL ENDOWMENT FOR THE HUMANITIES NEW RESTRICTIONS ON LOBBYING Pt. 1168, App. B Appendix B to Part 1168—Disclosure Form To Report Lobbying EC01JA91.013 EC01JA91.014 EC01JA91...

  1. 12 CFR Appendix C to Part 41 - Model Forms for Opt-Out Notices

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 1 2010-01-01 2010-01-01 false Model Forms for Opt-Out Notices C Appendix C to Part 41 Banks and Banking COMPTROLLER OF THE CURRENCY, DEPARTMENT OF THE TREASURY FAIR CREDIT REPORTING... “No Marketing” Notice—Your Choice To Stop Marketing C-1—Model Form for Initial Opt-out Notice (Single...

  2. Rossum's universal robots: not the machines.

    Science.gov (United States)

    Moran, Michael E

    2007-12-01

    One assumes in the era of rapidly expanding technology that robot implies mechanical beings. This is not how the word was used initially and represents one of those metamorphoses to another conceptualization. This is an investigation into Capek's original play, Rossum's Universal Robots, for an understanding of his intended meaning. Karel Capek was Czechoslovakian. His play was written in 1920, first performed in 1921, and presented in New York in 1922. It has come to symbolize Western society's feelings about robots. Capek's writing and the original play might clarify the definition of robot for the record, in light of some controversy as to whether the da Vinci Surgical System is a robot or not. THE PLAY: Rossum was a great physiologist who chemically synthesized living protoplasm and was capable of constructing artificial life forms: first, a dog; then, a man. His son was an engineer who quickly was able to manufacture large numbers of humanoids at lower costs " ... producing a robot has been brought down within 15 years from $10,000 to $150." This is the first foreshadowing of Moore's Law. But critically, these are not machines, even though his robots outperform humans. The story turns sinister as the robots eventually revolt and kill their creators. Like many things in our vocabulary, the term robot was initially used for a biologic organism that was created for servitude. Defined by the Robotic Institute of America (1979), a robot is ... "a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." This is far from the in tended use envisioned by Capek, but applies to the da Vinci Surgical System. As Alquist in R.U.R. concludes: "... if there are no more human beings left, at least let there be Robots!"

  3. 32 CFR Appendix A to Part 203 - Technical Assistance for Public Participation Request Form

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 2 2010-07-01 2010-07-01 false Technical Assistance for Public Participation Request Form A Appendix A to Part 203 National Defense Department of Defense (Continued) OFFICE OF THE SECRETARY OF DEFENSE (CONTINUED) MISCELLANEOUS TECHNICAL ASSISTANCE FOR PUBLIC PARTICIPATION (TAPP) IN DEFENSE ENVIRONMENTAL RESTORATION ACTIVITIES...

  4. 3D surface coordinate inspection of formed sheet material parts using optical measurement systems and virtual distortion compensation

    Science.gov (United States)

    Weckenmann, Albert A.; Gall, P.; Gabbia, A.

    2005-02-01

    Modern forming technology allows the production of highly sophisticated free form sheet material components, affording great flexibility to the design and manufacturing processes across a wide range of industries. This increased design and manufacturing potential places an ever growing demand on the accompanying inspection metrology. As a consequence of their surface shape, these parts underlie a reversible geometrical deformation caused by variations of the material and the manufacturing process, as well as by gravity. This distortion is removed during the assembly process, usually performed in automated robotic processes. For this reason, the part's tolerated parameters have to be inspected in a defined state, simulating the assembly process' boundary conditions. Thus, the inspection process chain consists of six steps: picking the workpiece up, manual fixation of the workpiece, tactile measurement of the surface's coordinates using a defined measurement strategy, manual removal of the fixation and removal of the workpiece from the inspection area. These steps are both laborious and time consuming (for example, the inspection of a car door can take up to a working day to complete). Using optical measuring systems and virtual distortion compensation, this process chain can be dramatically shortened. Optical measuring systems provide as a measurement result a point cloud representing a sample of all nearest surfaces in the measuring range containing the measurand. From this data, a surface model of the measurand can be determined, independent of its position in the measuring range. For thin sheet material parts an approximating finite element model can be deduced from such a surface model. By means of pattern recognition, assembly relevant features of the measurand can be identified and located on this model. Together with the boundary conditions given by the assembly process, the shape of the surface in its assembled state can be calculated using the finite

  5. Experimental and Numerical Investigations in Single Point Incremental Sheet Forming For Micro parts

    Science.gov (United States)

    Dejardin, S.; Thibaud, S.; Gelin, J. C.

    2007-04-01

    Incremental Sheet Forming processes have been demonstrated in recent studies as a very promising technology to manufacture sheet metal parts by the CNC controlled movement of a simple generative tool. In glance with its various advantages, such process has been introduced as an alternative to reduce costs resulting from stamping technology when small batches or prototypes have to be manufactured. In this paper, an application is carried out accounting flexibility of the process linked to the fact that the punches or dies are avoided. Although the process still needs a further optimization, preliminary results have been obtained through experimental tests to manufacture micro parts. At the same time, a FEM analysis has been carried out in order to get the characteristics of the formed parts.

  6. "Integrative Social Robotics"

    DEFF Research Database (Denmark)

    Seibt, Johanna

    2016-01-01

    . 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...

  7. New Challenges to the automotive fasteners and cold formed parts in the chinese markets

    Directory of Open Access Journals (Sweden)

    Chen Jin Guang

    2015-01-01

    Full Text Available Despite of substantial cold forming related R&D, innovations and new inventions have been achieved and reported by research institutes and famous industrial organisations, many small and medium size enterprises in the third world or developing countries considering this R&D activities is too luxury. Most of the third world cold forming factories still dependent on previously successful experiences by using trial an error methods. The author does not make attempt to write a scientific research paper on metal forming processes but, instead, to report the effect, application and impact of the previous and on-going metal forming related research work to the cold forming industry in China. This paper highlights the effect of 1 efficient manufacturing practices, 2 upgrading in process technology and 3improved machines capabilities in upgrading the cold forming operation. Three real-life cold forming examples from Ritai are illustrated showing the transformation from an automotive fasteners maker into a cold formed parts manufacturer.

  8. Corrosion of titanium: Part 1: aggressive environments and main forms of degradation.

    Science.gov (United States)

    Prando, Davide; Brenna, Andrea; Diamanti, Maria Vittoria; Beretta, Silvia; Bolzoni, Fabio; Ormellese, Marco; Pedeferri, MariaPia

    2017-11-11

    Titanium has outstanding corrosion resistance due to the external natural oxide protective layer formed when it is exposed to an aerated environment. Despite this, titanium may suffer different forms of corrosion in severe environments: uniform corrosion, pitting and crevice corrosion, hydrogen embrittlement, stress-corrosion cracking, fretting corrosion and erosion. In this first review, forms of corrosion affecting titanium are analyzed based on a wide literature review. For each form of corrosion, the mechanism and most severe environment are reported according to the current understanding.In the second part, this review will address the possible surface treatments that can increase corrosion resistance on commercially pure titanium: Electrochemical anodizing, thermal oxidation, chemical oxidation and bulk treatments such as alloying will be considered, highlighting the advantages of each technique.

  9. An overview of artificial intelligence and robotics. Volume 1: Artificial intelligence. Part B: Applications

    Science.gov (United States)

    Gevarter, W. B.

    1983-01-01

    Artificial Intelligence (AI) is an emerging technology that has recently attracted considerable attention. Many applications are now under development. This report, Part B of a three part report on AI, presents overviews of the key application areas: Expert Systems, Computer Vision, Natural Language Processing, Speech Interfaces, and Problem Solving and Planning. The basic approaches to such systems, the state-of-the-art, existing systems and future trends and expectations are covered.

  10. A Robotic Guide for Blind People Part 2: Gender and National Analysis of a Multi-National Survey and the Application of the Survey Results and the Cat Model to Framing Robot Design Specifications

    Directory of Open Access Journals (Sweden)

    Marion A. Hersh

    2012-01-01

    Full Text Available This paper presents a gender and country-based analysis of the results of a multi-national survey questionnaire on the attitudes, requirements and preferences of blind and visually impaired people for a robotic guide. This is introduced by a brief summary of the findings of the survey introduced and reported in Part 1 and a brief overview of some of the technologies that are currently used in the construction of mobile robotic guides. An analysis of the gender dimension revealed very few differences in preferences or requirements between male and female respondents. There was also considerable commonality of preferences and requirements across the four countries, France, Italy, Spain and the UK, for which the comparative analysis was carried out. This implies that, at least initially, one robotic guide can be developed to be used in a number of different countries and by both women and men. The survey results were then applied to develop design specifications for a mobile robotic guide for blind and visually impaired people. The framework of the Comprehensive Assistive Technology (CAT model developed by the authors was used to organise the information and structure the development of the design specifications. Further work will involve the construction of design mock-ups to implement the design specifications and their investigation with end-users to choose a design for further development.

  11. Robotic surgery

    Science.gov (United States)

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... computer station and directs the movements of a robot. Small surgical tools are attached to the robot's ...

  12. Automated inspection of gaps on the free-form shape parts by laser scanning technologies

    Science.gov (United States)

    Zhou, Sen; Xu, Jian; Tao, Lei; An, Lu; Yu, Yan

    2018-01-01

    In industrial manufacturing processes, the dimensional inspection of the gaps on the free-form shape parts is critical and challenging, and is directly associated with subsequent assembly and terminal product quality. In this paper, a fast measuring method for automated gap inspection based on laser scanning technologies is presented. The proposed measuring method consists of three steps: firstly, the relative position is determined according to the geometric feature of measuring gap, which considers constraints existing in a laser scanning operation. Secondly, in order to acquire a complete gap profile, a fast and effective scanning path is designed. Finally, the range dimension of the gaps on the free-form shape parts including width, depth and flush, correspondingly, is described in a virtual environment. In the future, an appliance machine based on the proposed method will be developed for the on-line dimensional inspection of gaps on the automobile or aerospace production line.

  13. Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

    Energy Technology Data Exchange (ETDEWEB)

    Bauer, Fabian; Römer, Ulrich, E-mail: ulrich.roemer@kit.edu; Fidlin, Alexander; Seemann, Wolfgang [Institute of Engineering Mechanics, Karlsruhe Institute of Technology (Germany)

    2016-11-15

    This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings—mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling between the shanks. It is modeled as underactuated system to make use of its natural dynamics and feedback controlled via input–output linearization. A numerical optimization of the joint angle trajectories as well as the elastic couplings is performed to minimize the average energy expenditure over the whole speed range. The elastic couplings increase the swing leg motion’s natural frequency thus making smaller steps more efficient which reduce the impact loss at the touchdown of the swing leg. The process of energy turnover is investigated in detail for the robot with and without elastic coupling between the shanks. Furthermore, the influences of the elastic couplings’ topology and of joint friction are analyzed. It is shown that the optimization of the robot’s motion and elastic coupling towards energy efficiency leads to a slightly slower convergence rate of the controller, yet no loss of stability, but a lower sensitivity with respect to disturbances. The optimal elastic coupling discovered via numerical optimization is a linear torsion spring with transmissions between the shanks. A design proposal for this elastic coupling—which does not affect the robot’s trunk and parallel shank motion and can be used to enhance an existing robot—is given for planar as well as spatial robots.

  14. 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

  15. Ti6Al4V Superplastic Forming for the Production of an Aircraft Part

    Science.gov (United States)

    Filice, L.; Gagliardi, F.; Lazzaro, S.; Rosa, R.

    2011-05-01

    Titanium and its alloys have grown their importance in the automotive and aerospace industries becoming strategic materials; this is due to their mechanical properties that, perfectly, meet the needs of the above said industrial field. For example, they are characterized by a high strength vs. weight ratio that is directly related to fuel saving impacting on both economic and environmental aspects. A weakness point of these materials is linked to their workability that entails significant manufacturing costs. Taking into account these issues, it is easy to understand the reasons for the development of net shape technologies, like hot forming (HF) or superplastic forming (SPF) in order to reduce the price of titanium components. In the work here introduced, a cockpit section, known as "Pocket Support", was produced through SPF. More in detail, the influence that the strain rate can have on the quality of the final part was highlighted; for this reason, two different pressure-time curves were tested monitoring the accuracy and wall thinning of the realized parts. The experimental campaign was carried out using an ACB superplastic forming press located in the Somma Vesuviana DEMA plant. The dimension of the obtained components were checked through the structural light technique (Gray Code-Phase Shifting); in particular, a cloud of points was obtained and, subsequently, used to rebuild the actual surface of the Pocket Support. In this way, a comparison between the CAD model and the real part was possible. Moreover, the thickness distribution along a critical section was analyzed by means of a coordinate measuring machine.

  16. DETAILS OF OPERATIONS PERFORMED BY THE REMOTE CONTROL ROBOT (CONCEPT TO THE HORIZONTAL FUEL CHANNEL DURING DECOMMISSIONING PHASE OF NUCLEAR REACTOR CALANDRIA STRUCTURE. PART II: INSIDE OPERATIONS

    Directory of Open Access Journals (Sweden)

    Constantin POPESCU

    2017-05-01

    Full Text Available The authors contribution to this paper is to present a concept solution of a remote control robot (RCR used for decommissioning of the horizontal fuel channels pressure tube in the CANDU nuclear reactor. In this paper the authors highlight few details of geometry, operations, constraints by kinematics and dynamics of the robot movement inside of the reactor fuel channel. Inside operations performed has as the main steps of dismantling process the followings: unblock and extract the channel closure plug (from End Fitting - EF, unblock and extract the channel shield plug (from Lattice Tube - LT, cut the ends of the pressure tube, extract the pressure tube and cut it in small parts, sorting and storage extracted items in the safe robot container. All steps are performed in automatic mode. The remote control robot (RCR represents a safety system controlled by sensors and has the capability to analyze any error registered and decide next activities or abort the inside decommissioning procedure in case of any risk rise in order to ensure the environmental and workers protection.

  17. Normal forms for germs of vector fields with quadratic leading part. The polynomial first integral case

    Science.gov (United States)

    Stróżyna, Ewa

    2015-12-01

    We study the problem of formal classification of the vector fields of the form x ˙ = ax2 + bxy + cy2 + … , y ˙ = dx2 + exy + fy2 + … using formal changes of the coordinates, but not using the changes of the time. We focus on one special case (which is the most complex one): when the quadratic homogeneous part has a polynomial first integral. In the proofs we avoid complicated calculations. The method we use is effective and it is based on the method introduced in our previous work concerning the Bogdanov-Takens singularity.

  18. Extended skew-symmetric form for summation-by-parts operators and varying Jacobians

    Science.gov (United States)

    Ranocha, Hendrik; Öffner, Philipp; Sonar, Thomas

    2017-08-01

    A generalised analytical notion of summation-by-parts (SBP) methods is proposed, extending the concept of SBP operators in the correction procedure via reconstruction (CPR), a framework of high-order methods for conservation laws. For the first time, SBP operators with dense norms and not including boundary points are used to get an entropy stable split-form of Burgers' equation. Moreover, overcoming limitations of the finite difference framework, stability for curvilinear grids and dense norms is obtained for SBP CPR methods by using a suitable way to compute the Jacobian.

  19. Space Robotics: Robotic Rovers for Planetary Exploration

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2008-11-01

    Full Text Available In this third of three short papers, I introduce some of the basic concepts of planetary rovers with an emphasis on some specific challenging areas of research that are peculiar to planetary robotics and not usually associated with terrestrial mobile robotics. The style of these short papers is pedagogical and this paper stresses the issue of rover-terrain interaction as an important consideration. Soil-vehicle interaction originates from military vehicle research but may be regarded as part of the dynamical approach to mobile robotics. For hostile planetary surfaces, this is essential in order to design a robotic rover with sufficient tractive capability to traverse planetary surfaces.

  20. 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/

  1. 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.)

  2. 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...

  3. Space robotics in Japan

    Science.gov (United States)

    Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-01-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  4. 32 CFR Appendix E to Part 286 - DD Form 2564, “Annual Report Freedom of Information Act”

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 2 2010-07-01 2010-07-01 false DD Form 2564, âAnnual Report Freedom of Information Actâ E Appendix E to Part 286 National Defense Department of Defense (Continued) OFFICE OF THE... REGULATION Pt. 286, App. E Appendix E to Part 286—DD Form 2564, “Annual Report Freedom of Information Act...

  5. 32 CFR Appendix C to Part 286 - DD Form 2086, “Record of Freedom of Information (FOI) Processing Cost”

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 2 2010-07-01 2010-07-01 false DD Form 2086, âRecord of Freedom of Information (FOI) Processing Costâ C Appendix C to Part 286 National Defense Department of Defense (Continued... INFORMATION ACT PROGRAM REGULATION Pt. 286, App. C Appendix C to Part 286—DD Form 2086, “Record of Freedom of...

  6. 32 CFR Appendix C to Part 77 - DD Form 2581-1, Public and Community Service Organization Validation

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false DD Form 2581-1, Public and Community Service Organization Validation C Appendix C to Part 77 National Defense Department of Defense OFFICE OF THE SECRETARY..., App. C Appendix C to Part 77—DD Form 2581-1, Public and Community Service Organization Validation...

  7. 32 CFR Appendix D to Part 113 - Sample DD Form 2654, “Involuntary Allotment Notice and Processing”

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false Sample DD Form 2654, âInvoluntary Allotment Notice and Processingâ D Appendix D to Part 113 National Defense Department of Defense OFFICE OF THE..., App. D Appendix D to Part 113—Sample DD Form 2654, “Involuntary Allotment Notice and Processing...

  8. 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...... discourse shapes how we perceive and use technology and also points to the ways in which emerging technologies “refashion our experience of space, time and human being filter through our art works, dreams and fantasies.” This paper considers a survey of robot dramaturgies to demonstrate how performance both...... shapes and reinforces popular awareness and misconceptions of robots. Flyvende Grise’s The Future (2013), Amit Drori’s Savanna (2010), Global Creatures’ King Kong (2013) and Louis Philip Demers’ Blind Robot (2013) each utilize tele-operated robots across a wide range of human and animal morphologies...

  9. 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...

  10. ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

    Directory of Open Access Journals (Sweden)

    Hidetsugu Suto

    2013-12-01

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

  11. 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.

  12. Theory and praxis of map analsys in CHEF part 2: Nonlinear normal form

    Energy Technology Data Exchange (ETDEWEB)

    Michelotti, Leo; /FERMILAB

    2009-04-01

    This is the second of three memos describing how normal form map analysis is implemented in CHEF. The first [1] explained the manipulations required to assure that initial, linear transformations preserved Poincare invariants, thereby confirming correct normalization of action-angle coordinates. In this one, the transformation will be extended to nonlinear terms. The third, describing how the algorithms were implemented within the software of CHEF's libraries, most likely will never be written. The first section, Section 2, quickly lays out preliminary concepts and relationships. In Section 3, we shall review the perturbation theory - an iterative sequence of transformations that converts a nonlinear mapping into its normal form - and examine the equation which moves calculations from one step to the next. Following that is a section titled 'Interpretation', which identifies connections between the normalized mappings and idealized, integrable, fictitious Hamiltonian models. A final section contains closing comments, some of which may - but probably will not - preview work to be done later. My reasons for writing this memo and its predecessor have already been expressed. [1] To them can be added this: 'black box code' encourages users to proceed with little or no understanding of what it does or how it operates. So far, CHEF has avoided this trap admirably by failing to attract potential users. However, we reached a watershed last year: even I now have difficulty following the software through its maze of operations. Extensions to CHEF's physics functionalities, software upgrades, and even simple maintenance are becoming more difficult than they should. I hope these memos will mark parts of the maze for easier navigation in the future. Despite appearances to the contrary, I tried to include no (or very little) more than the minimum needed to understand what CHEF's nonlinear analysis modules do.1 As with the first memo, material

  13. Theory and praxis pf map analsys in CHEF part 1: Linear normal form

    Energy Technology Data Exchange (ETDEWEB)

    Michelotti, Leo; /Fermilab

    2008-10-01

    This memo begins a series which, put together, could comprise the 'CHEF Documentation Project' if there were such a thing. The first--and perhaps only--three will telegraphically describe theory, algorithms, implementation and usage of the normal form map analysis procedures encoded in CHEF's collection of libraries. [1] This one will begin the sequence by explaining the linear manipulations that connect the Jacobian matrix of a symplectic mapping to its normal form. It is a 'Reader's Digest' version of material I wrote in Intermediate Classical Dynamics (ICD) [2] and randomly scattered across technical memos, seminar viewgraphs, and lecture notes for the past quarter century. Much of its content is old, well known, and in some places borders on the trivial.1 Nevertheless, completeness requires their inclusion. The primary objective is the 'fundamental theorem' on normalization written on page 8. I plan to describe the nonlinear procedures in a subsequent memo and devote a third to laying out algorithms and lines of code, connecting them with equations written in the first two. Originally this was to be done in one short paper, but I jettisoned that approach after its first section exceeded a dozen pages. The organization of this document is as follows. A brief description of notation is followed by a section containing a general treatment of the linear problem. After the 'fundamental theorem' is proved, two further subsections discuss the generation of equilibrium distributions and issue of 'phase'. The final major section reviews parameterizations--that is, lattice functions--in two and four dimensions with a passing glance at the six-dimensional version. Appearances to the contrary, for the most part I have tried to restrict consideration to matters needed to understand the code in CHEF's libraries.

  14. Robotics and nuclear power. Report by the Technology Transfer Robotics Task Team

    Energy Technology Data Exchange (ETDEWEB)

    1985-06-01

    A task team was formed at the request of the Department of Energy to evaluate and assess technology development needed for advanced robotics in the nuclear industry. The mission of these technologies is to provide the nuclear industry with the support for the application of advanced robotics to reduce nuclear power generating costs and enhance the safety of the personnel in the industry. The investigation included robotic and teleoperated systems. A robotic system is defined as a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. A teleoperated system includes an operator who remotely controls the system by direct viewing or through a vision system.

  15. Neuro-robotics from brain machine interfaces to rehabilitation robotics

    CERN Document Server

    Artemiadis

    2014-01-01

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

  16. 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...... validation of the implemented solutions and the ability of the methods to solve real world problems. The amount of software needed by an autonomous robot can be overwhelming. Software reuse and distributed development are therefore important issues. The thesis describes a new component architecture...

  17. SKI Touring in Poland: Who Takes Part in this Form of Specialised Tourism? How Do They Take Part and Why?

    OpenAIRE

    Jażdżewska, Iwona

    2017-01-01

    The article presents a description of ski touring by Polish tourists. The author is looking for answers to the following questions: Who goes on this form of tourism? How and why? How experienced are the tourists? Are they aware of the risks involved? Are they theoretically and practically prepared for the danger of avalanches? The author compares their social features and tourist-recreational behaviour to research conducted by the Central Statistical Office in 2012.

  18. 12 CFR Appendix B to Part 203 - Form and Instructions for Data Collection on Ethnicity, Race, and Sex

    Science.gov (United States)

    2010-01-01

    ... Ethnicity, Race, and Sex B Appendix B to Part 203 Banks and Banking FEDERAL RESERVE SYSTEM BOARD OF... to Part 203—Form and Instructions for Data Collection on Ethnicity, Race, and Sex I. Instructions on Collection of Data on Ethnicity, Race, and Sex You may list questions regarding the ethnicity, race, and sex...

  19. 12 CFR Appendix to Part 760 - Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief...

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 6 2010-01-01 2010-01-01 false Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief Assistance Appendix to Part 760 Banks and Banking NATIONAL CREDIT UNION ADMINISTRATION REGULATIONS AFFECTING CREDIT UNIONS LOANS IN AREAS HAVING SPECIAL FLOOD HAZARDS Pt. 760, App. Appendix to Part 760...

  20. 49 CFR Appendix H to Part 40 - DOT Drug and Alcohol Testing Management Information System (MIS) Data Collection Form

    Science.gov (United States)

    2010-10-01

    ..., App. H Appendix H to Part 40—DOT Drug and Alcohol Testing Management Information System (MIS) Data... 49 Transportation 1 2010-10-01 2010-10-01 false DOT Drug and Alcohol Testing Management Information System (MIS) Data Collection Form H Appendix H to Part 40 Transportation Office of the Secretary...

  1. 32 CFR Appendix D to Part 623 - Certificate for Signature by an Alternate (DA Form 4881-1-R)

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 3 2010-07-01 2010-07-01 true Certificate for Signature by an Alternate (DA Form 4881-1-R) D Appendix D to Part 623 National Defense Department of Defense (Continued) DEPARTMENT...—Certificate for Signature by an Alternate (DA Form 4881-1-R) EC24OC91.019 EC24OC91.020 ...

  2. 5 CFR Appendix A to Part 2634 - Certificate of Independence (Form Approved: OMB Control No. 3209-0007)

    Science.gov (United States)

    2010-01-01

    ... 5 Administrative Personnel 3 2010-01-01 2010-01-01 false Certificate of Independence (Form... OF DIVESTITURE Pt. 2634, App. A Appendix A to Part 2634—Certificate of Independence (Form Approved: OMB Control No. 3209-0007) The Certificate of Independence required by § 2634.406(b) shall be executed...

  3. 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...

  4. Automated Cable Preparation for Robotized Stator Cable Winding

    Directory of Open Access Journals (Sweden)

    Erik Hultman

    2017-04-01

    Full Text Available A method for robotized cable winding of the Uppsala University Wave Energy Converter generator stator has previously been presented and validated. The purpose of this study is to present and validate further developments to the method: automated stand-alone equipment for the preparation of the winding cables. The cable preparation consists of three parts: feeding the cable from a drum, forming the cable end and cutting the cable. Forming and cutting the cable was previously done manually and only small cable drums could be handled. Therefore the robot cell needed to be stopped frequently. The new equipment was tested in an experimental robot stator cable winding setup. Through the experiments, the equipment was validated to be able to perform fully automated and robust cable preparation. Suggestions are also given on how to further develop the equipment with regards to performance, robustness and quality. Hence, this work represents another important step towards demonstrating completely automated robotized stator cable winding.

  5. Space Robotics: Robotic Rovers for Planetary Exploration

    OpenAIRE

    Alex Ellery

    2004-01-01

    In this third of three short papers, I introduce some of the basic concepts of planetary rovers with an emphasis on some specific challenging areas of research that are peculiar to planetary robotics and not usually associated with terrestrial mobile robotics. The style of these short papers is pedagogical and this paper stresses the issue of rover-terrain interaction as an important consideration. Soil-vehicle interaction originates from military vehicle research but may be regarded as part ...

  6. Interactive robot Robot acting on human intentions

    OpenAIRE

    Bremnes, Trym

    2017-01-01

    As the world's population ages, demands for health services continues to increase and robotics can be part of the solutions to this problem. One particular area of medicine, ultrasound, can be helped by robotics, especially for doctors who would otherwise suffer long term health implications. The primary purpose of this study is to construct a system designed to be useful and low cost in the context of an ultrasound procedure. An equally important goal is to determine if the proposed solution...

  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. 16 CFR Appendix C to Part 698 - Model Forms for Affiliate Marketing Opt-Out Notices

    Science.gov (United States)

    2010-01-01

    ... 16 Commercial Practices 1 2010-01-01 2010-01-01 false Model Forms for Affiliate Marketing Opt-Out... Marketing Opt-Out Notices A. Although use of the model forms is not required, use of the model forms in this... account history,” and “your credit score.” 2. Substituting other types of information for “income...

  9. Programmed First Course in Algebra, Revised Form H, Student's Text, Part I, Unit 60.

    Science.gov (United States)

    Buck, R. Creighton; And Others

    This is part one of a two-part SMSG Programed Algebra Text for high school students. The general plan of the course is to build upon the student's experience with arithmetic. The student is initially led to extract from his or her experience the fundamental properties of addition and multiplication. The text then introduces negative real numbers…

  10. Artificial pheromone for path selection by a foraging swarm of robots.

    Science.gov (United States)

    Campo, Alexandre; Gutiérrez, Alvaro; Nouyan, Shervin; Pinciroli, Carlo; Longchamp, Valentin; Garnier, Simon; Dorigo, Marco

    2010-11-01

    Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.

  11. 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....

  12. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  13. An ontology system for rehabilitation robotics

    OpenAIRE

    Doğmuş, Zeynep; Dogmus, Zeynep

    2013-01-01

    Representing the available information about rehabilitation robots in a structured form, like ontologies, facilitates access to various kinds of information about the existing robots, and thus it is important both from the point of view of rehabilitation robotics and from the point of view of physical medicine. Rehabilitation robotics researchers can learn various properties of the existing robots and access to the related publications to further improve the state-of-the-art. Physical medicin...

  14. Service Robots for Hospitals

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    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......, adaptable and scalable. Robots have to be semi-autonomous, and should reliably navigate in large and dynamic environments in the hospital. The complexity of the problem has to be manageable, and the solutions have to be flexible, so that the system can be applicable in real world settings. This thesis...... summarizes the efforts to address these issues. Upon the analysis of the transportation tasks and how they are currently handled in hospitals, a navigation system is envisaged. Visual tags are a part of this system, and a survey was conducted to find out the most prominent ones to be used in mobile robot...

  15. Imagery May Arise from Associations Formed through Sensory Experience: A Network of Spiking Neurons Controlling a Robot Learns Visual Sequences in Order to Perform a Mental Rotation Task.

    Science.gov (United States)

    McKinstry, Jeffrey L; Fleischer, Jason G; Chen, Yanqing; Gall, W Einar; Edelman, Gerald M

    Mental imagery occurs "when a representation of the type created during the initial phases of perception is present but the stimulus is not actually being perceived." How does the capability to perform mental imagery arise? Extending the idea that imagery arises from learned associations, we propose that mental rotation, a specific form of imagery, could arise through the mechanism of sequence learning-that is, by learning to regenerate the sequence of mental images perceived while passively observing a rotating object. To demonstrate the feasibility of this proposal, we constructed a simulated nervous system and embedded it within a behaving humanoid robot. By observing a rotating object, the system learns the sequence of neural activity patterns generated by the visual system in response to the object. After learning, it can internally regenerate a similar sequence of neural activations upon briefly viewing the static object. This system learns to perform a mental rotation task in which the subject must determine whether two objects are identical despite differences in orientation. As with human subjects, the time taken to respond is proportional to the angular difference between the two stimuli. Moreover, as reported in humans, the system fills in intermediate angles during the task, and this putative mental rotation activates the same pathways that are activated when the system views physical rotation. This work supports the proposal that mental rotation arises through sequence learning and the idea that mental imagery aids perception through learned associations, and suggests testable predictions for biological experiments.

  16. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

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

  17. 46 CFR Appendix A to Part 535 - Information Form and Instructions

    Science.gov (United States)

    2010-10-01

    ... offering of competing services in the geographic scope? Yes □ No □ (G) Authority to charter vessel space... container. Further, when used in this Form, the terms “entire geographic scope of the agreement” or... trades apply to the geographic scope of the agreement, as opposed to the term “sub-trade,” which is...

  18. 24 CFR Appendix C to Part 3500 - Instructions for Completing Good Faith Estimate (GFE) Form

    Science.gov (United States)

    2010-04-01

    ... the GFE are primarily for the benefit of the loan originator who prepares the form and need not be... prepared completely and accurately. A separate GFE must be provided for each loan where a transaction will involve more than one mortgage loan. General Instructions The loan originator preparing the GFE may fill...

  19. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, volume 2, part 1. Appendix A: Software documentation

    Science.gov (United States)

    Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

    1982-01-01

    Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

  20. A Robotic Guide for Blind People. Part 1. A Multi-National Survey of the Attitudes, Requirements and Preferences of Potential End-Users

    Directory of Open Access Journals (Sweden)

    Marion A. Hersh

    2010-01-01

    Full Text Available This paper reports the results of a multi-national survey in several different countries on the attitudes, requirements and preferences of blind and visually impaired people for a robotic guide. The survey is introduced by a brief overview of existing work on robotic travel aids and other mobile robotic devices. The questionnaire comprises three sections on personal information about respondents, existing use of mobility and navigation devices and the functions and other features of a robotic guide. The survey found that respondents were very interested in the robotic guide having a number of different functions and being useful in a wide range of circumstances. They considered the robot's appearance to be very important but did not like any of the proposed designs. From their comments, respondents wanted the robot to be discreet and inconspicuous, small, light weight and portable, easy to use, robust to damage, require minimal maintenance, have a long life and a long battery life.

  1. Research of forming of thin-walled axisymmetric cone-shaped parts

    Science.gov (United States)

    Demyanenko, E. G.; Popov, I. P.; Abroyan, A. U.

    2017-10-01

    This article presents a new method based on the process of beading, which allows reducing polythickness of the part wall along generatrix. The proposed method differs from known approaches in the fact that it is presented active friction forces exerted on the both surfaces of the blank. These forces are provided by usage of the elastic die and cone. This method was researched using computer simulation andexperiment. In the experiment it was used the stamping tool, which implements the proposed method.

  2. The relief formed by the descent phenomenon in the north-east part of Kosova.

    Science.gov (United States)

    Bulliqi, Shpejtim; Isufi, Florim; Ramadani, Ibrahim; Gashi, Gani

    2012-04-01

    In the diverse relief of north-east part of Kosova a relatively wide range occupies the relief modelled by the descent phenomenon, which is conditioned by morph-structural and climatic factors quite suitable for their development. The morphogenesis activity of descent phenomenon is conditioned by the types of rocks, tectonic process of this region and climatic conditions. These factors condition horizontal and vertical relief fragmentation, slope, especially in Gollaku mountains and in SE part of Kopaonik mountain. Along the tectonic descents, the steepness is detaching and the detaching lines consisting of magmatic rocks show overthrows, demolitions and stony torrents, but the Teri gene composition formations are modelled by sliding and muddy torrents, depending upon the presence of clayey and alevrolite belts on these Teri gene ones. The impact of factors and conditions on the relief of this part, the phenomena like demolitions, overthrows, sliding, muddy torrents, stony torrents, etc, operate here, which play an important morphological role in the modelling of relief.

  3. Nominal KAŊ form in Basse Mandinka: Its cognitive mapping and taxonomical status (Part 2

    Directory of Open Access Journals (Sweden)

    Andrason Alexander

    2014-12-01

    Full Text Available Purpose: T he present study, divided into a series of two papers, provides a detailed empirical description and cognitive-grammaticalization analysis of the meaning of a Mandinka verbal expression compounded of the non-verbal predicator be ‘be’, a verbal noun expressing a given action and the postposition kaŋ ‘on, at’ (so-called the Nominal KAŊ form.

  4. Simulation of press-forming for automobile part using ultra high tension steel

    Directory of Open Access Journals (Sweden)

    Tanabe I.

    2012-08-01

    Full Text Available In recent years, ultra high tension steel has gradually been used in the automobile industry. The development of press-forming technology is now essential by reason of its high productivity and high product quality. In this study, tensile tests were performed with a view to understanding the material properties. Press-forming tests were then carried out with regard to the behaviors of spring back and deep-drawability, and manufacturing a real product. The ultra high tension steel used in the experiments had a thickness of 1 mm and a tensile strength of 1000 MPa. Finally, simulations of spring back, deep-drawability and manufacturing a real product in ultra high tension steel were conducted and evaluated in order to calculate the optimum-press-forming conditions and the optimum shape of the die. FEM with non-linear and dynamic analysis using Euler-Lagrange’s element was used for the simulations. It is concluded from the results that (1 the simulations conformed to the results of the experiments (2 the simulations proved very effective for calculating the optimum press conditions and die shape.

  5. Robots and sensor clouds

    CERN Document Server

    Shakshuki, Elhadi

    2016-01-01

    This book comprises four chapters that address some of the latest research in clouds robotics and sensor clouds. The first part of the book includes two chapters on cloud robotics. The first chapter introduces a novel resource allocation framework for cloud robotics and proposes a Stackelberg game model and the corresponding task oriented pricing mechanism for resource allocation. In the second chapter, the authors apply Cloud Computing for building a Cloud-Based 3D Point Cloud extractor for stereo images. Their objective is to have a dynamically scalable and applicable to near real-time scenarios.  .

  6. Theory of non-local point transformations - Part 2: General form and Gedanken experiment

    CERN Document Server

    Tessarotto, Massimo

    2016-01-01

    The problem is posed of further extending the axiomatic construction proposed in Part 1 for non-local point transformations mapping in each other different curved space times. The new transformations apply to curved space times when expressed in arbitrary coordinate systems. It is shown that the solution permits to achieve an ideal (Gedanken) experiment realizing a suitable kind of phase-space transformation on point-particle classical dynamical systems. Applications of the theory are discussed both for diagonal and non-diagonal metric tensors.

  7. Some recent developments in sheet metal forming for production of lightweight automotive parts

    Science.gov (United States)

    Tisza, M.; Lukács, Zs; Kovács, P.; Budai, D.

    2017-09-01

    Low cost manufacturing in the automotive industry is one of the main targets due to the ever increasing global competition among car manufacturers all over the World. Sheet metal forming is one of the most important key technologies in the automotive industry; therefore the elaboration of new, innovative low cost manufacturing processes is one of the main objectives in sheet metal forming as well. In 2015 with the initiative of the Imperial College London a research consortium was established under the umbrella Low Cost Materials Processing Technologies for Mass Production of Lightweight Vehicles. The primary aim of this project is to provide affordable low cost weight reduction in mass production of vehicles considering the entire life-cycle. In this project, 19 European Institutions (Universities and Research Institutions) from 9 European countries are participating with the above targets. The University of Miskolc is one of the members of this research Consortium. In this paper, some preliminary results with the contributions of the University of Miskolc will be introduced.

  8. Saliency detection and model-based tracking: a two part vision system for small robot navigation in forested environment

    Science.gov (United States)

    Roberts, Richard; Ta, Duy-Nguyen; Straub, Julian; Ok, Kyel; Dellaert, Frank

    2012-06-01

    Towards the goal of fast, vision-based autonomous flight, localization, and map building to support local planning and control in unstructured outdoor environments, we present a method for incrementally building a map of salient tree trunks while simultaneously estimating the trajectory of a quadrotor flying through a forest. We make significant progress in a class of visual perception methods that produce low-dimensional, geometric information that is ideal for planning and navigation on aerial robots, while directing computational resources using motion saliency, which selects objects that are important to navigation and planning. By low-dimensional geometric information, we mean coarse geometric primitives, which for the purposes of motion planning and navigation are suitable proxies for real-world objects. Additionally, we develop a method for summarizing past image measurements that avoids expensive computations on a history of images while maintaining the key non-linearities that make full map and trajectory smoothing possible. We demonstrate results with data from a small, commercially-available quad-rotor flying in a challenging, forested environment.

  9. Pigs produce only a single form of CGRP, part of which is processed to N- and C-terminal fragments

    DEFF Research Database (Denmark)

    Rasmussen, T N; Bersani, M; Johnsen, A H

    1994-01-01

    Using radioimmunoassays with two different antisera, one directed towards the C-terminal and one towards the mid part of porcine and human alpha-CGRP, respectively, we isolated three immunoreactive peptides from acid/ethanol extracts of porcine spinal cord by means of HPLC. By amino acid sequence...... to detect any second full-length form of CGRP. Thus, we conclude that only a single form of full-length CGRP is found in pigs and that this peptide may be cleaved to produce potentially bioactive N- and C-terminal fragments....

  10. [Knowledge, attitudes and practice regarding dengue in a neighborhood forming part of the city of Cartagena].

    Science.gov (United States)

    Hernández-Escolar, Jacqueline; Consuegra-Mayor, Claudia; Herazo-Beltrán, Yaneth

    2014-01-01

    Identifying attitudes, practice and knowledge regarding dengue in a neighborhood of the city of Cartagena. This was a cross-sectional study of 870 people living in a neighborhood in the south-eastern part of Cartagena. Probabilistic, randomized, three-staged sampling was used; it was intended to ascertain attitudes, practice and knowledge about dengue. The Stata statistics package (version 11.1) was used for analyzing the data to determine the absolute and relative frequency for each variable studied. It was found that 93.7 % of those surveyed knew about the disease; although 49.7 % did not know what the causal agent of the disease was, 80.5 % of those surveyed did express an interest. In receiving health education classes. 60.1 % of the population surveyed here stored water in their homes and 73.8 % used tanks as containers. 24.8 % of those surveyed stated that they avoided having/using stagnant water. The residents confirmed the high incidence of dengue cases reported by the district health department. Knowledge about dengue was limited; risky practices favoring the disease's development were adopted, but an attitude towards controlling this issue was evident. Changes in current behavior patterns must thus be promoted in the community and also regarding how prevention and control programs are being carried out.

  11. 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

  12. Robots' Safety

    OpenAIRE

    Pirttilahti, Juho

    2016-01-01

    Human-robot-collaboration is considered one of the answers to the flexible needs of more and more customizing manufacturing. Its purpose is to fit together the best qualities of both human and robots to reduce the cost and time of manufacturing. One of the key questions in this area is safety. The purpose of this thesis was to define the required safety functionality of cartesian, delta and articulated robots based on the current machine needs. Using the future robotic concepts investigat...

  13. Cuspidal Robots

    OpenAIRE

    Wenger, Philippe

    2016-01-01

    This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the non-singular change of posture, uniqueness domains, regions of feasible paths, identification and cla...

  14. Study of diffuse H II regions potentially forming part of the gas streams around Sgr A*

    Science.gov (United States)

    Armijos-Abendaño, J.; López, E.; Martín-Pintado, J.; Báez-Rubio, A.; Aravena, M.; Requena-Torres, M. A.; Martín, S.; Llerena, M.; Aldás, F.; Logan, C.; Rodríguez-Franco, A.

    2018-02-01

    We present a study of diffuse extended ionised gas toward three clouds located in the Galactic Centre (GC). One line of sight (LOS) is toward the 20 km s-1 cloud (LOS-0.11) in the Sgr A region, another LOS is toward the 50 km s-1 cloud (LOS-0.02), also in Sgr A, while the third is toward the Sgr B2 cloud (LOS+0.693). The emission from the ionised gas is detected from Hnα and Hmβ radio recombination lines (RRLs). Henα and Hemβ RRL emission is detected with the same n and m as those from the hydrogen RRLs only toward LOS+0.693. RRLs probe gas with positive and negative velocities toward the two Sgr A sources. The Hmβ to Hnα ratios reveal that the ionised gas is emitted under local thermodynamic equilibrium conditions in these regions. We find a He to H mass fraction of 0.29±0.01 consistent with the typical GC value, supporting the idea that massive stars have increased the He abundance compared to its primordial value. Physical properties are derived for the studied sources. We propose that the negative velocity component of both Sgr A sources is part of gas streams considered previously to model the GC cloud kinematics. Associated massive stars with what are presumably the closest H II regions to LOS-0.11 (positive velocity gas), LOS-0.02 and LOS+0.693 could be the main sources of UV photons ionising the gas. The negative velocity components of both Sgr A sources might be ionised by the same massive stars, but only if they are in the same gas stream.

  15. An In Vitro Robotic Assessment of the Anterolateral Ligament, Part 2: Anterolateral Ligament Reconstruction Combined With Anterior Cruciate Ligament Reconstruction.

    Science.gov (United States)

    Nitri, Marco; Rasmussen, Matthew T; Williams, Brady T; Moulton, Samuel G; Cruz, Raphael Serra; Dornan, Grant J; Goldsmith, Mary T; LaPrade, Robert F

    2016-03-01

    Recent biomechanical studies have demonstrated that an extra-articular lateral knee structure, most recently referred to as the anterolateral ligament (ALL), contributes to overall rotational stability of the knee. However, the effect of anatomic ALL reconstruction (ALLR) in the setting of anterior cruciate ligament (ACL) reconstruction (ACLR) has not been biomechanically investigated or validated. The purpose of this study was to investigate the biomechanical function of anatomic ALLR in the setting of a combined ACL and ALL injury. More specifically, this investigation focused on the effect of ALLR on resultant rotatory stability when performed in combination with concomitant ACLR. It was hypothesized that ALLR would significantly reduce internal rotation and axial plane translation laxity during a simulated pivot-shift test compared with isolated ACLR. Controlled laboratory study. Ten fresh-frozen cadaveric knees were evaluated with a 6 degrees of freedom robotic system. Knee kinematics were evaluated with simulated clinical examinations including a simulated pivot-shift test consisting of coupled 10-N·m valgus and 5-N·m internal rotation torques, a 5-N·m internal rotation torque, and an 88-N anterior tibial load. Kinematic differences between ACLR with an intact ALL, ACLR with ALLR, and ACLR with a deficient ALL were compared with the intact state. Single-bundle ACLR tunnels and ALLR tunnels were placed anatomically according to previous quantitative anatomic attachment descriptions. Combined anatomic ALLR and ACLR significantly improved the rotatory stability of the knee compared with isolated ACLR in the face of a concurrent ALL deficiency. During a simulated pivot-shift test, ALLR significantly reduced internal rotation and axial plane tibial translation when compared with ACLR with an ALL deficiency. Isolated ACLR for the treatment of a combined ACL and ALL injury was not able to restore stability of the knee, resulting in a significant increase in

  16. Mapping of unknown industrial plant using ROS-based navigation mobile robot

    Science.gov (United States)

    Priyandoko, G.; Ming, T. Y.; Achmad, M. S. H.

    2017-10-01

    This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

  17. Traveling Robots and Their Cultural Baggage

    DEFF Research Database (Denmark)

    Blond, Lasse

    When social robots are imported from Asia to Europe they bring along with them a cultural luggage consisting of foreign sociotechnical imaginary. The effort to adopt the robot Silbot to Nordic social services exposed unfamiliar and cultural-dependent views of care, cognition, health and human...... nature. Studying Silbot in “the wild” highlighted these issues as well as the human-robot interaction and the adaptation of the robot to real life praxis. The importance of comprehending robots as parts of sociotechnical ensembles is emphasized as well as the observance of how robots are shaped...

  18. 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.

  19. Robot friendship: Can a robot be a friend?

    DEFF Research Database (Denmark)

    Emmeche, Claus

    2014-01-01

    Friendship is used here as a conceptual vehicle for framing questions about the distinctiveness of human cognition in relation to natural systems such as other animal species and to artificial systems such as robots. By exploring this very common form of a human interpersonal relationship...... of friendship as a triadic relation analogous to the sign relation is suggested. Based on this the author asks how one may conceive of robot-robot and robot-human friendships; and how an interdisciplinary perspective upon that relation can contribute to analyse levels of embodied cognition in natural...

  20. Mobile Robots in Human Environments

    DEFF Research Database (Denmark)

    Svenstrup, Mikael

    Traditionally, robots have been assistant machines in factories and a ubiquitous part of science fiction movies. But within the last decade the robots have started to emerge in everyday human environments. Today they are in our everyday environment in the shape of, for example, vacuum cleaners......, lawn mowers, toy pets, or as assisting technologies for care giving. If we want robots to be an even larger and more integrated part of our every- day environments, they need to become more intelligent, and behave safe and natural to the humans in the environment. This thesis deals with making...... intelligent mobile robotic devices capable of being a more natural and sociable actor in a human environment. More specific the emphasis is on safe and natural motion and navigation issues. First part of the work focus on developing a robotic system, which estimates human interest in interacting...

  1. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    Robots are simultaneously real machines and technical images that challenge our sense of self. In the Open Forum I discuss the movie Ex Machina by director Alex Garland. The robot Ava, played by Alicia Vikander, is a rare portrait of what could be interpreted as a feminist robot (and...... there are spoilers ahead for any readers unfamiliar with this movie). Though she apparently is created as the dream of the ‘perfect woman’, sexy and beautiful, she also develops and urges to free herself from the slavery of her creator, Nathan Bateman. She is a robot created along the perfect dimensions...... as a Vitruvian robot but is also a creature which could be interpreted as a human being. However, the point I want to raise is not whether Ava’s reaction to robot slavery is justified or not but how her portrait raises questions about the blurred lines between reality and fiction when we discuss our robotic...

  2. 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....

  3. Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure: Algorithm for Adaptive Transformation to Load Condition

    Directory of Open Access Journals (Sweden)

    Yosuke Suzuki

    2011-01-01

    Full Text Available Self-reconfigurable modular robots are composed of modules which are able to autonomously change the way they are connected. An appropriate control algorithm enables the modular robots to change their shape in order to adapt to their immediate environment. In this paper, we propose an algorithm for adaptive transformation to load condition of the modular robots. The algorithm is based on a simple idea that modules have tendency to gather around stress-concentrated parts and reinforce the parts. As a result of the self-reconfiguration rule, the modular robots form an appropriate structure to stand for the load condition. Applying the algorithm to our modular robot named “CHOBIE II,” we show by computer simulation that the modules are able to construct a cantilever structure with avoiding overstressed states.

  4. Social Robots as Persuasive Agents

    DEFF Research Database (Denmark)

    Vlachos, Evgenios; Schärfe, Henrik

    2014-01-01

    Robots are more and more used in a social context, and in this paper we try to formulate a research agenda concerning ethical issues around social HRI in order to be prepared for future scenarios where robots may be a naturally integrated part of human society. We outline different paradigms...... to describe the role of social robots in communication processes with humans, and connect HRI with the topic of persuasive technology in health care, to critically reflect the potential benefits of using social robots as persuasive agents....

  5. Modelling and Control of 5 dof Robotic Arm

    Directory of Open Access Journals (Sweden)

    Nurettin Gökhan Adar

    2013-01-01

    Full Text Available In this paper, dynamic modeling of a 5 DOF Robotic Arm was carried out. The Robotic Arm totally had 5 DOF spatial articulated arm which consist of 3 parts. The modeling of dynamic equations of motion were based on Lagrange-Euler equations. The equations were taked into matrix-vector form. The parts of Robotic Arm had been in free fall to see the accuracy of the equations of motion and each joint graphs were obtained. A control algorithm was designed to achieve the position of the joint corresponding to the desired scenario. PID control algorithm is used in this study. As a result of the simulation of the orbits of the cubic joint position had been followed up successfully.

  6. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot

  7. Oak Ridge National Laboratory Technology Logic Diagram. Volume 3, Technology evaluation data sheets: Part C, Robotics/automation, Waste management

    Energy Technology Data Exchange (ETDEWEB)

    1993-09-01

    The Oak Ridge National Laboratory Technology Logic Diagram (TLD) was developed to provide a decision support tool that relates environmental restoration (ER) and waste management (WM) problems at Oak Ridge National Laboratory (ORNL) to potential technologies that can remediate these problems. The TLD identifies the research, development, demonstration testing, and evaluation needed to develop these technologies to a state that allows technology transfer and application to decontamination and decommissioning (D&D), remedial action (RA), and WM activities. The TLD consists of three fundamentally separate volumes: Vol. 1, Technology Evaluation; Vol. 2, Technology Logic Diagram and Vol. 3, Technology EvaLuation Data Sheets. Part A of Vols. 1 and 2 focuses on RA. Part B of Vols. 1 and 2 focuses on the D&D of contaminated facilities. Part C of Vols. 1 and 2 focuses on WM. Each part of Vol. 1 contains an overview of the TM, an explanation of the problems facing the volume-specific program, a review of identified technologies, and rankings of technologies applicable to the site. Volume 2 (Pts. A. B. and C) contains the logic linkages among EM goals, environmental problems, and the various technologies that have the potential to solve these problems. Volume 3 (Pts. A. B, and C) contains the TLD data sheets. This volume provides the technology evaluation data sheets (TEDS) for ER/WM activities (D&D, RA and WM) that are referenced by a TEDS code number in Vol. 2 of the TLD. Each of these sheets represents a single logic trace across the TLD. These sheets contain more detail than is given for the technologies in Vol. 2.

  8. Transferring from the Simulator to a Live Robotic Environment: The Effectiveness of Part-Task and Whole-Task Training

    Science.gov (United States)

    2013-10-01

    concurrent monitoring and responding to stimuli, as well as Morse code, poetry , and preparing legal presentations. The meta-analysis investigated the...V. J. (1996). Analysis of part-task training using the backward-transfer technique. Journal of Experimental Psychology: Applied, 2, 227–249...in older drivers. The Journals of Gerontology Series B, The Journal of Gerontology: Psychological Sciences and The Journal of Gerontology: Social

  9. Robots arm motion representation in Petri NETS using sequent calculus

    Directory of Open Access Journals (Sweden)

    Syed Uzair Ahmad

    2015-12-01

    Full Text Available There are many sort of motion in robots structure. Such as the robot locomotion robot jumps robots picking and so on but all are presented through Petri NETS. The one motion which is also the important one and most worthy motion of the robots is the robots arm motion. Which till yet not represented through Petri NETS. In this paper we are going to represent the motion of the robot arm in different angles and different aspect, such as up, down, circular, back and front moment of the robot arm, through Petri net we can present the complex form of motions into simplex paths.

  10. Robotic technology evolution and transfer

    Science.gov (United States)

    Marzwell, Neville I.

    1992-01-01

    A report concerning technology transfer in the area of robotics is presented in vugraph form. The following topics are discussed: definition of technology innovation and tech-transfer; concepts relevant for understanding tech-transfer; models advanced to portray tech-transfer process; factors identified as promoting tech-transfer; factors identified as impeding tech-transfer; what important roles do individuals fulfill in tech-transfer; federal infrastructure for promoting tech-transfer; federal infrastructure for promoting tech-transfer; robotic technology evolution; robotic technology transferred; and recommendations for successful robotics tech-transfer.

  11. Evolution of an alumina-magnesia/self-forming spinel castable. Part II: physico-chemical and mechanical properties

    Directory of Open Access Journals (Sweden)

    Gutiérrez-Campos D.

    1999-01-01

    Full Text Available This study was carried out in conjunction with the investigation, reported in Part I, on the microstructural characteristics of an alumina-spinel castable with several percentages of MgO content. Bulk density and cold crushing strength of samples were evaluated dried and at three fired states (1000, 1200, 1400 °C. Results indicate little influence of MgO additions on physico-chemical properties of the alumina-magnesia/self-forming spinel castable. Characteristics compared with those reported for conventional alumina-spinel castables did not show large difference in values. Therefore, the alumina-magnesia/self-forming spinel castable could be a possible material for substitution of the conventional alumina-spinel castable.

  12. Parallel Robots with Configurable Platforms

    NARCIS (Netherlands)

    Lambert, P.

    2013-01-01

    This thesis explores the fundamentals of a new class of parallel mechanisms called parallel mechanisms with configurable platforms as well as the design and analysis of parallel robots that are based on those mechanisms. Pure parallel robots are formed by two rigid links, the base and the

  13. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

    right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.

  14. Rapid 3D Modeling and Parts Recognition on Automotive Vehicles Using a Network of RGB-D Sensors for Robot Guidance

    Directory of Open Access Journals (Sweden)

    Alberto Chávez-Aragón

    2013-01-01

    Full Text Available This paper presents an approach for the automatic detection and fast 3D profiling of lateral body panels of vehicles. The work introduces a method to integrate raw streams from depth sensors in the task of 3D profiling and reconstruction and a methodology for the extrinsic calibration of a network of Kinect sensors. This sensing framework is intended for rapidly providing a robot with enough spatial information to interact with automobile panels using various tools. When a vehicle is positioned inside the defined scanning area, a collection of reference parts on the bodywork are automatically recognized from a mosaic of color images collected by a network of Kinect sensors distributed around the vehicle and a global frame of reference is set up. Sections of the depth information on one side of the vehicle are then collected, aligned, and merged into a global RGB-D model. Finally, a 3D triangular mesh modelling the body panels of the vehicle is automatically built. The approach has applications in the intelligent transportation industry, automated vehicle inspection, quality control, automatic car wash systems, automotive production lines, and scan alignment and interpretation.

  15. 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.

  16. PIR-1 and PIRPL. A Project in Robotics Education. Revised.

    Science.gov (United States)

    Schultz, Charles P.

    This paper presents the results of a project in robotics education that included: (1) designing a mobile robot--the Personal Instructional Robot-1 (PIR-1); (2) providing a guide to the purchase and assembly of necessary parts; (3) providing a way to interface the robot with common classroom microcomputers; and (4) providing a language by which the…

  17. Recent Advances in Robotics and Career Opportunities for Physicists

    Science.gov (United States)

    Bouchier, Paul

    2011-03-01

    Some of the most significant advances in robotic systems over the last year are shown in this talk, which covers both autonomous and partly autonomous robots. A few robotic employers, both in Texas and elsewhere are profiled, with an emphasis on opportunities of interest to physicists. The presenter is president of the Dallas Personal Robotics Group.

  18. A Demonstrator Intelligent Scheduler For Sensor-Based Robots

    Science.gov (United States)

    Perrotta, Gabriella; Allen, Charles R.; Shepherd, Andrew J.

    1987-10-01

    The development of an execution module capable of functioning as as on-line supervisor for a robot equipped with a vision sensor and tactile sensing gripper system is described. The on-line module is supported by two off-line software modules which provide a procedural based assembly constraints language to allow the assembly task to be defined. This input is then converted into a normalised and minimised form. The host Robot programming language permits high level motions to be issued at the to level, hence allowing a low programming overhead to the designer, who must describe the assembly sequence. Components are selected for pick and place robot movement, based on information derived from two cameras, one static and the other mounted on the end effector of the robot. The approach taken is multi-path scheduling as described by Fox pi. The system is seen to permit robot assembly in a less constrained parts presentation environment making full use of the sensory detail available on the robot.

  19. A Study on Infrared Local Heat Treatment for AA5083 to Improve Formability and Automotive Part Forming

    Science.gov (United States)

    Lee, Eun-Ho; Yang, Dong-Yol; Ko, SeJin

    2017-09-01

    Automotive industries are increasingly employing aluminum alloys for auto parts to reduce vehicle weight. However, the low formability of aluminum alloys has been an obstacle to their application. To resolve the formability problem, some studies involving heat treatments under laboratory conditions have been reported. However, for industrial applications, the heat treatment sequence, heating energy efficiency, and a commercial part test should be studied. This work shows an infrared (IR) local heat treatment, heating only small areas where the heat treatment is required, for an aluminum alloy to improve the formability with a reduction of heating energy. The experiment shows that the formability drastically increases when the aluminum alloy is heat treated between two forming stages, referred to as intermediate heat treatment. The microstructures of the test pieces are evaluated to identify the cause of the increase in the formability. For an industrial application, an aluminum tailgate, which cannot be manufactured without heat treatment, was successfully manufactured by the IR local heat treatment with a reduction of energy. A simulation was also conducted with a stress-based forming limit diagram, which is not affected by the strain path and heat treatment histories. The simulation gives a good prediction of the formability improvement.

  20. 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

  1. Swarm robotics and minimalism

    Science.gov (United States)

    Sharkey, Amanda J. C.

    2007-09-01

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

  2. The infield varietu of available forms in the forest-steppe of western part Central Chernozemic region

    Science.gov (United States)

    Belik, Anton; Devyatova, Tatiana; Bozhko, Svetlana; Gorbunova, Yulia

    2016-04-01

    The infield varietu of available forms in the forest-steppe of western part Central Chernozemic region The Central Chernozemic region of Russia has been a region with a strong agricultural industry and determines the food security of the state by most part. The soil cover of the region is represented mainly by chernozems and is favorable for the cultivation of major crops and produce high crop yields. However, the high development of agriculture in the territory of Central Chernozemic region are led to the development of agrogenic degradation processes which impacts on the growth of the soil cover complexity and contrast, and as a consequence a significant infield variety of soil fertility and yields of major crops. In this regard, very promising direction in CChR is the development and practical application technologies of precision agriculture, which implies the spatial variety of soil fertility analysis within specific fields and work areas, especially the content of available forms of nutrients. The aim of our research was a study of the agro-ecological characteristics of the spatial variety of the content by available forms to plants of major nutrients in representative areas of sloping agricultural landscapes with forest-steppe chernozems in the western part of Central Chernozemic region of Russia. The research of infield variety by content of available forms of major nutrients are carried in the fields of Russian Research Institute of Agriculture and Protect the Soil from Erosion experimental and industrial farm in Medvensky district of Kursk region. The area characterized by a complex organization of relief. The soil cover is represented by full-profile typical (conventional and carbonate), leached chernozems. The growth of contrast of the soil cover are largely determined by the appearance of eroded soils of these analogues, as well as zoogenic dug and accumulative soils All of the studied areas with the forest-steppe chernozems were characterized by

  3. Anatomy-Based Organization of Modular Robots

    DEFF Research Database (Denmark)

    Christensen, David Johan; Campbell, Jason

    2008-01-01

    as a problem of controlling its anatomical parts rather than each discrete module. We show simulation results from experiments using gradient-based primitives to control parts of increasingly complex robots, including snake, crawler, cilia-surface, arm-joint-muscle and grasping robots. We conclude......This paper presents a novel biologically inspired hierarchical approach to organizing and controlling modular robots. The purpose of our approach is to decompose the complexity of assembling and commanding a functional robot made of numerous simple modules (thousands to millions) by introducing...... a hierarchy of structure and control. The robots we describe incorporate anatomically inspired parts such as muscles, bones and joints, and these parts in turn are assembled from modules. Each of those parts encapsulates one or more functions, e.g. a muscle can contract. Control of the robot can then be cast...

  4. Delta Robot

    OpenAIRE

    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 least one pantograph has a first free extremity (10) at which it supports a countermass (13) which is arranged to balance the center of mass of the robot.

  5. 38 CFR Appendix A to Part 36 - Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief...

    Science.gov (United States)

    2010-07-01

    ... 38 Pensions, Bonuses, and Veterans' Relief 2 2010-07-01 2010-07-01 false Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief Assistance A Appendix A to Part 36 Pensions, Bonuses, and Veterans' Relief DEPARTMENT OF VETERANS AFFAIRS (CONTINUED) LOAN GUARANTY Pt. 36, App. A Appendix A to Part 36—Sample Form of...

  6. Research activities on robotics at the Electrotechnical Laboratory

    Science.gov (United States)

    Kakikura, M.

    Various robotics research activities carried out at the Electrotechnical Laboratory in Japan are discussed. The history of robotics research, which has been going on since the late 1960s as a part of artificial-intelligence research is described. Consideration is given to the full-scale robot system called ETL-ROBOT Mk. 1, to the carpenter robot, to the intelligent locomotive-handling robot, to the flexible finger, and to the hand-eye robot. The present aspect of the research in relation to past results is examined and includes the development of new robot systems such as a vision system based on a three-dimensional model, an interactive modeling system, a direct-drive manipulator, a robot vision language, and a language-aided robotic teleoperation system. Research themes planned for the near future include manipulation techniques, sensor techniques, autonomous robot control techniques, advanced teleoperation techniques, and system totalizing techniques.

  7. Inverse Kinematic Analysis Of A Quadruped Robot

    Directory of Open Access Journals (Sweden)

    Muhammed Arif Sen

    2017-09-01

    Full Text Available This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg D-H method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.

  8. Modelling the light absorption properties of particulate matter forming organic particles suspended in seawater. Part 2. Modelling results

    Directory of Open Access Journals (Sweden)

    Bogdan Woźniak

    2005-12-01

    Full Text Available Model spectra of mass-specific absorption coefficients a*OM(λ were established for 26 naturally occurring organic substances or their possible mixtures, capable of forming particulate organic matter (POM in the sea. An algorithm was constructed, and the set of spectra of a*OM(λ was used to determine the spectra of the imaginary part of the complex refractive index n'p(λ characteristic of different physical types and chemical classes of POM commonly occurring in sea water. The variability in the spectra and absolute values of n'p for the various model classes and types of POM was shown to range over many orders of magnitude. This implies that modelling the optical properties of sea water requires a multi-component approach that takes account of the numerous living and non-living fractions of POM, each of which has a different value of n'p.

  9. Collision-free motion coordination of heterogeneous robots

    Energy Technology Data Exchange (ETDEWEB)

    Ko, Nak Yong [Chosun University, Gwangju (Korea, Republic of); Seo, Dong Jin [RedOne Technologies, Gwangju (Korea, Republic of); Simmons, Reid G. [Carnegie Mellon University, Pennsylvania (United States)

    2008-11-15

    This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots

  10. Future perspectives in robotic surgery

    National Research Council Canada - National Science Library

    Wedmid, Alexei; Llukani, Elton; Lee, David I

    2011-01-01

    What's known on the subject? and What does the study add? Robotic surgery in its current form has established itself as a viable treatment option for several indications and the gold standard for a few indications...

  11. 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

  12. 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…

  13. Selecting the right robot: Influence of user attitude, robot sociability and embodiment on user preferences

    NARCIS (Netherlands)

    Ligthart, Mike; Truong, Khiet Phuong

    Selecting the suitable form of a robot, i.e. physical or virtual, for a task is not straightforward. The choice for a physical robot is not self-evident when the task is not physical but entirely social in nature. Results from previous studies comparing robots with different body types are found to

  14. ICAM Robotics Application Guide (RAG)

    Science.gov (United States)

    1980-04-01

    automatically through stages of a manufacturing process. 1« 3. TYPES OF ROBOTS ANDROID - A robot that approximates a human in physical appearance. ASSEMBLY...tape and pulleys. TRANSDUCER - A device that converts one form of energy into another form of energy. WORM GEAR - A short screw that mates to a gear...whose axis of rotation is perpendicular to and offset from that of the worm screw. When the screw is turned, it drives the gear in rotation. WRIST

  15. Robot Teachers

    DEFF Research Database (Denmark)

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

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

  16. Robot Design

    Science.gov (United States)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  17. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  18. Hexapod robot stability research

    OpenAIRE

    Delgado Esteban, Darío

    2015-01-01

    El trabajo consiste en una primera parte en la que se estudia analíticamente la composición del robot hexápodo, descomponiéndolo en sus diferentes componentes físicos así como una introducción a la estabilidad del robot, tipos de estabilidad y métodos para su análisis. Grado en Ingeniería en Electrónica Industrial y Automática

  19. Handling uncertainty and networked structure in robot control

    CERN Document Server

    Tamás, Levente

    2015-01-01

    This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book with control of networked robots and multi-robot teams. Each chapter features in-depth technical coverage and case studies highlighting the applicability of the techniques, with real robots or in simulation. Platforms include mobile ground, aerial, and underwater robots, as well as humanoid robots and robot arms. Source code and experimental data are available at http://extras.springer.com. The text gathers contributions from academic and industry experts, and offers a valuable resource for researchers or graduate students in robot control and perception. It also benefits researchers in related areas, such as computer...

  20. Towards Plug-n-Play robot guidance: Advanced 3D estimation and pose estimation in Robotic applications

    OpenAIRE

    Sølund, Thomas; Aanæs, Henrik

    2017-01-01

    Robots are a key technology in the quest for higher productivity in Denmark and Europe. Robots have existed in many years as a part of production lines where they have solved monotonous and repetitive task in mass production industries. Typical the programming of these robots are handled by engineers with special knowledge who have often raised the price for using robots to a given production task. If robots have to be applicable for small and medium sized enterprises where production task of...

  1. Transferring human impedance regulation skills to robots

    CERN Document Server

    Ajoudani, Arash

    2016-01-01

    This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.

  2. Artificial heart for humanoid robot

    Science.gov (United States)

    Potnuru, Akshay; Wu, Lianjun; Tadesse, Yonas

    2014-03-01

    A soft robotic device inspired by the pumping action of a biological heart is presented in this study. Developing artificial heart to a humanoid robot enables us to make a better biomedical device for ultimate use in humans. As technology continues to become more advanced, the methods in which we implement high performance and biomimetic artificial organs is getting nearer each day. In this paper, we present the design and development of a soft artificial heart that can be used in a humanoid robot and simulate the functions of a human heart using shape memory alloy technology. The robotic heart is designed to pump a blood-like fluid to parts of the robot such as the face to simulate someone blushing or when someone is angry by the use of elastomeric substrates and certain features for the transport of fluids.

  3. DETAILS OF OPERATIONS PERFORMED BY THE REMOTE CONTROL ROBOT (CONCEPT TO THE HORIZONTAL FUEL CHANNEL DURING DECOMMISSIONING PHASE OF NUCLEAR REACTOR CALANDRIA STRUCTURE. PART I: OUTSIDE OPERATIONS

    Directory of Open Access Journals (Sweden)

    Constantin POPESCU

    2017-05-01

    Full Text Available The authors contribution to this paper is to present a concept solution of a remote control robot (RCR used for the horizontal fuel channels pressure tube decommissioning in the CANDU nuclear reactor. The authors highlight in this paper, few details of geometry, operations, constraints by kinematics and dynamics of the robot movement outside of the reactor fuel channel. Outside operations performed has as the main steps of dismantling process the followings: positioning front of Calandria structure at the fuel channel to be decommissioned, coupling and locking to the End Fitting (EF, sorting and storage extracted items in the safe container. All steps are performed in automatic mode. The remote control robot (RCR represents a safety system controlled by sensors and has the capability to analyze any error registered and decide next activities or abort the outside decommissioning procedure in case of any risk rise in order to ensure the environmental and workers protection.

  4. Digitalization in roll forming manufacturing

    Science.gov (United States)

    Sedlmaier, A.; Dietl, T.; Ferreira, P.

    2017-09-01

    Roll formed profiles are used in automotive chassis production as building blocks for the body-in-white. The ability to produce profiles with discontinuous cross sections, both in width and in depth, allows weight savings in the final automotive chassis through the use of load optimized cross sections. This has been the target of the 3D Roll Forming process. A machine concept is presented where a new forming concept for roll formed parts in combination with advanced robotics allowing freely positioned roll forming tooling in 3D space enables the production of complex shapes by roll forming. This is a step forward into the digitalization of roll forming manufacturing by making the process flexible and capable of rapid prototyping and production of small series of parts. Moreover, data collection in a large scale through the control system and integrated sensors lead to an increased understanding of the process and provide the basis to develop self-optimizing roll forming machines, increasing the productivity, quality and predictability of the roll-forming process. The first parts successfully manufactured with this new forming concept are presented.

  5. Compliant Robotic Structures. Part 2

    Science.gov (United States)

    1986-07-01

    muscular hydrostats I will describe. These generalizations facilitate the development of a model which can be used to explain the movements of these...the Coelom ando * Segmetfs, Clarendon Press, Oxford. Clark, R.B., and Clark, M.E. ( 1960), The ligamentary system and the segmental musculature of Neph...parallel helices oriented at a constant angle to the cylinder’s longitudinal axis, is developed herein. See Fig. 1. Parametric studies show how the

  6. RX130 Robot Calibration

    Science.gov (United States)

    Fugal, Mario

    2012-10-01

    In order to create precision magnets for an experiment at Oak Ridge National Laboratory, a new reverse engineering method has been proposed that uses the magnetic scalar potential to solve for the currents necessary to produce the desired field. To make the magnet it is proposed to use a copper coated G10 form, upon which a drill, mounted on a robotic arm, will carve wires. The accuracy required in the manufacturing of the wires exceeds nominal robot capabilities. However, due to the rigidity as well as the precision servo motor and harmonic gear drivers, there are robots capable of meeting this requirement with proper calibration. Improving the accuracy of an RX130 to be within 35 microns (the accuracy necessary of the wires) is the goal of this project. Using feedback from a displacement sensor, or camera and inverse kinematics it is possible to achieve this accuracy.

  7. An Explicit Formulation of Singularity-Free Dynamic Equations of Mechanical Systems in Lagrangian Form---Part Two: Multibody Systems

    Directory of Open Access Journals (Sweden)

    Pål Johan From

    2012-04-01

    Full Text Available This paper presents the explicit dynamic equations of multibody mechanical systems. This is the second paper on this topic. In the first paper the dynamics of a single rigid body from the Boltzmann--Hamel equations were derived. In this paper these results are extended to also include multibody systems. We show that when quasi-velocities are used, the part of the dynamic equations that appear from the partial derivatives of the system kinematics are identical to the single rigid body case, but in addition we get terms that come from the partial derivatives of the inertia matrix, which are not present in the single rigid body case. We present for the first time the complete and correct derivation of multibody systems based on the Boltzmann--Hamel formulation of the dynamics in Lagrangian form where local position and velocity variables are used in the derivation to obtain the singularity-free dynamic equations. The final equations are written in global variables for both position and velocity. The main motivation of these papers is to allow practitioners not familiar with differential geometry to implement the dynamic equations of rigid bodies without the presence of singularities. Presenting the explicit dynamic equations also allows for more insight into the dynamic structure of the system. Another motivation is to correct some errors commonly found in the literature. Unfortunately, the formulation of the Boltzmann-Hamel equations used here are presented incorrectly. This has been corrected by the authors, but we present here, for the first time, the detailed mathematical details on how to arrive at the correct equations. We also show through examples that using the equations presented here, the dynamics of a single rigid body is reduced to the standard equations on a Lagrangian form, for example Euler's equations for rotational motion and Euler--Lagrange equations for free motion.

  8. Biologically inspired intelligent robots

    Science.gov (United States)

    Bar-Cohen, Yoseph; Breazeal, Cynthia

    2003-07-01

    Humans throughout history have always sought to mimic the appearance, mobility, functionality, intelligent operation, and thinking process of biological creatures. This field of biologically inspired technology, having the moniker biomimetics, has evolved from making static copies of human and animals in the form of statues to the emergence of robots that operate with realistic behavior. Imagine a person walking towards you where suddenly you notice something weird about him--he is not real but rather he is a robot. Your reaction would probably be "I can't believe it but this robot looks very real" just as you would react to an artificial flower that is a good imitation. You may even proceed and touch the robot to check if your assessment is correct but, as oppose to the flower case, the robot may be programmed to respond physical and verbally. This science fiction scenario could become a reality as the current trend continues in developing biologically inspired technologies. Technology evolution led to such fields as artificial muscles, artificial intelligence, and artificial vision as well as biomimetic capabilities in materials science, mechanics, electronics, computing science, information technology and many others. This paper will review the state of the art and challenges to biologically-inspired technologies and the role that EAP is expected to play as the technology evolves.

  9. 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.

  10. Robotic nurse duties in the urology operative room: 11 years of experience

    Directory of Open Access Journals (Sweden)

    Ali Abdel Raheem

    2017-04-01

    Full Text Available The robotic nurse plays an essential role in a successful robotic surgery. As part of the robotic surgical team, the robotic nurse must demonstrate a high level of professional knowledge, and be an expert in robotic technology and dealing with robotic malfunctions. Each one of the robotic nursing team “nurse coordinator, scrub-nurse and circulating-nurse” has a certain job description to ensure maximum patient's safety and robotic surgical efficiency. Well-structured training programs should be offered to the robotic nurse to be well prepared, feel confident, and maintain high-quality of care.

  11. 12 CFR Appendix A to Part 572 - Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief...

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 5 2010-01-01 2010-01-01 false Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief Assistance A Appendix A to Part 572 Banks and Banking OFFICE OF THRIFT SUPERVISION, DEPARTMENT OF THE TREASURY LOANS IN AREAS HAVING SPECIAL FLOOD HAZARDS Pt. 572, App. A Appendix A to Part 572—Sample Form...

  12. 12 CFR Appendix A to Part 22 - Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief...

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 1 2010-01-01 2010-01-01 false Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief Assistance A Appendix A to Part 22 Banks and Banking COMPTROLLER OF THE CURRENCY, DEPARTMENT OF THE TREASURY LOANS IN AREAS HAVING SPECIAL FLOOD HAZARDS Pt. 22, App. A Appendix A to Part 22—Sample Form of...

  13. 32 CFR Appendix D to Part 286 - DD Form 2086-1, “Record of Freedom of Information (FOI) Processing Cost for Technical Data”

    Science.gov (United States)

    2010-07-01

    ... 32 National Defense 2 2010-07-01 2010-07-01 false DD Form 2086-1, âRecord of Freedom of Information (FOI) Processing Cost for Technical Dataâ D Appendix D to Part 286 National Defense Department of... FREEDOM OF INFORMATION ACT PROGRAM REGULATION Pt. 286, App. D Appendix D to Part 286—DD Form 2086-1...

  14. Robot Control System based on Web Application and RFID Technology

    Directory of Open Access Journals (Sweden)

    Barenji Ali Vatankhah

    2015-01-01

    Full Text Available This paper discusses an integration driven framework for enabling the RFID based identification of parts to perform robotic distributor operations in the random mix based parts control based on web application. The RFID technology senses newly arriving parts to be distribution robot, the robot is able to recognize them and perform cooperative distributing via web-based application. The developed web application control system is implemented in the educational robotic arm. RFID system sends real time information from parts to the web application and web based application makes a decision for control of the robot arm, controller of robot controls the robot as based on the decision from web application. The proposed control system has increases the reconfiguration and scalability of robot system.

  15. 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...

  16. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  17. Space Robotics

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2004-09-01

    Full Text Available In this second of three short papers, I introduce some of the basic concepts of space robotics with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space infrastructure development. The style of these short papers is pedagogical and the concepts in this paper are developed from fundamental manipulator robotics. This second paper considers the application of space manipulators to on-orbit servicing (OOS, an application which has considerable commercial application. I provide some background to the notion of robotic on-orbit servicing and explore how manipulator control algorithms may be modified to accommodate space manipulators which operate in the micro-gravity of space.

  18. Multiagent robotic systems' ambient light sensor

    Science.gov (United States)

    Iureva, Radda A.; Maslennikov, Oleg S.; Komarov, Igor I.

    2017-05-01

    Swarm robotics is one of the fastest growing areas of modern technology. Being subclass of multi-agent systems it inherits the main part of scientific-methodological apparatus of construction and functioning of practically useful complexes, which consist of rather autonomous independent agents. Ambient light sensors (ALS) are widely used in robotics. But speaking about swarm robotics, the technology which has great number of specific features and is developing, we can't help mentioning that its important to use sensors on each robot not only in order to help it to get directionally oriented, but also to follow light emitted by robot-chief or to help to find the goal easier. Key words: ambient light sensor, swarm system, multiagent system, robotic system, robotic complexes, simulation modelling

  19. Reducing Test Form Overlap of the GRE Subject Test in Mathematics Using IRT Triple-Part Equating. GRE Board Professional Report No. 86-14P.

    Science.gov (United States)

    McKinley, Robert L.; Schaeffer, Gary A.

    A study was conducted to evaluate the feasibility of using item response theory (IRT) equating to reduce test form overlap of the Graduate Record Examinations (GRE) Subject Test in Mathematics. Monte Carlo methods were employed to compare double-part equating with 20-item common item blocks to triple-part equating with 10-item common item blocks.…

  20. Soft mobile robots driven by foldable dielectric elastomer actuators

    Science.gov (United States)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong

    2016-08-01

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  1. Soft mobile robots driven by foldable dielectric elastomer actuators

    Energy Technology Data Exchange (ETDEWEB)

    Sun, Wenjie; Liu, Fan; Ma, Ziqi; Li, Chenghai; Zhou, Jinxiong, E-mail: jxzhouxx@mail.xjtu.edu.cn [State Key Laboratory for Strength and Vibration of Mechanical Structures and School of Aerospace, Xi' an Jiaotong University, Xi' an 710049 (China)

    2016-08-28

    A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achieved between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.

  2. CANINE: a robotic mine dog

    Science.gov (United States)

    Stancil, Brian A.; Hyams, Jeffrey; Shelley, Jordan; Babu, Kartik; Badino, Hernán.; Bansal, Aayush; Huber, Daniel; Batavia, Parag

    2013-01-01

    Neya Systems, LLC competed in the CANINE program sponsored by the U.S. Army Tank Automotive Research Development and Engineering Center (TARDEC) which culminated in a competition held at Fort Benning as part of the 2012 Robotics Rodeo. As part of this program, we developed a robot with the capability to learn and recognize the appearance of target objects, conduct an area search amid distractor objects and obstacles, and relocate the target object in the same way that Mine dogs and Sentry dogs are used within military contexts for exploration and threat detection. Neya teamed with the Robotics Institute at Carnegie Mellon University to develop vision-based solutions for probabilistic target learning and recognition. In addition, we used a Mission Planning and Management System (MPMS) to orchestrate complex search and retrieval tasks using a general set of modular autonomous services relating to robot mobility, perception and grasping.

  3. Structural synthesis of parallel robots

    CERN Document Server

    Gogu, Grigore

    This book represents the fifth part of a larger work dedicated to the structural synthesis of parallel robots. The originality of this work resides in the fact that it combines new formulae for mobility, connectivity, redundancy and overconstraints with evolutionary morphology in a unified structural synthesis approach that yields interesting and innovative solutions for parallel robotic manipulators.  This is the first book on robotics that presents solutions for coupled, decoupled, uncoupled, fully-isotropic and maximally regular robotic manipulators with Schönflies motions systematically generated by using the structural synthesis approach proposed in Part 1.  Overconstrained non-redundant/overactuated/redundantly actuated solutions with simple/complex limbs are proposed. Many solutions are presented here for the first time in the literature. The author had to make a difficult and challenging choice between protecting these solutions through patents and releasing them directly into the public domain. T...

  4. 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.

  5. [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.

  6. 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.

  7. What is next in robotic urology?

    Science.gov (United States)

    Cathelineau, Xavier; Sanchez-Salas, Rafael; Sivaraman, Arjun

    2014-12-01

    The application of robotic technology in surgical practice was developed during the past three decades, but its clinical application has made a significant impact during the last 10 years. Urologists have embraced surgical robots throughout their evolution, and robot-assisted urologic surgeries have matured into everyday clinical practice in many parts of the world. Long-term data from robot-assisted radical prostatectomies (RARP), an early robotic urologic surgery, has shown that the results are comparable to contemporary open radical prostatectomy (ORP) cohorts. Robot-assisted partial nephrectomy (RAPN) is largely restricted to high-volume academic centers; comparative studies have demonstrated significant advantages in favor of RAPN over laparoscopic partial nephrectomy (LPN) to achieve adequate warm ischemia time, surgical margins free of cancer cells, and no peri-operative complications. Robot-assisted radical cystectomy shows results that are comparable to contemporary open radical cystectomy. Several authors have reported the feasibility of robotic intracorporeal urinary diversion. The available long-term outcomes of robot-assisted urological surgeries are comparable to conventional open surgical methods and are associated with fewer complications. Surgical robots continue to evolve, and robotic engineers alongside surgeons strive hard to synthesize and evaluate novel robotic platforms, downsize hardware, and develop flexible instruments and newer technologies. Robotic applications available at this point represent the infancy of this technology. Future developments in robotics are profoundly limited to human imagination and can potentially scale to unimaginable heights. We would expect robots coupled with imaging and energies, aiming to provide accurate and reliable treatments which will be finely targeted by biogenetic information.

  8. How the physical forms of starch affect filterability at a carbonatation refinery. Part II: simulated carbonatation filtration

    Science.gov (United States)

    Although starch is known to detrimentally impact carbonatation filtration at sugarcane refineries, the physical form(s) of starch responsible is unknown. Thus, a study was undertaken to elucidate the effects of the physical starch forms, i.e., soluble, swollen, and insoluble, and their concentration...

  9. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  10. 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...

  11. 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.

  12. Fusion of Multi-Vision of Industrial Robot in MAS-Based Smart Space

    Directory of Open Access Journals (Sweden)

    Li Hexi

    2015-01-01

    Full Text Available The paper presents a fusion method of muti-vision of industrial robot in a smart space based on multi-agent system(MAS, the robotic multi-vision consists of top-view, side-view, front-view and hand-eye cameras, the moving hand-eye provide vision guidance and give the estimation of robot position, other three cameras are used for target recognition and positioning. Each camera is connected to an agent based on an image-processing computer that aims at analyzing image rapidly and satisfying the real-time requirement of data processing. As a learning strategy of robotic vision, a back-propagation neural network(BPNN with 3-layer-architecture is first constructed for each agent and is independently trained as a classifier of target recognition using batch gradient descent method based on the region features extracted from the images of target samples(typical mechanical parts, and then the outputs of trained BPNNs in MAS-based smart space are fused with Dempster-Shafer evidence theory to form a final recognition decision, the experimental results of typical mechanical parts show that fusion of multi-vision can improve the robotic vision accuracy and MAS-based smart space will contribute to the parallel processing of immense image data in robotic multi-vision system.

  13. System and method for controlling a vision guided robot assembly

    Energy Technology Data Exchange (ETDEWEB)

    Lin, Yhu-Tin; Daro, Timothy; Abell, Jeffrey A.; Turner, III, Raymond D.; Casoli, Daniel J.

    2017-03-07

    A method includes the following steps: actuating a robotic arm to perform an action at a start position; moving the robotic arm from the start position toward a first position; determining from a vision process method if a first part from the first position will be ready to be subjected to a first action by the robotic arm once the robotic arm reaches the first position; commencing the execution of the visual processing method for determining the position deviation of the second part from the second position and the readiness of the second part to be subjected to a second action by the robotic arm once the robotic arm reaches the second position; and performing a first action on the first part using the robotic arm with the position deviation of the first part from the first position predetermined by the vision process method.

  14. Hand Rehabilitation Robotics on Poststroke Motor Recovery

    OpenAIRE

    Zan Yue; Xue Zhang; Jing Wang

    2017-01-01

    The recovery of hand function is one of the most challenging topics in stroke rehabilitation. Although the robot-assisted therapy has got some good results in the latest decades, the development of hand rehabilitation robotics is left behind. Existing reviews of hand rehabilitation robotics focus either on the mechanical design on designers’ view or on the training paradigms on the clinicians’ view, while these two parts are interconnected and both important for designers and clinicians. In t...

  15. 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.

  16. Rapid 3D Modeling and Parts Recognition on Automotive Vehicles Using a Network of RGB-D Sensors for Robot Guidance

    OpenAIRE

    Alberto Chávez-Aragón; Rizwan Macknojia; Pierre Payeur; Robert Laganière

    2013-01-01

    This paper presents an approach for the automatic detection and fast 3D profiling of lateral body panels of vehicles. The work introduces a method to integrate raw streams from depth sensors in the task of 3D profiling and reconstruction and a methodology for the extrinsic calibration of a network of Kinect sensors. This sensing framework is intended for rapidly providing a robot with enough spatial information to interact with automobile panels using various tools. When a vehicle is position...

  17. Robotic colectomy: is it necessary?

    Science.gov (United States)

    Bertani, E; Chiappa, A; Ubiali, P; Cossu, M L; Arnone, P; Andreoni, B

    2013-10-01

    More than 20 years ago the introduction of laparoscopic surgery represented a paradigm shift in the management of colorectal cancer. In most recent years robotic surgery is becoming a viable alternative to laparoscopic and traditional open surgery. The major clear advantages of robotic surgery in comparison with laparoscopy are the lower conversion to open surgery rates and the shorter learning curve. However, the role of robotics in colorectal surgery is still largely undefined and different with respect to its application in abdominal versus pelvic surgery. As for colon cancer there are emerging data that laparoscopic and robotic surgery have the same advantages in terms of faster recovery, although robotic-assisted colectomy is associated with costs increase of care without providing clear reduction in overall morbidity or length of stay. Long-term outcomes for laparoscopic versus robotic colonic resections remain still largely undetermined and randomized controlled clinical trials are required to establish a possible difference in outcomes. Interesting issues for the educational aspects are associated with robotic surgery, as the double console allows the resident to take part actively at the surgical procedure since the beginning of his surgical experience.

  18. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  19. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  20. 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

  1. A robotic framework for semantic concept learning.

    Energy Technology Data Exchange (ETDEWEB)

    Squire, Kevin M. (University of Illinois at Urbana-Champaign, Urbana, IL.); Levinson, Stephen E. (University of Illinois at Urbana-Champaign, Urbana, IL.); Xavier, Patrick Gordon

    2004-09-01

    This report describes work carried out under a Sandia National Laboratories Excellence in Engineering Fellowship in the Department of Electrical and Computer Engineering at the University of Illinois at Urbana-Champaign. Our research group (at UIUC) is developing a intelligent robot, and attempting to teach it language. While there are many aspects of this research, for the purposes of this report the most important are the following ideas. Language is primarily based on semantics, not syntax. To truly learn meaning, the language engine must be part of an embodied intelligent system, one capable of using associative learning to form concepts from the perception of experiences in the world, and further capable of manipulating those concepts symbolically. In the work described here, we explore the use of hidden Markov models (HMMs) in this capacity. HMMs are capable of automatically learning and extracting the underlying structure of continuous-valued inputs and representing that structure in the states of the model. These states can then be treated as symbolic representations of the inputs. We describe a composite model consisting of a cascade of HMMs that can be embedded in a small mobile robot and used to learn correlations among sensory inputs to create symbolic concepts. These symbols can then be manipulated linguistically and used for decision making. This is the project final report for the University Collaboration LDRD project, 'A Robotic Framework for Semantic Concept Learning'.

  2. A two-echelon spare parts network with lateral and emergency shipments: A product-form approximation

    NARCIS (Netherlands)

    Boucherie, Richardus J.; van Houtum, Geert-Jan; Timmer, Judith B.; van Ommeren, Jan C.W.

    2016-01-01

    We consider a single-item, two-echelon spare parts inventory model for repairable parts for capital goods with high down time costs. The inventory system consists of a central warehouse and multiple local warehouses, from where customers are served, and a central repair facility at an external

  3. 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.

  4. Robotic and Survey Telescopes

    Science.gov (United States)

    Woźniak, Przemysław

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

  5. Brain controlled robots.

    Science.gov (United States)

    Kawato, Mitsuo

    2008-06-01

    In January 2008, Duke University and the Japan Science and Technology Agency (JST) publicized their successful control of a brain-machine interface for a humanoid robot by a monkey brain across the Pacific Ocean. The activities of a few hundred neurons were recorded from a monkey's motor cortex in Miguel Nicolelis's lab at Duke University, and the kinematic features of monkey locomotion on a treadmill were decoded from neural firing rates in real time. The decoded information was sent to a humanoid robot, CB-i, in ATR Computational Neuroscience Laboratories located in Kyoto, Japan. This robot was developed by the JST International Collaborative Research Project (ICORP) as the "Computational Brain Project." CB-i's locomotion-like movement was video-recorded and projected on a screen in front of the monkey. Although the bidirectional communication used a conventional Internet connection, its delay was suppressed below one over several seconds, partly due to a video-streaming technique, and this encouraged the monkey's voluntary locomotion and influenced its brain activity. This commentary introduces the background and future directions of the brain-controlled robot.

  6. Space Robotics

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2004-06-01

    Full Text Available In this first of three short papers, I introduce some of the basic concepts of space engineering with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space development and exploration. The style of these short papers is pedagogical and this paper stresses the unique constraints that space application imposes. This first paper is thus a general introduction to the nature of spacecraft engineering and its application to robotic spacecraft. I consider the constraints and metrics used by spacecraft engineers in the design of spacecraft and how these constraints impose challenges to the roboticist. The following two papers consider specific robotics issues in more detail.

  7. Service Robots

    DEFF Research Database (Denmark)

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

    The position presented in this paper is that in order to understand how service robots shape, and are being shaped by, the physical and social contexts in which they are used, we need to consider both work/organizational analysis and interaction design. We illustrate this with qualitative data...... and personal experiences to generate discussion about how to link these two traditions. This paper presents selected results from a case study that investigated the implementation and use of robot vacuum cleaners in Danish eldercare. The study demonstrates interpretive flexibility with variation...... in the perceived nature of technology, technology strategy, and technology use between key stakeholders in eldercare. The case study approach and results is then briefly contrasted to the authors’ first hand experiences with appropriating robot vacuums in the home. The aim is to generate discussion of how...

  8. 17 CFR Appendix A to Subpart A of... - Appendix A to Subpart A of Part 248 Forms

    Science.gov (United States)

    2010-04-01

    ... personal information to market to me.” (4) Nonaffiliate opt-out. If the financial institution shares... not share my personal information with other financial institutions to jointly market to me.” (h... Privacy Form is Used (a) The model form may be used, at the option of a financial institution, including a...

  9. 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.

  10. Cooperating mobile robots

    Science.gov (United States)

    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.

  11. Compliant Robot Wrist

    Science.gov (United States)

    Voellmer, George

    1992-01-01

    Compliant element for robot wrist accepts small displacements in one direction only (to first approximation). Three such elements combined to obtain translational compliance along three orthogonal directions, without rotational compliance along any of them. Element is double-blade flexure joint in which two sheets of spring steel attached between opposing blocks, forming rectangle. Blocks moved parallel to each other in one direction only. Sheets act as double cantilever beams deforming in S-shape, keeping blocks parallel.

  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. Study on Change of Pipes Formed in the Upper Part of a Collapse in a Crystalline Schist Area and Response of Pipe Flow to Rain

    OpenAIRE

    平松, 晋也; 前川, 美紀子; 小山内, 信智; Shinya, HIRAMATSU; Mikiko, MAEKAWA; Nobutomo, Osanai; 高知大学農学部; 国土交通名四国山地砂防工事事務所; Faculty of Agriculture, Kochi University; Shikoku Mountainous Region Sabo Work Office, Ministry of Land, Infrastructure and Transport:(Present office)Tosa National Road Office, Ministry of Land, Infrastructure and Transport

    2002-01-01

    Pipes formed by a small animal-activity, root decay and underground erosion exist frequently in the upper part of rain-induced collapse sites. These pipes affect significantly on water discharge and occurrences of hillside landslides in a watershed. Many hillside landslides occurred at Nishiiyayama village in Tokushima Prefecture, on June 29 th, 1999, due to heavy rainfall. In the upper part of C torrent of Tobinosu-valley, hillside landslides occurred, and several pipes appeared. Investigati...

  14. Design of the workplace for a Delta Robot

    OpenAIRE

    Romeo Alba, Xavier

    2010-01-01

    This project presents an introduction to parallel kinematic robots focused on Delta robot from the point of view of applications, kinematics, mechanics and investigation. The second part of the document shows the implantation of the fastest Delta robot (FANUC M-1iA 0.5A) at University of Zilina.

  15. Cooperative robots and sensor networks 2015

    CERN Document Server

    Dios, JRamiro

    2015-01-01

    This book compiles some of the latest research in cooperation between robots and sensor networks. Structured in twelve chapters, this book addresses fundamental, theoretical, implementation and experimentation issues. The chapters are organized into four parts namely multi-robots systems, data fusion and localization, security and dependability, and mobility.

  16. Robotic Rock Classification

    Science.gov (United States)

    Hebert, Martial

    1999-01-01

    This report describes a three-month research program undertook jointly by the Robotics Institute at Carnegie Mellon University and Ames Research Center as part of the Ames' Joint Research Initiative (JRI.) The work was conducted at the Ames Research Center by Mr. Liam Pedersen, a graduate student in the CMU Ph.D. program in Robotics under the supervision Dr. Ted Roush at the Space Science Division of the Ames Research Center from May 15 1999 to August 15, 1999. Dr. Martial Hebert is Mr. Pedersen's research adviser at CMU and is Principal Investigator of this Grant. The goal of this project is to investigate and implement methods suitable for a robotic rover to autonomously identify rocks and minerals in its vicinity, and to statistically characterize the local geological environment. Although primary sensors for these tasks are a reflection spectrometer and color camera, the goal is to create a framework under which data from multiple sensors, and multiple readings on the same object, can be combined in a principled manner. Furthermore, it is envisioned that knowledge of the local area, either a priori or gathered by the robot, will be used to improve classification accuracy. The key results obtained during this project are: The continuation of the development of a rock classifier; development of theoretical statistical methods; development of methods for evaluating and selecting sensors; and experimentation with data mining techniques on the Ames spectral library. The results of this work are being applied at CMU, in particular in the context of the Winter 99 Antarctica expedition in which the classification techniques will be used on the Nomad robot. Conversely, the software developed based on those techniques will continue to be made available to NASA Ames and the data collected from the Nomad experiments will also be made available.

  17. Circle formation for anonymous mobile robots with order preservation

    NARCIS (Netherlands)

    Wang, Chen; Cao, Ming; Xie, Guangming; Wang, Long

    2012-01-01

    This paper proposes a distributed control law for a group of mobile robots to form any given formation on a circle of a prescribed radius. The robots are modeled by point masses with the constraint that all of them can move only on the circle. In particular, robots are oblivious, anonymous, and

  18. 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…

  19. 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...

  20. 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

  1. Hanford facility dangerous waste Part A, Form 3 and Part B permit application documentation, Central Waste Complex (WA7890008967)(TSD: TS-2-4)

    Energy Technology Data Exchange (ETDEWEB)

    Saueressig, D.G.

    1998-05-20

    The Hanford Facility Dangerous Waste Permit Application is considered to be a single application organized into a General Information Portion (document number DOE/RL-91-28) and a Unit-Specific Portion. The scope of the Unit-Specific Portion is limited to Part B permit application documentation submitted for individual, operating, treatment, storage, and/or disposal units, such as the Central Waste Complex (this document, DOE/RL-91-17). Both the General Information and Unit-Specific portions of the Hanford Facility Dangerous Waste Permit Application address the content of the Part B permit application guidance prepared by the Washington State Department of Ecology (Ecology 1996) and the U.S. Environmental Protection Agency (40 Code of Federal Regulations 270), with additional information needed by the Hazardous and Solid Waste Amendments and revisions of Washington Administrative Code 173-303. For ease of reference, the Washington State Department of Ecology alpha-numeric section identifiers from the permit application guidance documentation (Ecology 1996) follow, in brackets, the chapter headings and subheadings. A checklist indicating where information is contained in the Central Waste Complex permit application documentation, in relation to the Washington State Department of Ecology guidance, is located in the Contents section. Documentation contained in the General Information Portion is broader in nature and could be used by multiple treatment, storage, and/or disposal units (e.g., the glossary provided in the General Information Portion). Wherever appropriate, the Central Waste Complex permit application documentation makes cross-reference to the General Information Portion, rather than duplicating text. Information provided in this Central Waste Complex permit application documentation is current as of May 1998.

  2. Designing competitions for education in robotics

    DEFF Research Database (Denmark)

    Andersen, Nils Axel; Ravn, Ole

    2012-01-01

    The paper describes design considerations for making a robot competition. Topics as level of participants, learning objective, evaluation form, task design and competition rules are treated. It is shown that careful design considering these topics are necessary for a succesful outcome...... of a competition. The conclusions are based on examples from more than 15 years of experience with robotic competitions....

  3. ROBOT-ASSISTED SYSTEM SIMULATION FOR OBJECT OSTEOSYNTHESIS

    Directory of Open Access Journals (Sweden)

    Mr. Evgeniy E. Levitskii

    2016-06-01

    Full Text Available The article considers the importance of creating robot-assisted system, namely of a manipulating robot, for object osteosynthesis. The article also considers classifications of robot-assisted systems used in foreign countries. The authors describe 3D model of human femoral bone, necessity of its creating and analyzing for further simulation of robot-assisted system mechanical part with hydraulic drive.

  4. Visual Trajectory-Tracking Model-Based Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Andrej Zdešar

    2013-09-01

    Full Text Available In this paper we present a visual-control algorithm for driving a mobile robot along the reference trajectory. The configuration of the system consists of a two-wheeled differentially driven mobile robot that is observed by an overhead camera, which can be placed at arbitrary, but reasonable, inclination with respect to the ground plane. The controller must be capable of generating appropriate tangential and angular control velocities for the trajectory-tracking problem, based on the information received about the robot position obtained in the image. To be able to track the position of the robot through a sequence of images in real-time, the robot is marked with an artificial marker that can be distinguishably recognized by the image recognition subsystem. Using the property of differential flatness, a dynamic feedback compensator can be designed for the system, thereby extending the system into a linear form. The presented control algorithm for reference tracking combines a feedforward and a feedback loop, the structure also known as a two DOF control scheme. The feedforward part should drive the system to the vicinity of the reference trajectory and the feedback part should eliminate any errors that occur due to noise and other disturbances etc. The feedforward control can never achieve accurate reference following, but this deficiency can be eliminated with the introduction of the feedback loop. The design of the model predictive control is based on the linear error model. The model predictive control is given in analytical form, so the computational burden is kept at a reasonable level for real-time implementation. The control algorithm requires that a reference trajectory is at least twice differentiable function. A suitable approach to design such a trajectory is by exploiting some useful properties of the Bernstein-Bézier parametric curves. The simulation experiments as well as real system experiments on a robot normally used in the

  5. Food Attitudes of High School Students (part 1) : The form of lunch and the consciousness of school lunch

    OpenAIRE

    小林, 幸子; コバヤシ, サチコ; Sachiko, Kobayashi

    1983-01-01

    This study was investigated the form of daily lunch in the high school students. 1) Thirty two percent of the students were satisfied the present form of daily lunch. Among these students, the students in the 1st and the 2nd grade, who have been taking a home-made lunch showed higher rate of satisfaction in the present lunch and in the 3rd grade, the students have been taking commercially readymade lunch showed higher rate of satisfaction. 2) Fifty percent of the students wanted to be given a...

  6. 12 CFR Appendix A to Part 339 - Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief...

    Science.gov (United States)

    2010-01-01

    ... 12 Banks and Banking 4 2010-01-01 2010-01-01 false Sample Form of Notice of Special Flood Hazards and Availability of Federal Disaster Relief Assistance A Appendix A to Part 339 Banks and Banking FEDERAL DEPOSIT INSURANCE CORPORATION REGULATIONS AND STATEMENTS OF GENERAL POLICY LOANS IN AREAS HAVING SPECIAL FLOOD HAZARDS Pt. 339, App. A Appendix...

  7. Modelling the light absorption properties of particulate matter forming organic particles suspended in sea water. Part 3. Practical applications

    Directory of Open Access Journals (Sweden)

    Roman Majchrowski

    2006-12-01

    Full Text Available This paper brings to a close our cycle of articles on modelling the light absorption properties of particulate organic matter (POM in the sea. In the first two parts of this cycle (Woźniaket al. 2005a,b we discussed these properties with reference to various model chemical classes and physical types of POM. We have put these results into practice in the present third part. As a result of the appropriate theoretical speculations, logically underpinned by empirical knowledge, we selected 25 morphological variants of marine organic detritus, to which we ascribed definite chemical compositions and physical types. On this basis and using known spectra of the mass-specific coefficients of light absorption by various naturally occurring organic substances (systematised in Parts 1 and 2, we determined the absorption properties of these 25 morphological groups of particles, that is, the spectra of the imaginary part of the refractive index n'p(λ (in the 200-700 nm range of the particulate matter. They can be applied, with the aid of Mie's or some other similar theory, to calculate the bulk optical properties (absorbing and scattering of such sets of particles in the sea.

  8. 12 CFR Appendix A to Part 203 - Form and Instructions for Completion of HMDA Loan/Application Register

    Science.gov (United States)

    2010-01-01

    ... Loan/Application Register A Appendix A to Part 203 Banks and Banking FEDERAL RESERVE SYSTEM BOARD OF GOVERNORS OF THE FEDERAL RESERVE SYSTEM HOME MORTGAGE DISCLOSURE (REGULATION C) Pt. 203, App. A Appendix A..., numerals, or a combination of both. 2. Date Application Received a. Enter the date the loan application was...

  9. 14 CFR Appendix to Part 331 - Application Form for Reimbursement Under Section 185 of Public Law 109-115

    Science.gov (United States)

    2010-01-01

    ... Policy Plans Statistical and Forecast Branch (APO-110). While the Department recognizes that fixed-base..., books, flight clothing, sectional charts, devices and parts for aircraft, food services, hospitality... reimbursements, professional fees, licensing fees, educational or recreational activities for the benefit of the...

  10. Brain Computer Interfaces for Enhanced Interaction with Mobile Robot Agents

    Science.gov (United States)

    2016-07-27

    RETURN YOUR FORM TO THE ABOVE ADDRESS. Columbia University 615 West 131st Street Mail Code 8725 New York, NY 10027 -6902 ABSTRACT Number of Papers...robotic manipulator . (a) Papers published in peer-reviewed journals (N/A for none) Enter List of papers submitted or published that acknowledge ARO...Columbia University 1 Equipment Purchased 1. PR2 Mobile Robot, Willow Garage, $175,000.00 2. Baxter Dual-arm robot, Rethink Robotics, $27,500.00 2 Research

  11. 41 CFR 61-250.11 - On what form must the data required by this part be submitted?

    Science.gov (United States)

    2010-07-01

    ... the space provided. For each form, only one box should be checked within this block. COMPANY... are not limited to the following services: utility, construction, transportation, research, insurance... and address of the hiring locations covered by the report. Company consolidated reports such as those...

  12. Problematika autonomie robotů založená na technologii Arduino

    OpenAIRE

    HÁJEK, Jan

    2016-01-01

    This thesis discusses the problems of autonomous robots created by the development board Arduino Uno. It contains a theoretical analysis of possible approaches to autonomous robots. Itproposes a solution to the creation of an autonomous robotic device capable of navigation using GPS. The practical part provides the description of problems and testing associated with the construction of the robot.

  13. 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.   ...

  14. Hybrid robotic systems for upper limb rehabilitation after stroke: A review.

    Science.gov (United States)

    Resquín, Francisco; Cuesta Gómez, Alicia; Gonzalez-Vargas, Jose; Brunetti, Fernando; Torricelli, Diego; Molina Rueda, Francisco; Cano de la Cuerda, Roberto; Miangolarra, Juan Carlos; Pons, José Luis

    2016-11-01

    In recent years the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for rehabilitation of lower and upper limb motor functions. This paper presents a review of the state of the art of current hybrid robotic solutions for upper limb rehabilitation after stroke. For this aim, studies have been selected through a search using web databases: IEEE-Xplore, Scopus and PubMed. A total of 10 different hybrid robotic systems were identified, and they are presented in this paper. Selected systems are critically compared considering their technological components and aspects that form part of the hybrid robotic solution, the proposed control strategies that have been implemented, as well as the current technological challenges in this topic. Additionally, we will present and discuss the corresponding evidences on the effectiveness of these hybrid robotic therapies. The review also discusses the future trends in this field. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

  15. 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...

  16. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  17. Tandem mobile robot system

    Science.gov (United States)

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    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.

  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. Robotic Recon for Human Exploration

    Science.gov (United States)

    Deans, Matthew; Fong, Terry; Ford, Ken; Heldmann, Jennifer; Helper, Mark; Hodges, Kip; Landis, Rob; Lee, Pascal; Schaber, Gerald; Schmitt, Harrison H.

    2009-01-01

    Robotic reconnaissance has the potential to significantly improve scientific and technical return from lunar surface exploration. In particular, robotic recon may increase crew productivity and reduce operational risk for exploration. However, additional research, development and field-testing is needed to mature robot and ground control systems, refine operational protocols, and specify detailed requirements. When the new lunar surface campaign begins around 2020, and before permanent outposts are established, humans will initially be on the Moon less than 10% of the time. During the 90% of time between crew visits, robots will be available to perform surface operations under ground control. Understanding how robotic systems can best address surface science needs, therefore, becomes a central issue Prior to surface missions, lunar orbiters (LRO, Kaguya, Chandrayyan-1, etc.) will map the Moon. These orbital missions will provide numerous types of maps: visible photography, topographic, mineralogical and geochemical distributions, etc. However, remote sensing data will not be of sufficient resolution, lighting, nor view angle, to fully optimize pre-human exploration planning, e.g., crew traverses for field geology and geophysics. Thus, it is important to acquire supplemental and complementary surface data. Robotic recon can obtain such data, using robot-mounted instruments to scout the surface and subsurface at resolutions and at viewpoints not achievable from orbit. This data can then be used to select locations for detailed field activity and prioritize targets to improve crew productivity. Surface data can also help identify and assess terrain hazards, and evaluate alternate routes to reduce operational risk. Robotic recon could be done months in advance, or be part of a continuing planning process during human missions.

  20. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    This book is the second volume on Cooperative Robots and Sensor Networks. The primary objective of this book is to provide an up-to-date reference for cutting-edge studies and research trends related to mobile robots and wireless sensor networks, and in particular for the coupling between them. Indeed, mobile robots and wireless sensor networks have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and wireless sensor networks have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other. The book consists of ten chapters, organized into four parts. The first part of the book presents three chapters related to localization of mobile robots using wireless sensor networks. Two chapters presented new solutions based Extended Kalman Filter and Particle Fi...

  1. Mobile robot competition. Underground mining: A challenging application in mobile robotics

    CSIR Research Space (South Africa)

    Green, J

    2011-09-01

    Full Text Available an expanding market. Keywords- mining robots; robot competition; academic competitions; ROBMECH 2011 I. INTRODUCTION Competitions form a valuable tool for academic institutions in directing their research and scholarly endeavours. They provide clear... (NI) held its first robotics competition in 2008 with the aim of supporting the marketing and implementation of their equipment in South African academic institutions. It was arguably the most successful one to date with six teams competing...

  2. Robot vision system programmed in Prolog

    Science.gov (United States)

    Batchelor, Bruce G.; Hack, Ralf

    1995-10-01

    This is the latest in a series of publications which develop the theme of programming a machine vision system using the artificial intelligence language Prolog. The article states the long-term objective of the research program of which this work forms part. Many but not yet all of the goals laid out in this plan have already been achieved in an integrated system, which uses a multi-layer control hierarchy. The purpose of the present paper is to demonstrate that a system based upon a Prolog controller is capable of making complex decisions and operating a standard robot. The authors chose, as a vehicle for this exercise, the task of playing dominoes against a human opponent. This game was selected for this demonstration since it models a range of industrial assembly tasks, where parts are to be mated together. (For example, a 'daisy chain' of electronic equipment and the interconnecting cables/adapters may be likened to a chain of dominoes.)

  3. Research on the inspection robot for cable tunnel

    Science.gov (United States)

    Xin, Shihao

    2017-03-01

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

  4. 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....... Nanoscale resolutions enable optical scientists to assess ever more accurate information. However, scientific hypothesis testing demands tools, not only for observing nanoscopic phenomena, but also for reaching into and manipulating nanoscale constituents. Taking an applications focus, this book explores...

  5. Robot Programming.

    Science.gov (United States)

    1982-12-01

    tools developed within existing APT systems for specifying robot motions. This approach is particularly attractive for domains , such as aircraft...notions. 2. New vs. old. Is it better to design a new language or extend an old one? A new one can be tailored to the need of the new domain . An old one...kinematic, and physical models of other object’s must be provided for each new task, however. The underlying assumption in task-level langauges is that

  6. Aspects of tests and assessment of filtering materials used for respiratory protection against bioaerosols. Part II: sweat in the environment, microorganisms in the form of a bioaerosol.

    Science.gov (United States)

    Majchrzycka, Katarzyna; Gutarowska, Beata; Brochocka, Agnieszka

    2010-01-01

    The second part of the article presents the results of a study of antimicrobial activity of filter nonwovens with an addition of biocides, as a function of the presence of sweat in the environment and the method of microbe deposition on a nonwoven in the form of a liquid and a bioaerosol. At the same time, the filtration efficiency of nonwovens against microorganisms in the form of a bioaerosol was tested with the dynamic method. The results showed that the addition of sweat on the surface of a nonwoven resulted in an insignificant decrease of biological activity that still remained high. Moreover, an active nonwoven showed biostatic and biocidal activity only when microbes were deposited on the surface in the form of a solution. The nonwoven did not show any biological activity after deposition of microorganisms with the dynamical method in the form of a bioaerosol.

  7. Learning for intelligent mobile robots

    Science.gov (United States)

    Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

    2003-10-01

    Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

  8. 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.

  9. Hand Rehabilitation Robotics on Poststroke Motor Recovery

    Directory of Open Access Journals (Sweden)

    Zan Yue

    2017-01-01

    Full Text Available The recovery of hand function is one of the most challenging topics in stroke rehabilitation. Although the robot-assisted therapy has got some good results in the latest decades, the development of hand rehabilitation robotics is left behind. Existing reviews of hand rehabilitation robotics focus either on the mechanical design on designers’ view or on the training paradigms on the clinicians’ view, while these two parts are interconnected and both important for designers and clinicians. In this review, we explore the current literature surrounding hand rehabilitation robots, to help designers make better choices among varied components and thus promoting the application of hand rehabilitation robots. An overview of hand rehabilitation robotics is provided in this paper firstly, to give a general view of the relationship between subjects, rehabilitation theories, hand rehabilitation robots, and its evaluation. Secondly, the state of the art hand rehabilitation robotics is introduced in detail according to the classification of the hardware system and the training paradigm. As a result, the discussion gives available arguments behind the classification and comprehensive overview of hand rehabilitation robotics.

  10. Hand Rehabilitation Robotics on Poststroke Motor Recovery.

    Science.gov (United States)

    Yue, Zan; Zhang, Xue; Wang, Jing

    2017-01-01

    The recovery of hand function is one of the most challenging topics in stroke rehabilitation. Although the robot-assisted therapy has got some good results in the latest decades, the development of hand rehabilitation robotics is left behind. Existing reviews of hand rehabilitation robotics focus either on the mechanical design on designers' view or on the training paradigms on the clinicians' view, while these two parts are interconnected and both important for designers and clinicians. In this review, we explore the current literature surrounding hand rehabilitation robots, to help designers make better choices among varied components and thus promoting the application of hand rehabilitation robots. An overview of hand rehabilitation robotics is provided in this paper firstly, to give a general view of the relationship between subjects, rehabilitation theories, hand rehabilitation robots, and its evaluation. Secondly, the state of the art hand rehabilitation robotics is introduced in detail according to the classification of the hardware system and the training paradigm. As a result, the discussion gives available arguments behind the classification and comprehensive overview of hand rehabilitation robotics.

  11. Some Qualitative Requirements for Testing of Nuclear Emergency Response Robots

    Energy Technology Data Exchange (ETDEWEB)

    Eom, Heungseop; Cho, Jai Wan; Choi, Youngsoo; Jeong, Kyungmin [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-05-15

    Korea Atomic Energy Research Institute (KAERI) is carrying out the project 'Development of Core Technology for Remote Response in Nuclear Emergency Situation', and as a part of the project, we are studying the reliability and performance requirements of nuclear emergency response robots. In this paper, we described some qualitative requirements for testing of nuclear emergency response robots which are different to general emergency response robots. We briefly introduced test requirements of general emergency response robots and described some qualitative aspects of test requirements for nuclear emergency response robots. When considering an immature field-robot technology and variety of nuclear emergency situations, it seems hard to establish quantitative test requirements of these robots at this time. However, based on studies of nuclear severe accidents and the experience of Fukushima NPP accident, we can expect some test requirements including quantitative ones for nuclear emergency response robots.

  12. Robotics in Arthroplasty: A Comprehensive Review.

    Science.gov (United States)

    Jacofsky, David J; Allen, Mark

    2016-10-01

    Robotic-assisted orthopedic surgery has been available clinically in some form for over 2 decades, claiming to improve total joint arthroplasty by enhancing the surgeon's ability to reproduce alignment and therefore better restore normal kinematics. Various current systems include a robotic arm, robotic-guided cutting jigs, and robotic milling systems with a diversity of different navigation strategies using active, semiactive, or passive control systems. Semiactive systems have become dominant, providing a haptic window through which the surgeon is able to consistently prepare an arthroplasty based on preoperative planning. A review of previous designs and clinical studies demonstrate that these robotic systems decrease variability and increase precision, primarily focusing on component positioning and alignment. Some early clinical results indicate decreased revision rates and improved patient satisfaction with robotic-assisted arthroplasty. The future design objectives include precise planning and even further improved consistent intraoperative execution. Despite this cautious optimism, many still wonder whether robotics will ultimately increase cost and operative time without objectively improving outcomes. Over the long term, every industry that has seen robotic technology be introduced, ultimately has shown an increase in production capacity, improved accuracy and precision, and lower cost. A new generation of robotic systems is now being introduced into the arthroplasty arena, and early results with unicompartmental knee arthroplasty and total hip arthroplasty have demonstrated improved accuracy of placement, improved satisfaction, and reduced complications. Further studies are needed to confirm the cost effectiveness of these technologies. Copyright © 2016 Elsevier Inc. All rights reserved.

  13. Human-Robot Interaction: Status and Challenges.

    Science.gov (United States)

    Sheridan, Thomas B

    2016-06-01

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

  14. Experimental and Numerical Investigation of Forming and Springback Behavior and the Resulting Effects on Industrial Application on a Structural Part in Mass Production

    Science.gov (United States)

    Prexl, A.; Golle, M.; Hoffmann, H.; Kudraß, S.; Wahl, M.

    2011-01-01

    Springback prediction and compensation is nowadays a widely recommended discipline in finite element modeling. Many researches have shown an improvement of the accuracy in prediction of springback using advanced modeling techniques, e.g. by including the Bauschinger effect. In this work different models were investigated in the commercial simulation program AutoForm for a large series production part, manufactured from the dual phase steel HC340XD. The work shows the differences between numerical drawbead models and geometrically modeled drawbeads. Furthermore, a sensitivity analysis was made for a reduced kinematic hardening model, implemented in the finite element program AutoForm.

  15. Networked Sensor - Aided Tracking of Walking Human in Robotic Space

    Directory of Open Access Journals (Sweden)

    Taeseok Jin

    2013-01-01

    Full Text Available The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, it is necessary for a robot to carry out human tracking as one of its human-affinitive movements. In this research, a predictable robotic space is introduced in order for a robot to follow a walking human by the shortest time trajectory. The mobile robot is controlled to follow the walking human using distributed networked sensors. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the robotic space. The computer simulation and experimental results on the mobile robot's success in estimating information and following a walking human are presented.

  16. Kinematics and trajectory synthesis of manipulation robots

    CERN Document Server

    Vukobratović, Miomir

    1986-01-01

    A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic...

  17. Spray Drying as a Processing Technique for Syndiotactic Polystyrene to Powder Form for Part Manufacturing Through Selective Laser Sintering

    Science.gov (United States)

    Mys, N.; Verberckmoes, A.; Cardon, L.

    2017-03-01

    Selective laser sintering (SLS) is a rapidly expanding field of the three-dimensional printing concept. One stumbling block in the evolution of the technique is the limited range of materials available for processing with SLS making the application window small. This article aims at identifying syndiotactic polystyrene (sPS) as a promising material. sPS pellets were processed into powder form with a lab-scale spray dryer with vibrating nozzle. This technique is the focus of this scope as it almost eliminates the agglomeration phenomenon often encountered with the use of solution-based processing techniques. Microspheres obtained were characterized in shape and size by scanning electron microscopy and evaluation of the particle size distribution. The effect the processing technique imparts on the intrinsic properties of the material was examined by differential scanning calorimetry analysis.

  18. Design and Implementation of a New DELTA Parallel Robot in Robotics Competitions

    Directory of Open Access Journals (Sweden)

    Jonqlan Lin

    2015-10-01

    Full Text Available This investigation concerns the design and implementation of the DELTA parallel robot, covering the entire mechatronic process, involving kinematics, control design and optimizing methods. To accelerate the construction of the robot, 3D printing is used to fabricate end-effector parts. The parts are modular, low-cost, reconfigurable and can be assembled in less time than is required for conventionally fabricated parts. The controller, including the control algorithm and human-machine interface (HMI, is coded using the Borland C++ Builder 6 Personal software environment. The integration of the motion controller with image recognition into an opto-mechatronics system is presented. The robot system has been entered into robotic competitions in Taiwan. The experimental results reveal that the proposed DELTA robot completed the tasks in those competitions successfully.

  19. Soft Dielectric Elastomer Oscillators Driving Bioinspired Robots.

    Science.gov (United States)

    Henke, E-F Markus; Schlatter, Samuel; Anderson, Iain A

    2017-12-01

    Entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. To produce them, we must integrate control and actuation in the same soft structure. Soft actuators (e.g., pneumatic and hydraulic) exist but electronics are hard and stiff and remotely located. We present novel soft, electronics-free dielectric elastomer oscillators, which are able to drive bioinspired robots. As a demonstrator, we present a robot that mimics the crawling motion of the caterpillar, with an integrated artificial nervous system, soft actuators and without any conventional stiff electronic parts. Supplied with an external DC voltage, the robot autonomously generates all signals that are necessary to drive its dielectric elastomer actuators, and it translates an in-plane electromechanical oscillation into a crawling locomotion movement. Therefore, all functional and supporting parts are made of polymer materials and carbon. Besides the basic design of this first electronic-free, biomimetic robot, we present prospects to control the general behavior of such robots. The absence of conventional stiff electronics and the exclusive use of polymeric materials will provide a large step toward real animal-like robots, compliant human machine interfaces, and a new class of distributed, neuron-like internal control for robotic systems.

  20. 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.

  1. Controlling Robots with Personal Computers.

    Science.gov (United States)

    Singer, Andrew; Rony, Peter

    1983-01-01

    Discusses new robots that are mechanical arms small enough to sit on a desktop. They offer scaled-down price and performance, but are able to handle light production tasks such as spray painting or part orientation. (Available from W. C. Publications Inc., P.O. Box 1578, Montclair, NJ 07042.) (JOW)

  2. 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...

  3. Multi-Robot Systems in Military Domains (Les Systemes Multi-Robots Dans les Domaines Militaires)

    Science.gov (United States)

    2008-12-01

    David A. Schoenwald Snow White and the 700 Dwarves Brian H. Wilcox ANNEX C – MULTI-ROBOT SYSTEMS WORKSHOP 2002 RTO-TR-IST-032 C - 3 Part V...Multi-Robot System Andrew Drenner, Jan Burt, Brian Chapeau, Tom Dahlin, Bradley Kratochvil, Colin McMillen, Brad Nelson, Nikolaos Papanikolopoulos

  4. Free form fabrication of thermoplastic composites

    Energy Technology Data Exchange (ETDEWEB)

    Kaufman, S.G.; Spletzer, B.L.; Guess, T.R.

    1998-02-01

    This report describes the results of composites fabrication research sponsored by the Laboratory Directed Research and Development (LDRD) program at Sandia National Laboratories. They have developed, prototyped, and demonstrated the feasibility of a novel robotic technique for rapid fabrication of composite structures. Its chief innovation is that, unlike all other available fabrication methods, it does not require a mold. Instead, the structure is built patch by patch, using a rapidly reconfigurable forming surface, and a robot to position the evolving part. Both of these components are programmable, so only the control software needs to be changed to produce a new shape. Hence it should be possible to automatically program the system to produce a shape directly from an electronic model of it. It is therefore likely that the method will enable faster and less expensive fabrication of composites.

  5. Design and Implementation of a New DELTA Parallel Robot in Robotics Competitions

    OpenAIRE

    Jonqlan Lin; Ci-Huang Luo; Kao-Hui Lin

    2015-01-01

    This investigation concerns the design and implementation of the DELTA parallel robot, covering the entire mechatronic process, involving kinematics, control design and optimizing methods. To accelerate the construction of the robot, 3D printing is used to fabricate end effector parts. The parts are modular, low-cost, reconfigurable and can be assembled in less time than is required for conventionally fabricated parts. The controller, including the control algorithm and human-machine interfac...

  6. From Child-Robot Interaction to Child-Robot-Therapist Interaction: A Case Study in Autism

    Directory of Open Access Journals (Sweden)

    I. Giannopulu

    2012-01-01

    Full Text Available Troubles in social communication as well as deficits in the cognitive treatment of emotions are supposed to be a fundamental part of autism. We present a case study based on multimodal interaction between a mobile robot and a child with autism in spontaneous, free game play. This case study tells us that the robot mediates the interaction between the autistic child and therapist once the robot-child interaction has been established. In addition, the child uses the robot as a mediator to express positive emotion playing with the therapist. It is thought that the three-pronged interaction i.e., child-robot-therapist could better facilitate the transfer of social and emotional abilities to real life settings. Robot therapy has a high potential to improve the condition of brain activity in autistic children.

  7. Object manipulation by a humanoid robot via single camera pose estimation

    OpenAIRE

    Eskimez, Şefik Emre; Eskimez, Sefik Emre

    2013-01-01

    Humanoid robots are designed to be used in daily life as assistance robots for people. They are expected to fill the jobs that require physical labor. These robots are also considered in healthcare sector. The ultimate goal in humanoid robotics is to reach a point where robots can truly communicate with people, and to be a part of labor force. Usual daily environment of a common person contains objects with different geometric and texture features. Such objects should be easily recognized, lo...

  8. Pastoral care and religious support as a part of treatment of religious patient with the severe form of osteoarthritis

    Directory of Open Access Journals (Sweden)

    Đurović Aleksandar

    2017-01-01

    Full Text Available Introduction. Religious needs of patients are consistently being neglected in the clinical medicine. Pastoral care is a religious support which a religious patient receives from priests, chaplains, imams, rabbis or other religious authorities. Religious support, in terms of clinical medicine, is a spiritual support which religious patients obtain from religious and trained medical workers. The aim of this report was to present the effects of pastoral care and religious support in hospital treatment of a 73-year-old patient with the severe form of osteoarthritis. Case report. The 73- year-old, highly religious patient with severe form of osteoarthritis was admitted at the Clinic for Physical Medicine and Rehabilitation, Military Medical Academy in Belgrade, due to heterogeneous problems in the activities of daily living. The patient walked with difficulty using a stick, suffered pain, and was anxious and depressive. In order to objectively demonstrate effects of both pastoral care and religious support in this patient we performed multiple treatment with reversal design, in which the basic treatment consisting of hospital care, pharmacotherapy and physical therapy (the treatment A was alternatively changed with the treatment that included combination of the basic treatment and religious support provided by religious physiatrist and physiotherapist (the treatment B or combination of the basic treatment and pastoral care provided by military priest (the treatment C. The treatment A was applied three times and lasted two weeks, every time. Treatments B and C were applied once and lasted three weeks, each. The order of the treatments was: A→B→A→C→A. During the whole treatment period the patient’s condition was assessed by several measuring scale: the level of depression by The Hamilton Rang Scale for Depression and The Zung Self Rating Depression Scale; the level of anxiety by The Zung Self Rating Anxiety Scale; the functional capability of

  9. Evaluation influence of machining parameters on shape form errors in turning of machine parts clamped in the chuck with adaptive jaws

    Directory of Open Access Journals (Sweden)

    I.V. Lutsiv

    2017-12-01

    Full Text Available The paper deals with the derivation problem of the dependence of machine part geometric form deviation in cross section area on clamping diameter as well as cutting speed, feed and cutting depth in semi finish machining. The analysis of single factor circular deviation dependences on machining conditions values is performed. Using the special software application package the laboratory conditions experiment results are analyzed. The dispersion analysis including options for main linear and quadratic effects evaluation is given and the simplification model of experiment results is obtained. It presents the evaluation empiric dependence of cutting conditions and clamping diameter influence on shape error forming (dynamic error. It is found that to obtain the necessary form accuracy in machining with lathe chuck equipped with the adaptive clamping jaws it is desirable to control the most statistically significant factors that actually are the cutting depth and feed.

  10. 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…

  11. 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.

  12. Fault Self-Diagnosis for Modular Robotic Systems Using M-Lattice Modules

    Directory of Open Access Journals (Sweden)

    Enguang Guan

    2015-04-01

    Full Text Available In the domain of modular robotic systems, self-configuration, self-diagnosis and self-repair are known to be highly challenging tasks. This paper presents a novel fault self-diagnosis strategy which consists of two parts: fault detection and fault message transmission. In fault detection, a bionic synchronization ‘healthy heartbeat’ method is used to guarantee the high efficiency of the exogenous detection strategy. For fault message transmission, the Dijkstra method is modified to be capable of guiding the passage of fault messages along the optimal path. In a modular robotic system, fault message transmission depends mainly on local communications between adjacent modules, so there is no need for global broadcast information. Computational simulations of one system form, M-Lattice, have demonstrated the practical effectiveness of the proposed strategy. The strategy should be applicable in modular robotic systems in general.

  13. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

    Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....... and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own...

  14. IMPLEMENTASI ALGORITMA BREADTH FIRST SEARCH DAN OBSTACLE DETECTION DALAM PENELUSURAN LABIRIN DINAMIS MENGGUNAKAN ROBOT LEGO

    Directory of Open Access Journals (Sweden)

    Adi Wibowo

    2012-05-01

    Full Text Available Dewasa ini perkembangan teknologi di dunia robot edukasi berkembang pesat. Robot-robot edukasi ini sering digunakan dalam riset penelitian karena kemudahan-kemudahan yang diberikannya dari segi perangkat keras. Salah satu contoh robot edukasi adalah robot LEGO Mindstorms NXT. Pada penelitian ini robot LEGO dibangun dalam bentuk robot line follower. Robot ini mampu menelusuri dan mencari jalan keluar dari labirin dinamis. Dalam menelusuri dan mencari jalan keluar, robot LEGO menggunakan algoritma Breadth First Search dan Manhattan Distance dalam memutuskan jalan mana yang harus diambil. Ketika menemui objek halangan, robot LEGO akan mengenali dan menghindari objek halangan tersebut dengan algoritma Obstacle Detection yang dimilikinya. Hasil implementasi membuktikan bahwa algoritma penelusuran labirin dinamis ini dapat diimplementasikan pada robot LEGO meskipun terdapat banyak keterbatasan dalam robot LEGO. Nowadays, the development of technology in educational robots is rapidly evolving. Educational robots are often used in research studies because they provide convenience in terms of hardware. One example is the educational robot LEGO Mindstorms NXT robot. In this research, LEGO robots built in the form of line follower robot. Robot is able to browse and find a way out of the dynamic labyrinth. In track and find a way out, LEGO robot uses an algorithm Breadth First Search and Manhattan Distance in deciding which path to take. When encountering an obstacle object, LEGO robot will recognize and avoid that obstacle objects with Obstacle Detection algorithm. The results prove that the implementation of a dynamic maze search algorithm can be implemented on a LEGO robot even though there are many limitations in LEGO robot.

  15. Oak Ridge K-25 Site Technology Logic Diagram. Volume 3, Technology evaluation data sheets; Part B, Remedial action, robotics/automation, waste management

    Energy Technology Data Exchange (ETDEWEB)

    Fellows, R.L. [ed.

    1993-02-26

    The Oak Ridge K-25 Technology Logic Diagram (TLD), a decision support tool for the K-25 Site, was developed to provide a planning document that relates environmental restoration (ER) and waste management (WN) problems at the Oak Ridge K-25 Site. The TLD technique identifies the research necessary to develop these technologies to a state that allows for technology transfer and application to waste management, remediation, decontamination, and decommissioning activities. The TLD consists of four separate volumes-Vol. 1, Vol. 2, Vol. 3A, and Vol. 3B. Volume 1 provides introductory and overview information about the TLD. Volume 2 contains logic diagrams. Volume 3 has been divided into two separate volumes to facilitate handling and use. This volume 3 B provides the Technology Evaluation Data Sheets (TEDS) for ER/WM activities (Remedial Action Robotics and Automation, Waste Management) that are referenced by a TEDS code number in Vol. 2 of the TLD. Each of these sheets represents a single logic trace across the TLD. These sheets contain more detail than each technology in Vol. 2. The TEDS are arranged alphanumerically by the TEDS code number in the upper right corner of each data sheet. Volume 3 can be used in two ways: (1) technologies that are identified from Vol. 2 can be referenced directly in Vol. 3 by using the TEDS codes, and (2) technologies and general technology areas (alternatives) can be located in the index in the front of this volume.

  16. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  17. Biofeedback for robotic gait rehabilitation

    Directory of Open Access Journals (Sweden)

    Colombo Gery

    2007-01-01

    Full Text Available Abstract Background Development and increasing acceptance of rehabilitation robots as well as advances in technology allow new forms of therapy for patients with neurological disorders. Robot-assisted gait therapy can increase the training duration and the intensity for the patients while reducing the physical strain for the therapist. Optimal training effects during gait therapy generally depend on appropriate feedback about performance. Compared to manual treadmill therapy, there is a loss of physical interaction between therapist and patient with robotic gait retraining. Thus, it is difficult for the therapist to assess the necessary feedback and instructions. The aim of this study was to define a biofeedback system for a gait training robot and test its usability in subjects without neurological disorders. Methods To provide an overview of biofeedback and motivation methods applied in gait rehabilitation, previous publications and results from our own research are reviewed. A biofeedback method is presented showing how a rehabilitation robot can assess the patients' performance and deliver augmented feedback. For validation, three subjects without neurological disorders walked in a rehabilitation robot for treadmill training. Several training parameters, such as body weight support and treadmill speed, were varied to assess the robustness of the biofeedback calculation to confounding factors. Results The biofeedback values correlated well with the different activity levels of the subjects. Changes in body weight support and treadmill velocity had a minor effect on the biofeedback values. The synchronization of the robot and the treadmill affected the biofeedback values describing the stance phase. Conclusion Robot-aided assessment and feedback can extend and improve robot-aided training devices. The presented method estimates the patients' gait performance with the use of the robot's existing sensors, and displays the resulting biofeedback

  18. The Behavior Problems Inventory-Short Form for individuals with intellectual disabilities: part I: development and provisional clinical reference data.

    Science.gov (United States)

    Rojahn, J; Rowe, E W; Sharber, A C; Hastings, R; Matson, J L; Didden, R; Kroes, D B H; Dumont, E L M

    2012-05-01

    The Behavior Problems Inventory-01 (BPI-01) is an informant-based behaviour rating instrument that was designed to assess maladaptive behaviours in individuals with intellectual disabilities (ID). Its items fall into one of three sub-scales: Self-injurious Behavior (14 items), Stereotyped Behavior (24 items), and Aggressive/Destructive Behavior (11 items). Each item is rated on a frequency scale (0 = never to 4 = hourly), and a severity scale (0 = no problem to 3 = severe problem). The BPI-01 has been successfully used in several studies and has shown acceptable to very good psychometric properties. One concern raised by some investigators was the large number of items on the BPI-01, which has reduced its user friendliness for certain applications. Furthermore, researchers and clinicians were often uncertain how to interpret their BPI-01 data without norms or a frame of reference. The Behavior Problems Inventory-Short Form (BPI-S) was empirically developed, based on an aggregated archival data set of BPI-01 data from individuals with ID from nine locations in the USA, Wales, England, the Netherlands, and Romania (n = 1122). The BPI-S uses the same rating system and the same three sub-scales as the BPI-01, but has fewer items: Self-injurious Behavior (8 items), Stereotyped Behavior (12 items), and Aggressive/Destructive Behavior (10 items). Rating anchors for the severity scales of the Self-injurious Behavior and the Aggressive/Destructive Behavior sub-scales were added in an effort to enhance the objectivity of the ratings. The sensitivity of the BPI-S compared with the BPI-01 was high (0.92 to 0.99), and so were the correlations between the analogous BPI-01 and the BPI-S sub-scales (0.96 to 0.99). Means and standard deviations were generated for both BPI versions in a Sex-by-age matrix, and in a Sex-by-ID Level matrix. Combined sex ranges are also provided by age and level of ID. In summary, the BPI-S is a very useful alternative to the BPI-01, especially for

  19. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

    with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot......-assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work...... proficiently with the collaborative robots...

  20. Apprenticeship Learning for Robotic Control

    Science.gov (United States)

    2015-10-09

    spaces.  Our  key  contributions   have  been  in   handling  probabilistic  collision  checking  for  articulated   robots  [62...AFRL-AFOSR-VA-TR-2015-0315 Apprenticeship Learning for Robotic Control Pieter Abbeel REGENTS OF THE UNIVERSITY OF CALIFORNIA THE Final Report 10/09...Research Laboratory Air Force Materiel Command REPORT DOCUMENTATION PAGE Form Approved OMB No. 0704-0188 The public reporting burden for this

  1. 8th International Robotic Sailing Conference

    CERN Document Server

    Haug, Florian

    2016-01-01

    This book presents the cutting edge developments within a broad field related to robotic sailing. The contributions were presented during the 8th International Robotic Sailing Conference, which has taken place as a part of the 2015 World Robotic Sailing Championships in Mariehamn, Åland (Finland), August 31st – September 4th 2015. Since more than a decade, a series of competitions such as the World Robotic Sailing Championship have stimulated a variety of groups to work on research and development around autonomous sailing robots, which involves boat designers, naval architects, electrical engineers and computer scientists. While many of the challenges in building a truly autonomous sailboat are still unsolved, the books presents the state of the art of research and development within platform optimization, route and stability planning, collision avoidance, power management and boat control.

  2. Teaching Functional Patterns through Robotic Applications

    Directory of Open Access Journals (Sweden)

    J. Boender

    2016-11-01

    Full Text Available We present our approach to teaching functional programming to First Year Computer Science students at Middlesex University through projects in robotics. A holistic approach is taken to the curriculum, emphasising the connections between different subject areas. A key part of the students' learning is through practical projects that draw upon and integrate the taught material. To support these, we developed the Middlesex Robotic plaTfOrm (MIRTO, an open-source platform built using Raspberry Pi, Arduino, HUB-ee wheels and running Racket (a LISP dialect. In this paper we present the motivations for our choices and explain how a number of concepts of functional programming may be employed when programming robotic applications. We present some students' work with robotics projects: we consider the use of robotics projects to have been a success, both for their value in reinforcing students' understanding of programming concepts and for their value in motivating the students.

  3. 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....

  4. Vision Guided Intelligent Robot Design And Experiments

    Science.gov (United States)

    Slutzky, G. D.; Hall, E. L.

    1988-02-01

    The concept of an intelligent robot is an important topic combining sensors, manipulators, and artificial intelligence to design a useful machine. Vision systems, tactile sensors, proximity switches and other sensors provide the elements necessary for simple game playing as well as industrial applications. These sensors permit adaption to a changing environment. The AI techniques permit advanced forms of decision making, adaptive responses, and learning while the manipulator provides the ability to perform various tasks. Computer languages such as LISP and OPS5, have been utilized to achieve expert systems approaches in solving real world problems. The purpose of this paper is to describe several examples of visually guided intelligent robots including both stationary and mobile robots. Demonstrations will be presented of a system for constructing and solving a popular peg game, a robot lawn mower, and a box stacking robot. The experience gained from these and other systems provide insight into what may be realistically expected from the next generation of intelligent machines.

  5. 5th International Robotic Sailing Conference

    CERN Document Server

    Finnis, James

    2013-01-01

    Robotic sailing offers the potential of wind propelled vehicles which are sufficiently autonomous to remain at sea for months at a time. These could replace or augment existing oceanographic sampling systems, be used in border surveillance and security or offer a means of carbon neutral transportation. To achieve this represents a complex, multi-disciplinary challenge to boat designers and naval architects, systems/electrical engineers and computer scientists.  Since 2004 a series of competitions in the form of the Sailbot, World Robotic Sailing Championship and Microtransat competitions have sparked an explosion in the number of groups working on autonomous sailing robots. Despite this interest the longest distance sailed autonomously remains only a few hundred miles. Many of the challenges in building truly autonomous sailing robots still remain unsolved. These proceedings present the cutting edge of work in a variety of fields related to robotic sailing. They will be presented during the 5th International...

  6. Robotic sacrocolpopexy

    Directory of Open Access Journals (Sweden)

    Teresa L Danforth

    2014-01-01

    Full Text Available Pelvic organ prolapse (POP is a prevalent condition with 1 in 9 women seeking surgical treatment by the age of 80 years. Goals of treatment are relief and prevention of symptoms, and restoration of pelvic floor support. The gold standard for surgical treatment of POP has been abdominal sacrocolpopexy (ASC. However, emerging technologies have allowed for more minimally invasive approach including the use of laparoscopic assisted sacrocolpopexy and robotic assisted sacrocolpopexy (RASC. We performed a PubMed literature search for sacrocolpopexy, "robotic sacrocolpopexy" and "RASC" and reviewed all retrospective, prospective and randomized controlled trials. The techniques, objective and subjective outcomes and complications are discussed. The most frequent technique involves a polypropylene Y mesh attached to the anterior and posterior walls of the vagina with the single arm attached to the sacrum. Multiple concomitant procedures have been described including hysterectomy, anti-incontinence procedures and concomitant vaginal prolapse repairs. There are few studies comparing RASC to ASC, with the longest follow-up data showing no difference in subjective and objective outcomes. Anatomic success rates have been reported at 79-100% with up to 9% of patients requiring successive surgery for recurrence. Subjective success is poorly defi ned, but has been reported at 88-97%. Most common complications are urinary retention, urinary tract infection, bladder injury and vaginal mucosal injury. Mesh exposure is reported in up to 10% of patients. RASC allows for a minimally invasive approach to treatment of POP with comparable outcomes and low complication rates.

  7. The Robotic Edge Finishing Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Loucks, C.S.; Selleck, C.B.

    1990-08-01

    The Robotic Edge Finishing Laboratory at Sandia National Laboratories is developing four areas of technology required for automated deburring, chamfering, and blending of machined edges: (1) the automatic programming of robot trajectories and deburring processes using information derived from a CAD database, (2) the use of machine vision for locating the workpiece coupled with force control to ensure proper tool contact, (3) robotic deburring, blending, and machining of precision chamfered edges, and (4) in-process automated inspection of the formed edge. The Laboratory, its components, integration, and results from edge finishing experiments to date are described here. Also included is a discussion of the issues regarding implementation of the technology in a production environment. 24 refs., 17 figs.

  8. Development of inspection/maintenance robot for underground pipes

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Ji Sup; Cho, M.W.; Kim, Y.H.; Park, B.S. [Korea Atomic Energy Research Institute, Taejon (Korea)

    1998-11-01

    A sewage inspection/maintenance robot is developed which inspects physical defects of inner walls of sewage pipes as well as effectively repairs these defects. The robot system consists of a cutting robot, a inspection robot, and a packer robot. The cutting robot removes the branch pipes extruded into a main pipe as well as grinds the surface of defected parts. Unlike other sewage cutting robots, the developed cutting robot is equipped with two cutting tools whose position can be easily changed each other by remote operations. The inspection robot is equipped with a rotary type inspection module which utilizes laser sensors and automatically inspects defects. Also, image processing technology is applied to this robot so that the identification of accurate geometry of the defects is made possible by combining the displacement data from laser sensor and a image data from the Ccd camera. The inspection robot can be autonomously navigates by utilizing a gyro compass as a navigation sensor and the velocity difference between left and right wheels. The packer robot fills the cracks or holes of inner wall by expending its rubber tube inside the pipes. 20 refs., 166 figs., 30 tabs. (Author)

  9. Task-oriented rehabilitation robotics.

    Science.gov (United States)

    Schweighofer, Nicolas; Choi, Younggeun; Winstein, Carolee; Gordon, James

    2012-11-01

    Task-oriented training is emerging as the dominant and most effective approach to motor rehabilitation of upper extremity function after stroke. Here, the authors propose that the task-oriented training framework provides an evidence-based blueprint for the design of task-oriented robots for the rehabilitation of upper extremity function in the form of three design principles: skill acquisition of functional tasks, active participation training, and individualized adaptive training. The previous robotic systems that incorporate elements of task-oriented trainings are then reviewed. Finally, the authors critically analyze their own attempt to design and test the feasibility of a TOR robot, ADAPT (Adaptive and Automatic Presentation of Tasks), which incorporates the three design principles. Because of its task-oriented training-based design, ADAPT departs from most other current rehabilitation robotic systems: it presents realistic functional tasks in which the task goal is constantly adapted, so that the individual actively performs doable but challenging tasks without physical assistance. To maximize efficacy for a large clinical population, the authors propose that future task-oriented robots need to incorporate yet-to-be developed adaptive task presentation algorithms that emphasize acquisition of fine motor coordination skills while minimizing compensatory movements.

  10. Controlling Tensegrity Robots Through Evolution

    Science.gov (United States)

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

    2013-01-01

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

  11. Robotics in urological surgery: evolution, current status and future perspectives.

    Science.gov (United States)

    Sivaraman, A; Sanchez-Salas, R; Prapotnich, D; Barret, E; Mombet, A; Cathala, N; Rozet, F; Galiano, M; Cathelineau, X

    2015-09-01

    Robotic surgery is rapidly evolving and has become an essential part of surgical practice in several parts of the world. Robotic technology will expand globally and most of the surgeons around the world will have access to surgical robots in the future. It is essential that we are updated about the outcomes of robot assisted surgeries which will allow everyone to develop an unbiased opinion on the clinical utility of this innovation. In this review we aim to present the evolution, objective evaluation of clinical outcomes and future perspectives of robot assisted urologic surgeries. A systematic literature review of clinical outcomes of robotic urological surgeries was made in the PUBMED. Randomized control trials, cohort studies and review articles were included. Moreover, a detailed search in the web based search engine was made to acquire information on evolution and evolving technologies in robotics. The present evidence suggests that the clinical outcomes of the robot assisted urologic surgeries are comparable to the conventional open surgical and laparoscopic results and are associated with fewer complications. However, long term results are not available for all the common robotic urologic surgeries. There are plenty of novel developments in robotics to be available for clinical use in the future. Robotic urologic surgery will continue to evolve in the future. We should continue to critically analyze whether the advances in technology and the higher cost eventually translates to improved overall surgical performance and outcomes. Copyright © 2014 AEU. Publicado por Elsevier España, S.L.U. All rights reserved.

  12. Platooning strategy of mobile robot: simulation and experiment

    Directory of Open Access Journals (Sweden)

    Baarath K.

    2017-01-01

    Full Text Available Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic model of the proposed mobile robot is simulated and the kinematic modelling was included in to simulate the motion of the mobile robot. PID controller will be used as a controller for robot’s motion and platooning strategy. A reference distance is given as the input and the PID controller computes the error and sends input to the mobile robot in the form of voltage. The robot is able to follow the leader robot by maintaining a distance of one metre with a small deviation in the direction as the robot tends to move towards the left due to forces acting on the wheel. This method can be implemented in a human following mobile robot where the leader robot is replaced with a human user.

  13. Intelligent robotics can boost America's economic growth

    Science.gov (United States)

    Erickson, Jon D.

    1994-01-01

    A case is made for strategic investment in intelligent robotics as a part of the solution to the problem of improved global competitiveness for U.S. manufacturing, a critical industrial sector. Similar cases are made for strategic investments in intelligent robotics for field applications, construction, and service industries such as health care. The scope of the country's problems and needs is beyond the capability of the private sector alone, government alone, or academia alone to solve independently of the others. National cooperative programs in intelligent robotics are needed with the private sector supplying leadership direction and aerospace and non-aerospace industries conducting the development. Some necessary elements of such programs are outlined. The National Aeronautics and Space Administration (NASA) and the Lyndon B. Johnson Space Center (JSC) can be key players in such national cooperative programs in intelligent robotics for several reasons: (1) human space exploration missions require supervised intelligent robotics as enabling tools and, hence must develop supervised intelligent robotic systems; (2) intelligent robotic technology is being developed for space applications at JSC (but has a strong crosscutting or generic flavor) that is advancing the state of the art and is producing both skilled personnel and adaptable developmental infrastructure such as integrated testbeds; and (3) a NASA JSC Technology Investment Program in Robotics has been proposed based on commercial partnerships and collaborations for precompetitive, dual-use developments.

  14. EVA Robotic Assistant Project: Platform Attitude Prediction

    Science.gov (United States)

    Nickels, Kevin M.

    2003-01-01

    The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways

  15. Evaluation of Incontinence after Robot-Assisted Laparoscopic Radical Prostatectomy: Using the International Consultation on Incontinence Modular Questionnaire Short Form and Noting the Number of Safety Pads Needed by Japanese Patients.

    Science.gov (United States)

    Hikita, Katsuya; Honda, Masashi; Kawamoto, Bunya; Tsounapi, Panagiota; Muraoka, Kuniyasu; Sejima, Takehiro; Takenaka, Atsushi

    2017-03-01

    The definition of continence after robot-assisted laparoscopic radical prostatectomy (RARP) has not been consistently defined, with many studies only noting the amount of safety pads used. We therefore examined what definition of continence would be appropriate, employing both the International Consultation on Incontinence Modular Questionnaire Short Form (ICIQ-SF) and the number of pads used by patients. We also evaluated the relationship between the number of pads used and degree of incontinence. Patients who underwent RARP between October 2010 and July 2014 in our department were included in the present study. All patients were evaluated by ICIQ-SF and the number of pads used 1, 3, 6 and 12 months after surgery. Frequency of incontinence and amount of incontinence were evaluated by ICIQ-SF Questions 1 and 2 respectively at 12 months. Quality of life (QOL) was evaluated by ICIQ-SF Question 3 at 1, 3, 6, and 12 months after RARP. The overall study population was 156 patients. In Question 1, 19 patients answered that they leaked urine several times a day, but 5 patients did not use pads, and 8 patients were using only 1 pad a day. In Question 2, 8 patients answered that they leaked a moderate amount of urine, but 2 patients did not use any pads, and 3 patients used only 1 pad a day. QOL showed significant differences between using no pad, 1 pad, or ≥ 2 pads at 1, 3, 6, and 12 months after RARP. Simply noting the number of pads used by a patient is an insufficient way to evaluate incontinence after RARP. Assessment by an appropriate questionnaire is also needed.

  16. LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper

    2011-01-01

    Producing steady stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain is a big challenge in robotics. In addressing this challenge, it is often desirable to experiment with different morphologies and see how they influence on the way the robot walks....... This is however not always easy, since robots are often built as a fixed system with a limited possibility of changing the morphology without redesign a significant part of the robot. This work is focusing on the creation of a robotic construction kit specifically aimed at easing the process of constructing...... legged robots. This is accomplished by giving the creator the possibility to easily do morphological changes to the robot even after it have been build, to see how it effects the robot?s ability to walk in unknown terrain....

  17. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  18. 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.

  19. Advanced gloss sensing for robotic applications

    Science.gov (United States)

    Deinhammer, Christian; Brandner, Markus

    2012-10-01

    Specular gloss is an important measurand used in quality control of manufacturing processes of highly reflective parts. In this work we present an in-process quality control system to evaluate the gloss of free-form surfaces to be used in an automated polishing process. Due to the geometry of our test objects the presented sensor is mounted on a robot arm and, therefore, needs to be robust against sensor misalignment. This robustness is achieved using a 2D CCD-camera as detector which allows us to properly handle sensor orientation deviations of up to 10. The required dynamic range of the sensor is obtained based on the acquisition of high dynamic range images. We present first results of a sensor prototype and show its applicability to the target application.

  20. Vision Based Self Localization for Humanoid Robot Soccer

    Directory of Open Access Journals (Sweden)

    Arif Rahman

    2012-12-01

    Full Text Available Vision based Robot Soccer Localization System, aiming to create a robot soccer localization system. Efforts to implement this idea motivated the need for localization system in the robot soccer in order to play the ball effectively and efficiently. The results expected are the soccer robot localization system based on camera vision. Thus the robot will be developed that has the ability to play football better, because with the localization system, the robot will be able to determine more precisely the behavior and the conditions specific locations, for example: when finding the ball in his own area and find the ball in the opponent's . Researck conducted on several major parts, consisting: image capture, processing image information and directions to the information about the location of the robot at the time.

  1. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  2. Minimizing Hexapod Robot Foot Deviations Using Multilayer Perceptron

    Directory of Open Access Journals (Sweden)

    Vytautas Valaitis

    2015-12-01

    Full Text Available Rough-terrain traversability is one of the most valuable characteristics of walking robots. Even despite their slower speeds and more complex control algorithms, walking robots have far wider usability than wheeled or tracked robots. However, efficient movement over irregular surfaces can only be achieved by eliminating all possible difficulties, which in many cases are caused by a high number of degrees of freedom, feet slippage, frictions and inertias between different robot parts or even badly developed inverse kinematics (IK. In this paper we address the hexapod robot-foot deviation problem. We compare the foot-positioning accuracy of unconfigured inverse kinematics and Multilayer Perceptron-based (MLP methods via theory, computer modelling and experiments on a physical robot. Using MLP-based methods, we were able to significantly decrease deviations while reaching desired positions with the hexapod's foot. Furthermore, this method is able to compensate for deviations of the robot arising from any possible reason.

  3. Robotic Lunar Landers for Science and Exploration

    Science.gov (United States)

    Cohen, B. A.; Bassler, J. A.; Hammond, M. S.; Harris, D. W.; Hill, L. A.; Kirby, K. W.; Morse, B. J.; Mulac, B. D.; Reed, C. L. B.

    2010-01-01

    The Moon provides an important window into the early history of the Earth, containing information about planetary composition, magmatic evolution, surface bombardment, and exposure to the space environment. Robotic lunar landers to achieve science goals and to provide precursor technology development and site characterization are an important part of program balance within NASA s Science Mission Directorate (SMD) and Exploration Systems Mission Directorate (ESMD). A Robotic Lunar Lan-der mission complements SMD's initiatives to build a robust lunar science community through R&A lines and increases international participation in NASA's robotic exploration of the Moon.

  4. Distributed computing by oblivious mobile robots

    CERN Document Server

    Flocchini, Paola; Santoro, Nicola

    2012-01-01

    The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the ro

  5. HexaMob—A Hybrid Modular Robotic Design for Implementing Biomimetic Structures

    National Research Council Canada - National Science Library

    Sasanka Sankhar Reddy CH; Sharath Patlolla; Anita Agrawal; Anupama K. R

    2017-01-01

    .... in real life scenarios. Though the research in the employment of modular robotic units in formation of biological organisms is in the nascent stage, modular robotic units are already capable of forming such sophisticated structures...

  6. Architectural setup for online monitoring and control of process parameters in robot-based ISF

    Science.gov (United States)

    Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

    2017-10-01

    This article describes new developments in an incremental, robot-based sheet metal forming process (Roboforming) for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet forming (ISF) machines, this system offers high geometrical design flexibility without the need of any part-dependent tools. However, the industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors introduce a new architectural setup extending the current one by a superordinate process control. This sophisticated control consists of two modules, i.e. the compensation of the two industrial robots' low structural stiffness as well as a combined force/torque control. It is assumed that this contribution will lead to future research and development projects in which the authors will thoroughly investigate ISF process parameters influencing the geometric accuracy of the forming results.

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

    OpenAIRE

    Tao Liu; Yin Guo; Shourui Yang; Shibin Yin; Jigui Zhu

    2017-01-01

    Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points...

  8. Electroactive Polymer (EAP) Actuators for Future Humanlike Robots

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Human-like robots are increasingly becoming an engineering reality thanks to recent technology advances. These robots, which are inspired greatly by science fiction, were originated from the desire to reproduce the human appearance, functions and intelligence and they may become our household appliance or even companion. The development of such robots is greatly supported by emerging biologically inspired technologies. Potentially, electroactive polymer (EAP) materials are offering actuation capabilities that allow emulating the action of our natural muscles for making such machines perform lifelike. There are many technical issues related to making such robots including the need for EAP materials that can operate as effective actuators. Beside the technology challenges these robots also raise concerns that need to be addressed prior to forming super capable robots. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper, the potential EAP actuators and the challenges that these robots may pose will be reviewed.

  9. Robotic Oncological Surgery: Technology That's Here to Stay?

    Directory of Open Access Journals (Sweden)

    HRH Patel

    2009-09-01

    Full Text Available A robot functioning in an environment may exhibit various forms of behavior emerge from the interaction with its environment through sense, control and plan activities. Hence, this paper introduces a behaviour selection based navigation and obstacle avoidance algorithm with effective method for adapting robotic behavior according to the environment conditions and the navigated terrain. The developed algorithm enable the robot to select the suitable behavior in real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors utilizing the robot's ability to step over obstacles, and move between surfaces of different heights. In addition, it allows the robot to react in appropriate manner to the changing conditions either by fine-tuning of behaviors or by selecting different set of behaviors to increase the efficiency of the robot over time. The presented approach has been demonstrated on quadruped robot in several different experimental environments and the paper provides an analysis of its performance.

  10. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

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

  11. Robotic vehicle with multiple tracked mobility platforms

    Science.gov (United States)

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

    2012-07-24

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

  12. System for Self-Navigating Autonomous Robots

    OpenAIRE

    Andersen, Thor Eivind Svergja; Rødseth, Mats Gjerset

    2016-01-01

    The purpose of the thesis was to build an Arduino-based robot, whose intended use was to map unknown areas, as well as to develop a server application that controls several robots and uses the gathered information to form a map of the area. Additionally, the wireless communication in the existing solution was to be updated using state-of-the-art technology. An Arduino-robot was designed and built using materials acquired from Sparkfun, Elfa Distrelec and the Cybernetic Workshops at NTNU. ...

  13. 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.

  14. 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 (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.

  15. Predicting the long-term effects of human-robot interaction: a reflection on responsibility in medical robotics.

    Science.gov (United States)

    Datteri, Edoardo

    2013-03-01

    This article addresses prospective and retrospective responsibility issues connected with medical robotics. It will be suggested that extant conceptual and legal frameworks are sufficient to address and properly settle most retrospective responsibility problems arising in connection with injuries caused by robot behaviours (which will be exemplified here by reference to harms occurred in surgical interventions supported by the Da Vinci robot, reported in the scientific literature and in the press). In addition, it will be pointed out that many prospective responsibility issues connected with medical robotics are nothing but well-known robotics engineering problems in disguise, which are routinely addressed by roboticists as part of their research and development activities: for this reason they do not raise particularly novel ethical issues. In contrast with this, it will be pointed out that novel and challenging prospective responsibility issues may emerge in connection with harmful events caused by normal robot behaviours. This point will be illustrated here in connection with the rehabilitation robot Lokomat.

  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. Copyright © 2013 Elsevier Ltd. All rights reserved.

  17. 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

  18. Computer Aided Design of a Low-Cost Painting Robot

    Directory of Open Access Journals (Sweden)

    SYEDA MARIA KHATOON ZAIDI

    2017-10-01

    Full Text Available The application of robots or robotic systems for painting parts is becoming increasingly conventional; to improve reliability, productivity, consistency and to decrease waste. However, in Pakistan only highend Industries are able to afford the luxury of a robotic system for various purposes. In this study we propose an economical Painting Robot that a small-scale industry can install in their plant with ease. The importance of this robot is that being cost effective, it can easily be replaced in small manufacturing industries and therefore, eliminate health problems occurring to the individual in charge of painting parts on an everyday basis. To achieve this aim, the robot is made with local parts with only few exceptions, to cut costs; and the programming language is kept at a mediocre level. Image processing is used to establish object recognition and it can be programmed to paint various simple geometries. The robot is placed on a conveyer belt to maximize productivity. A four DoF (Degree of Freedom arm increases the working envelope and accessibility of painting different shaped parts with ease. This robot is capable of painting up, front, back, left and right sides of the part with a single colour. Initially CAD (Computer Aided Design models of the robot were developed which were analyzed, modified and improved to withstand loading condition and perform its task efficiently. After design selection, appropriate motors and materials were selected and the robot was developed. Throughout the development phase, minor problems and errors were fixed accordingly as they arose. Lastly the robot was integrated with the computer and image processing for autonomous control. The final results demonstrated that the robot is economical and reduces paint wastage.

  19. Microgravity, Mesh-Crawling Legged Robots

    Science.gov (United States)

    Behar, Alberto; Marzwell, Neville; Matthews, Jaret; Richardson, Krandalyn; Wall, Jonathan; Poole, Michael; Foor, David; Rodgers, Damian

    2008-01-01

    The design, fabrication, and microgravity flight-testing are part of a continuing development of palm-sized mobile robots that resemble spiders (except that they have six legs apiece, whereas a spider has eight legs). Denoted SpiderBots (see figure), they are prototypes of proposed product line of relatively inexpensive walking robots that could be deployed in large numbers to function cooperatively in construction, repair, exploration, search, and rescue activities in connection with exploration of outer space and remote planets.

  20. Developmental Robotics: From Babies to Robots

    OpenAIRE

    Cangelosi, A.; Schlesinger, M.

    2015-01-01

    Developmental robotics is a collaborative and interdisciplinary approach to robotics that is directly inspired by the developmental principles and mechanisms observed in children’s cognitive development. It builds on the idea that the robot, using a set of intrinsic developmental principles regulating the real-time interaction of its body, brain, and environment, can autonomously acquire an increasingly complex set of sensorimotor and mental capabilities. This volume, drawing on insights from...

  1. Adaptive training algorithm for robot-assisted upper-arm rehabilitation, applicable to individualised and therapeutic human-robot interaction.

    Science.gov (United States)

    Chemuturi, Radhika; Amirabdollahian, Farshid; Dautenhahn, Kerstin

    2013-09-28

    influence of the gravity on the direction of the movement. The GENTLE/A system was able to adapt so that the duration required to execute point-to-point movement was according to the leading or lagging performance of the user with respect to the robot. This adaptability could be useful in the clinical settings when stroke subjects interact with the system and could also serve as an assessment parameter across various interaction sessions. As the system adapts to user input, and as the task becomes easier through practice, the robot would auto-tune for more demanding and challenging interactions. The improvement in performance of the participants in an embedded environment when compared to a virtual environment also shows promise for clinical applicability, to be tested in due time. Studying the physiology of upper arm to understand the muscle groups involved, and their influence on various movements executed during this study forms a key part of our future work.

  2. 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.

  3. An In Vitro Robotic Assessment of the Anterolateral Ligament, Part 1: Secondary Role of the Anterolateral Ligament in the Setting of an Anterior Cruciate Ligament Injury.

    Science.gov (United States)

    Rasmussen, Matthew T; Nitri, Marco; Williams, Brady T; Moulton, Samuel G; Cruz, Raphael Serra; Dornan, Grant J; Goldsmith, Mary T; LaPrade, Robert F

    2016-03-01

    Recent investigations have described the structural and functional behavior of the anterolateral ligament (ALL) of the knee through pull-apart and isolated sectioning studies. However, the secondary stabilizing role of the ALL in the setting of a complete anterior cruciate ligament (ACL) tear has not been fully defined for common simulated clinical examinations, such as the pivot-shift, anterior drawer, and internal rotation tests. Combined sectioning of the ALL and ACL would lead to increased internal rotation and increased axial plane translation during a pivot-shift test when compared with isolated sectioning of the ACL. Controlled laboratory study. Ten fresh-frozen human cadaveric knees were subjected to a simulated pivot-shift test with coupled 10-N·m valgus and 5-N·m internal rotation torques from 0° to 60° of knee flexion and a 5-N·m internal rotation torque and an 88-N anterior tibial load, both from 0° to 120° of knee flexion via a 6 degrees of freedom robotic system. Kinematic changes were measured and compared with the intact state for isolated sectioning of the ACL and combined sectioning of the ACL and ALL. Combined sectioning of the ACL and ALL resulted in a significant increase in axial plane tibial translation during a simulated pivot shift at 0°, 15°, 30°, and 60° of knee flexion and a significant increase in internal rotation at 0°, 15°, 30°, 45°, 60°, 75°, 90°, 105°, and 120° when compared with the intact and ACL-deficient states. Based on the model results, ALL sectioning resulted in an additional 2.1 mm (95% CI, 1.4-2.9 mm; P < .001) of axial plane translation during the pivot shift when compared with ACL-only sectioning, when pooling evidence over all flexion angles. Likewise, when subjected to IR torque, the ACL+ALL-deficient state resulted in an additional 3.2° of internal rotation (95% CI, 2.4°-4.1°; P < .001) versus the intact state, and the additional sectioning of the ALL increased internal rotation by 2.7° (95

  4. 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...

  5. 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.

  6. Microgravity flight testing of a laboratory robot

    Science.gov (United States)

    Hinman, Elaine M.

    1991-01-01

    A review is given of the conditions and preparations for studying the performance of a robotic laboratory manipulator under microgravity conditions and by means of dynamic simulations. The robotic arm is fitted with accelerometers, incorporated into a materials-transfer workcell, and flown on a microgravity simulator. A software package based on the Lagrangian form of the equations of motion is used for dynamic analysis and control-systems development of the arm.

  7. ODYSSEUS autonomous walking robot: The leg/arm design

    Science.gov (United States)

    Bourbakis, N. G.; Maas, M.; Tascillo, A.; Vandewinckel, C.

    1994-01-01

    ODYSSEUS is an autonomous walking robot, which makes use of three wheels and three legs for its movement in the free navigation space. More specifically, it makes use of its autonomous wheels to move around in an environment where the surface is smooth and not uneven. However, in the case that there are small height obstacles, stairs, or small height unevenness in the navigation environment, the robot makes use of both wheels and legs to travel efficiently. In this paper we present the detailed hardware design and the simulated behavior of the extended leg/arm part of the robot, since it plays a very significant role in the robot actions (movements, selection of objects, etc.). In particular, the leg/arm consists of three major parts: The first part is a pipe attached to the robot base with a flexible 3-D joint. This pipe has a rotated bar as an extended part, which terminates in a 3-D flexible joint. The second part of the leg/arm is also a pipe similar to the first. The extended bar of the second part ends at a 2-D joint. The last part of the leg/arm is a clip-hand. It is used for selecting several small weight and size objects, and when it is in a 'closed' mode, it is used as a supporting part of the robot leg. The entire leg/arm part is controlled and synchronized by a microcontroller (68CH11) attached to the robot base.

  8. DEVELOPMENT OF GENETIC ALGORITHM-BASED METHODOLOGY FOR SCHEDULING OF MOBILE ROBOTS

    DEFF Research Database (Denmark)

    Dang, Vinh Quang

    This thesis addresses the issues of scheduling of mobile robot(s) at operational levels of manufacturing systems. More specifically, two problems of scheduling of a single mobile robot with part-feeding tasks and scheduling of multiple mobile robots with preemptive tasks are taken into account....... For the first scheduling problem, a single mobile robot is considered to collect and transport container of parts and empty them into machine feeders where needed. A limit on carrying capacity of the single mobile robot and hard time windows of part-feeding tasks are considered. The objective of the first...... problem is to minimize the total traveling time of the single mobile robot and thereby increase its availability. For the second scheduling problem, a fleet of mobile robots is considered together with a set of machines to carry out different types of tasks, e.g. pre-assembly or quality inspection. Some...

  9. Fiscal 1998 R and D report on the human coordination/coexistence robot system (development of practical technology for rational energy use); 1998 nendo ningen kyocho kyozongata robot system no kenkyu kaihatsu (energy shiyo gorika kankei gijutsu jitsuyoka kaihatsu) seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    This report reports the R and D on the human coordination/coexistence robot system possible to perform various works instead of people. As for an intelligent robot hand, 4-finger hand and arm hardware were developed and fabricated, and operation of the assembled system of them was tested. As for a robot platform, a remote control platform, and the interface specifications of command communication and data communication were studied. As for 3-D walk adaptive to land shapes, an analysis environment for a control algorithm and an easy-to-use environment for a virtual platform simulator were prepared. By using this analysis environment, the central part of the walk control algorithm, and a module for forming walk patterns were developed. In the application research on energy saving, various problems on dangerous and harsh conditions in construction and disaster restoration works were analyzed, and the needs of a humanoid robot for such works were studied. (NEDO)

  10. 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...

  11. 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......-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...... to program the robots to perform a variety of tasks, through the use of simple task-level programming methods. We demonstrate various approaches to this, extensively tested with several people inexperienced in robotics. We validate our findings through several deployments of the complete robot system...

  12. 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...

  13. 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....

  14. Service Robotics in Construction

    OpenAIRE

    Thomas, Bock

    2008-01-01

    Service robots in construction move from cleaning of the construction site and diagnosing of the building fa?ade as security, logistic and assistive robots into the building and apartment and will in the future share urban environment with humans.

  15. TARDEC's robotics laboratory

    Science.gov (United States)

    Gorsich, David J.; Gerhart, Grant R.; Muench, Paul L.

    2001-09-01

    The U.S. Army Tank-Automotive Research, Development, and Engineering Center (TARDEC) recently opened a 5000 square foot robotics laboratory known as the TARDEC Robotics Laboratory. The focus of the lab is on robotics research, both basic and applied, in the area of robot mobility. Mobility is the key problem for light weight robotic systems, and the TARDEC Robotics Lab will develop innovative ways to deal with the mobility issues. The lab will also test and evaluate robotic systems in all aspects of mobility and control. The lab has the highest concentration of senior researchers at TARDEC, and is committed to maintaining in- house research talent so that new combat concepts using robots can be evaluated effectively by the Army. This paper serves as an introduction to the lab, its missions, goals, capabilities and programs.

  16. 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

  17. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

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

  18. 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...

  19. Robots in the Roses

    OpenAIRE

    2014-01-01

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

  20. Affective and Behavioral Responses to Robot-Initiated Social Touch: Toward Understanding the Opportunities and Limitations of Physical Contact in Human–Robot Interaction

    Directory of Open Access Journals (Sweden)

    Christian J. A. M. Willemse

    2017-05-01

    Full Text Available Social touch forms an important aspect of the human non-verbal communication repertoire, but is often overlooked in human–robot interaction. In this study, we investigated whether robot-initiated touches can induce physiological, emotional, and behavioral responses similar to those reported for human touches. Thirty-nine participants were invited to watch a scary movie together with a robot that spoke soothing words. In the Touch condition, these words were accompanied by a touch on the shoulder. We hypothesized that this touch—as compared with no touch—could (H1 attenuate physiological [heart rate (variability, skin conductance, cortisol, and respiration rate] and subjective stress responses that were caused by the movie. Moreover, we expected that a touch could (H2 decrease aversion toward the movie, (H3 increase positive perceptions of the robot (e.g., its appearance and one’s attitude toward it, and (H4 increase compliance to the robot’s request to make a monetary donation. Although the movie did increase arousal as intended, none of the hypotheses could be confirmed. Our findings suggest that merely simulating a human touching action with the robot’s limbs is insufficient to elicit physiological, emotional, and behavioral responses in this specific context and with this amount of participants. To inform future research on the opportunities and limitations of robot-initiated touch, we reflect on our methodology and identify dimensions that may play a role in physical human–robot interactions: e.g., the robot’s touching behavior, its appearance and behavior, the user’s personality, the body location where the touch is applied, and the (social context of the interaction. Social touch can only become an integral and effective part of a robot’s non-verbal communication repertoire, when we better understand if, and under which boundary conditions such touches can elicit responses in humans.

  1. The da Vinci robot.

    Science.gov (United States)

    Moran, Michael E

    2006-12-01

    lion, but by then, he had produced his own metal springs as well as drum-containing springs called tambours. He positioned his fusee to a stationary rotating power output shaft that would be used to power his programmable automaton. Part of the obscurity of da Vinci's robot comes from the difficulties interpreting Leonardo's markings. His designs precede any formal method of blueprint designing. The technical aspects had to be deciphered before anyone could even attempt to reproduce his intended device. This robotic device fits together with other pieces of evidence that link 15(th) Century automatons to da Vinci's design, namely the automated Tea Servers from Spain. As with many things from da Vinci, looking backward at this master leaves one with a pronounced sense of awe at his prescient view of the world.

  2. Here today, gone tomorrow: biodegradable soft robots

    Science.gov (United States)

    Rossiter, Jonathan; Winfield, Jonathan; Ieropoulos, Ioannis

    2016-04-01

    One of the greatest challenges to modern technologies is what to do with them when they go irreparably wrong or come to the end of their productive lives. The convention, since the development of modern civilisation, is to discard a broken item and then procure a new one. In the 20th century enlightened environmentalists campaigned for recycling and reuse (R and R). R and R has continued to be an important part of new technology development, but there is still a huge problem of non-recyclable materials being dumped into landfill and being discarded in the environment. The challenge is even greater for robotics, a field which will impact on all aspects of our lives, where discards include motors, rigid elements and toxic power supplies and batteries. One novel solution is the biodegradable robot, an active physical machine that is composed of biodegradable materials and which degrades to nothing when released into the environment. In this paper we examine the potential and realities of biodegradable robotics, consider novel solutions to core components such as sensors, actuators and energy scavenging, and give examples of biodegradable robotics fabricated from everyday, and not so common, biodegradable electroactive materials. The realisation of truly biodegradable robots also brings entirely new deployment, exploration and bio-remediation capabilities: why track and recover a few large non-biodegradable robots when you could speculatively release millions of biodegradable robots instead? We will consider some of these exciting developments and explore the future of this new field.

  3. Robots could assist scientists working in Greenland

    Science.gov (United States)

    Showstack, Randy

    2011-07-01

    GREENLAND—Tom Lane and Suk Joon Lee, recent graduates of Dartmouth University's Thayer School of Engineering, in Hanover, N. H., are standing outside in the frigid cold testing an autonomous robot that could help with scientific research and logistics in harsh polar environments. This summer, Lane, Lee, and others are at Summit Station, a U.S. National Science Foundation (NSF)-sponsored scientific research station in Greenland, fine-tuning a battery-powered Yeti robot as part of a team working on the NSF-funded Cool Robot project. The station, also known as Summit Camp, is located on the highest point of the Greenland Ice Sheet (72°N, 38°W, 3200 meters above sea level) near the middle of the island. It is a proving ground this season for putting the approximately 68-kilogram, 1-cubic-meter robot through its paces, including improving Yeti's mobility capabilities and field-testing the robot. (See the electronic supplement to this Eos issue for a video of Yeti in action (http://www.agu.org/eos_elec/).) During field-testing, plans call for the robot to collect data on elevation and snow surface characteristics, including accumulation. In addition, the robot will collect black carbon and elemental carbon particulate matter air samples around Summit Camp's power generator to help study carbon dispersion over snow.

  4. A Fast Vision System for Soccer Robot

    Directory of Open Access Journals (Sweden)

    Tianwu Yang

    2012-01-01

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

  5. Sistem Multi-robot Denngan Nxt Mindstorms Robot Menggunakan Bluetooth

    OpenAIRE

    Adriansyah, Andi

    2013-01-01

    Teknologi dan aplikasi robot terus berkembang secara cepat. Pada dekade ini, telah terjadi pergeseran yang signifikan pada bidang fokus penyelidikan tentang robot dimana para peneliti mulai mengarahkan arah penelitiannya, dari investigasi sistem robot tunggal kepada koordinasi sistem multi-robot. Hal ini dikarenakan sistem multi-robot memiliki beberapa kentungan. Dalam konteks sistem multi-robot, komunikasi sistem multi-robot menjadi bagian yang signifikan. Penelitian ini mengimplementasikan ...

  6. 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,…

  7. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

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

  8. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  9. 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.

  10. Introduction to robotics

    CERN Document Server

    Bajd, Tadej; Munih, Marko

    2013-01-01

    This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues's formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.

  11. Detection and classification of Web robots with honeypots

    OpenAIRE

    McKenna, Sean F.

    2016-01-01

    Approved for public release; distribution is unlimited Web robots are automated programs that systematically browse the Web, collecting information. Although Web robots are valuable tools for indexing content on the Web, they can also be malicious through phishing, spamming, or performing targeted attacks. In this thesis, we study an approach to Web-robot detection that uses honeypots in the form of hidden resources on Web pages. Our detection model is based upon the observation that malic...

  12. Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

    Directory of Open Access Journals (Sweden)

    Joachim de Greeff

    Full Text Available Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference; the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.

  13. Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

    Science.gov (United States)

    de Greeff, Joachim; Belpaeme, Tony

    2015-01-01

    Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference); the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.

  14. Combustion of Biosolids in a Bubbling Fluidized Bed, Part 1: Main Ash-Forming Elements and Ash Distribution with a Focus on Phosphorus.

    Science.gov (United States)

    Skoglund, Nils; Grimm, Alejandro; Ohman, Marcus; Boström, Dan

    2014-02-20

    This is the first in a series of three papers describing combustion of biosolids in a 5-kW bubbling fluidized bed, the ash chemistry, and possible application of the ash produced as a fertilizing agent. This part of the study aims to clarify whether the distribution of main ash forming elements from biosolids can be changed by modifying the fuel matrix, the crystalline compounds of which can be identified in the raw materials and what role the total composition may play for which compounds are formed during combustion. The biosolids were subjected to low-temperature ashing to investigate which crystalline compounds that were present in the raw materials. Combustion experiments of two different types of biosolids were conducted in a 5-kW benchscale bubbling fluidized bed at two different bed temperatures and with two different additives. The additives were chosen to investigate whether the addition of alkali (K 2 CO 3 ) and alkaline-earth metal (CaCO 3 ) would affect the speciation of phosphorus, so the molar ratios targeted in modified fuels were P:K = 1:1 and P:K:Ca = 1:1:1, respectively. After combustion the ash fractions were collected, the ash distribution was determined and the ash fractions were analyzed with regards to elemental composition (ICP-AES and SEM-EDS) and part of the bed ash was also analyzed qualitatively using XRD. There was no evidence of zeolites in the unmodified fuels, based on low-temperature ashing. During combustion, the biosolid pellets formed large bed ash particles, ash pellets, which contained most of the total ash content (54%-95% (w/w)). This ash fraction contained most of the phosphorus found in the ash and the only phosphate that was identified was a whitlockite, Ca 9 (K,Mg,Fe)(PO 4 ) 7 , for all fuels and fuel mixtures. With the addition of potassium, cristobalite (SiO 2 ) could no longer be identified via X-ray diffraction (XRD) in the bed ash particles and leucite (KAlSi 2 O 6 ) was formed. Most of the alkaline-earth metals

  15. A Robot with Complex Facial Expressions

    Directory of Open Access Journals (Sweden)

    J. Takeno

    2009-08-01

    Full Text Available The authors believe that the consciousness of humans basically originates from languages and their association-like flow of consciousness, and that feelings are generated accompanying respective languages. We incorporated artificial consciousness into a robot; achieved an association flow of language like flow of consciousness; and developed a robot called Kansei that expresses its feelings according to the associations occurring in the robot. To be able to fully communicate with humans, robots must be able to display complex expressions, such as a sense of being thrilled. We therefore added to the Kansei robot a device to express complex feelings through its facial expressions. The Kansei robot is actually an artificial skull made of aluminum, with servomotors built into it. The face is made of relatively soft polyethylene, which is formed to appear like a human face. Facial expressions are generated using 19 servomotors built into the skull, which pull metal wires attached to the facial “skin” to create expressions. The robot at present is capable of making six basic expressions as well as complex expressions, such as happiness and fear combined.

  16. Geometric design of part feeders

    NARCIS (Netherlands)

    Berretty, R.-P.M.

    2000-01-01

    This thesis presents solutions for problems derived from industrial assembly and robotic manipulation. The basic tasks in a factory are manufacturing the parts, and combining them into the desired product. In automating these tasks, we want to use robot manipulators that require little or no

  17. Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

    Directory of Open Access Journals (Sweden)

    Marcin Szuster

    2016-02-01

    Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

  18. Robotics-Instrumentation and Control in Robotics

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 5; Issue 3. Robotics - Instrumentation and Control in Robotics. J R Vengateswaran. General Article Volume 5 Issue 3 March 2000 pp 66-76. Fulltext. Click here to view fulltext PDF. Permanent link: http://www.ias.ac.in/article/fulltext/reso/005/03/0066-0076 ...

  19. From training to robot behavior: towards custom scenarios for robotics in training programs for ASD.

    Science.gov (United States)

    Gillesen, J C C; Barakova, E I; Huskens, B E B M; Feijs, L M G

    2011-01-01

    Successful results have been booked with using robotics in therapy interventions for autism spectrum disorders (ASD). However, to make the best use of robots, the behavior of the robot needs to be tailored to the learning objectives and personal characteristics of each unique individual with ASD. Currently training practices include adaptation of the training programs to the condition of each individual client, based on the particular learning goals or the mood of the client. To include robots in such training will imply that the trainers are enabled to control a robot through an intuitive interface. For this purpose we use a visual programming environment called TiViPE as an interface between robot and trainer, where scenarios for specific learning objectives can easily be put together as if they were graphical LEGO-like building blocks. This programming platform is linked to the NAO robot from Aldebaran Robotics. A process flow for converting trainers' scenarios was developed to make sure the gist of the original scenarios was kept intact. We give an example of how a scenario is processed, and implemented into the clinical setting, and how detailed parts of a scenario can be developed. © 2011 IEEE

  20. 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

  1. Neurophysiology of robot-mediated training and therapy: A perspective for future use in clinical populations.

    Directory of Open Access Journals (Sweden)

    Duncan L Turner

    2013-11-01

    Full Text Available The recovery of functional movements following injury to the central nervous system (CNS is multifaceted and is accompanied by processes occurring in the injured and non-injured hemispheres of the brain or above/below a spinal cord lesion. The changes in the CNS are the consequence of functional and structural processes collectively termed neuroplasticity and these may occur spontaneously and/or be induced by movement practice. The neurophysiological mechanisms underlying such brain plasticity may take different forms in different types of injury, for example stroke vs. spinal cord injury (SCI. Recovery of movement can be enhanced by intensive, repetitive, variable and rewarding motor practice. To this end, robots that enable or facilitate repetitive movements have been developed to assist recovery and rehabilitation. Here, we suggest some elements of robot-mediated training such as assistance, perturbation and unloading may have the potential to enhance neuroplasticity. Together the elemental components for developing integrated robot-mediated training protocols may form part of a neurorehabilitation framework alongside those methods already employed by therapists. Robots could thus open up a wider choice of options for delivering movement rehabilitation grounded on the principles underpinning neuroplasticity in the human CNS.

  2. Systematic review of robotic surgery in gynecology: robotic techniques compared with laparoscopy and laparotomy.

    Science.gov (United States)

    Gala, Rajiv B; Margulies, Rebecca; Steinberg, Adam; Murphy, Miles; Lukban, James; Jeppson, Peter; Aschkenazi, Sarit; Olivera, Cedric; South, Mary; Lowenstein, Lior; Schaffer, Joseph; Balk, Ethan M; Sung, Vivian

    2014-01-01

    The Society of Gynecologic Surgeons Systematic Review Group performed a systematic review of both randomized and observational studies to compare robotic vs nonrobotic surgical approaches (laparoscopic, abdominal, and vaginal) for treatment of both benign and malignant gynecologic indications to compare surgical and patient-centered outcomes, costs, and adverse events associated with the various surgical approaches. MEDLINE and the Cochrane Central Register of Controlled Trials were searched from inception to May 15, 2012, for English-language studies with terms related to robotic surgery and gynecology. Studies of any design that included at least 30 women who had undergone robotic-assisted laparoscopic gynecologic surgery were included for review. The literature yielded 1213 citations, of which 97 full-text articles were reviewed. Forty-four studies (30 comparative and 14 noncomparative) met eligibility criteria. Study data were extracted into structured electronic forms and reconciled by a second, independent reviewer. Our analysis revealed that, compared with open surgery, robotic surgery consistently confers shorter hospital stay. The proficiency plateau seems to be lower for robotic surgery than for conventional laparoscopy. Of the various gynecologic applications, there seems to be evidence that renders robotic techniques advantageous over traditional open surgery for management of endometrial cancer. However, insofar as superiority, conflicting data are obtained when comparing robotics vs laparoscopic techniques. Therefore, the specific method of minimally invasive surgery, whether conventional laparoscopy or robotic surgery, should be tailored to patient selection, surgeon ability, and equipment availability. Copyright © 2014 AAGL. Published by Elsevier Inc. All rights reserved.

  3. The Society of European Robotic Gynaecological Surgery (SERGS) Pilot Curriculum for robot assisted gynecological surgery.

    Science.gov (United States)

    Rusch, Peter; Kimmig, Rainer; Lecuru, Fabrice; Persson, Jan; Ponce, Jordi; Degueldre, Michel; Verheijen, René

    2017-12-13

    To set forth experiences in the context of the SERGS Pilot Curriculum-the first standardized educational program for robotic use in gynecological surgery-in terms of feasibility, effectiveness and potential for certification. The Society of European Robotic Gynecological Surgery (SERGS) outlined a Pilot Curriculum for standardized education in robot-assisted laparoscopic gynecological surgery. Its feasibility and acceptance were checked in the form of a fellowship pilot program conducted at four European Centers of Excellence for robot-assisted surgery. Results and conclusions derived from this pilot program are presented. The SERGS Pilot Curriculum defines criteria for a standardized training and assessment of performance, boosts the learning curve of the candidate and increases contentment at work. Regarding face validity, it proves valuable as finally all candidates could perform the outlined procedure safely and efficiently without supervision. Due to the immense increase of robotic procedures in gynecology standardized training curricula are indispensable. This seems highly necessary to ensure patients' safety and surgical outcome. The SERGS Pilot Curriculum sets standards for a stepwise theoretical and practical training in gynecological robotic procedures. It seems feasible as instrument for accreditation as gynecologic robotic surgeon. Though as a general applicable guideline for systematic training in robot-assisted surgery, a definite curriculum should have a more definite timeline and implementation of a structured assessment of performance.

  4. Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

    Science.gov (United States)

    Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

    2016-01-01

    Intelligent agents such as robots can form ad hoc networks and replace human being in many dangerous scenarios such as a complicated disaster relief site. This project prototypes and builds a computer simulator to simulate robot kinetics, unsupervised learning using Kohonen networks, as well as group intelligence when an ad hoc network is formed. Each robot is modeled using an object with a simple set of attributes and methods that define its internal states and possible actions it may take under certain circumstances. As the result, simple, reliable, and affordable robots can be deployed to form the network. The simulator simulates a group of robots as an unsupervised learning unit and tests the learning results under scenarios with different complexities. The simulation results show that a group of robots could demonstrate highly collaborative behavior on a complex terrain. This study could potentially provide a software simulation platform for testing individual and group capability of robots before the design process and manufacturing of robots. Therefore, results of the project have the potential to reduce the cost and improve the efficiency of robot design and building.

  5. Distributed Computation in a Quadrupedal Robotic System

    Directory of Open Access Journals (Sweden)

    Daniel Kuehn

    2014-07-01

    Full Text Available Today's and future space missions (will have to deal with increasing requirements regarding autonomy and flexibility in the locomotor system. To cope with these requirements, a higher bandwidth for sensor information is needed. In this paper, a robotic system is presented that is equipped with artificial feet and a spine incorporating increased sensing capabilities for walking robots. In the proposed quadrupedal robotic system, the front and rear parts are connected via an actuated spinal structure with six degrees of freedom. In order to increase the robustness of the system's locomotion in terms of traction and stability, a foot-like structure equipped with various sensors has been developed. In terms of distributed local control, both structures are as self-contained as possible with regard to sensing, sensor preprocessing, control and communication. This allows the robot to respond rapidly to occurring events with only minor latency.

  6. Robotic technology in urology

    Science.gov (United States)

    Murphy, D; Challacombe, B; Khan, M S; Dasgupta, P

    2006-01-01

    Urology has increasingly become a technology‐driven specialty. The advent of robotic surgical systems in the past 10 years has led to urologists becoming the world leaders in the use of such technology. In this paper, we review the history and current status of robotic technology in urology. From the earliest uses of robots for transurethral resection of the prostate, to robotic devices for manipulating laparoscopes and to the current crop of master–slave devices for robotic‐assisted laparoscopic surgery, the evolution of robotics in the urology operating theatre is presented. Future possibilities, including the prospects for nanotechnology in urology, are awaited. PMID:17099094

  7. [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.

  8. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

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

  9. 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.

  10. Robots and Art

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    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...

  11. Kinematics and Application of a Hybrid Industrial Robot – Delta-RST

    Directory of Open Access Journals (Sweden)

    Ning Liu

    2014-04-01

    Full Text Available Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis and its applications in industry. Firstly, the robotic system of the Delta-RST will be described briefly. Then the complete and systemic kinematics of this kind of robot will be presented in detail, followed by simulations and applications to demonstrate the correctness of the analysis, as well as the effectiveness of the developed robotic system. The closed-form kinematic analysis results are universal for similar hybrid robots constructing with the Delta parallel mechanism and serial chains.

  12. Multimodal cognitive interface for robot navigation.

    Science.gov (United States)

    Elmogy, Mohammed; Habel, Christopher; Zhang, Jianwei

    2011-02-01

    To build effective interactions between humans and robots, they should have common ground of understanding that creates realistic expectations and forms the basis communications. An emerging approach to doing this is to create cognitive models of human reasoning and behavior selection. We have developed a robot navigation system that uses both spatial language and graphical representation to describe route-based navigation tasks for a mobile robot. Our proposed route instruction language (RIL) is intended as a semi-formal language for instructing the robot to execute a route in an indoor environment. We implemented an instruction interpreter to process the route description and generate its equivalent symbolic and topological map representations. A topological map is generated to describe relationships among features of the environment in a more abstract form without any absolute reference system to treat the ambiguity which can occur when the robot cannot recognize the current landmark. The symbolic and topological map representations are supplied to other system components as an initial path estimation to guide the robot while it plans its navigation task. We conducted some experiments to evaluate the routes which are written by using the RIL instructions.

  13. Turning assistive machines into assistive robots

    Science.gov (United States)

    Argall, Brenna D.

    2015-01-01

    For decades, the potential for automation in particular, in the form of smart wheelchairs to aid those with motor, or cognitive, impairments has been recognized. It is a paradox that often the more severe a person's motor impairment, the more challenging it is for them to operate the very assistive machines which might enhance their quality of life. A primary aim of my lab is to address this confound by incorporating robotics autonomy and intelligence into assistive machines turning the machine into a kind of robot, and offloading some of the control burden from the user. Robots already synthetically sense, act in and reason about the world, and these technologies can be leveraged to help bridge the gap left by sensory, motor or cognitive impairments in the users of assistive machines. This paper overviews some of the ongoing projects in my lab, which strives to advance human ability through robotics autonomy.

  14. 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....

  15. 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.

  16. Experiments in Robotic Thatching

    DEFF Research Database (Denmark)

    Buthke, Jan; Trempe Jr., Robert B.

    2016-01-01

    as Catalyst.” The intent of this project log is to show the process of design and fabrication of an installation for the exhibition. The project experiments with translating the traditional craft of thatching into a computer aided process using digital fabrication methods on the six-axis robot. Our goal...... was to develop and fabricate a spatial structure in 1:1 which will be exhibited inside the schools exhibition gallery at Ventura Lambrate during Milan’s Design Week 2016. “Consciously and unconsciously we have inherited traditions acquired from our family and friends. Traditions, resulting in customs and habits......, are passed on from generation to generation. And so traditions have found their origin within cultures, families, friendships and personalities. Traditions are everywhere, and form an important source of inspiration for today’s designers.” - Thinking Tradition, Overall theme at The Ventura Lambrate 2016...

  17. MART: an overview of the Mobile Autonomous Robot Twente project

    NARCIS (Netherlands)

    Tillema, H.G.; de Graaf, A.J.; Koster, M.P.; Nauta, J.M.; Oelen, W.; Schipper, D.A.

    1993-01-01

    At the University of Twente a mobile autonomous robot system is built that is designed to operate in a 'factory of the future'. Multiple robots, consisting of a manipulator on top of a vehicle, will drive through an assembly hall to collect components at part supply stations and to assemble

  18. Robotic Toys as a Catalyst for Mathematical Problem Solving

    Science.gov (United States)

    Highfield, Kate

    2010-01-01

    Robotic toys present unique opportunities for teachers of young children to integrate mathematics learning with engaging problem-solving tasks. This article describes a series of tasks using Bee-bots and Pro-bots, developed as part a larger project examining young children's use of robotic toys as tools in developing mathematical and metacognitive…

  19. [Centralization of robotic surgery: better results and cost savings

    NARCIS (Netherlands)

    Sluis, P.C. van der; Schreuder, H.W.B.; Merks, B.T.; Kruger, A.E. Boeken; Verheijen, R.; Hillegersberg, R. van

    2013-01-01

    In the University Medical Center Utrecht, the Netherlands, robot-assisted surgical procedures are performed weekly within the departments of Surgery, Gynaecology and Urology. Training for robot-assisted minimally invasive surgical procedures can be divided into two parts: system training and

  20. THE SIMULATION OF WELDING OPERATIONS IN ROBOTIZED PRODUCTION SYSTEMS

    Directory of Open Access Journals (Sweden)

    Victor-Adrian ENACHE

    2011-11-01

    Full Text Available In this paper it was made a study concerning the possibilities of off-line programming for an industrial robot used in arc welding operations. We tried to optimize the trajectory of an articulated arm robots for positing the welding device in the specific point on the body car parts using DELMIA V5.

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

    Science.gov (United States)

    Dobbs, M. E.

    1991-01-01

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

  2. Learning to Explain: The Role of Educational Robots in Science Education

    Science.gov (United States)

    Datteri, Edoardo; Zecca, Luisa; Laudisa, Federico; Castiglioni, Marco

    2013-01-01

    Educational robotics laboratories typically involve building and programming robotic systems to perform particular tasks or solve problems. In this paper we explore the potential educational value of a form of robot-supported educational activity that has been little discussed in the literature. During these activities, primary school children are…

  3. Simplified Human-Robot Interaction: Modeling and Evaluation

    Directory of Open Access Journals (Sweden)

    Balazs Daniel

    2013-10-01

    Full Text Available In this paper a novel concept of human-robot interaction (HRI modeling is proposed. Including factors like trust in automation, situational awareness, expertise and expectations a new user experience framework is formed for industrial robots. Service Oriented Robot Operation, proposed in a previous paper, creates an abstract level in HRI and it is also included in the framework. This concept is evaluated with exhaustive tests. Results prove that significant improvement in task execution may be achieved and the new system is more usable for operators with less experience with robotics; personnel specific for small and medium enterprises (SMEs.

  4. Practical activities in robotics: hands-on or simulator?

    OpenAIRE

    Rosewell, Jonathan

    2014-01-01

    The Open University (OU) module Robotics and the meaning of life: a practical guide to things that think (T184) was an introductory course on robotics which ran from 2003-2011 and continues to run in an updated form. This is taught online but contains a strong practical element.\\ud \\ud Practical activities in the initial plans for the course were designed around the Lego Mindstorms RCX robotics kit. Students would build and program an autonomous wheeled robot able to carry out a range of task...

  5. New trends in medical and service robots challenges and solutions

    CERN Document Server

    Pisla, Doina; Bleuler, Hannes

    2014-01-01

    This volume describes new frontiers in medical and service robotics in the light of recent developments in technology to advance robot design and implementation. In particular, the work looks at advances in design, development and implementation of contemporary surgical, rehabilitation and biorobots. Surgical robots allow surgeons greater access to areas under operation using more precise and less invasive methods. Rehabilitation robots facilitate and support the lives of the infirm, elderly people, or those with dysfunction of body parts affecting movement. These robots are also used for rehabilitation and related procedures, such as training and therapy. Biorobots are designed to imitate the cognition of humans and animals. The need to substitute humans working on delicate, tiresome and monotonous tasks, or working with potentially health-damaging toxic materials, requires intelligent, high-performance service robots with the ability to cooperate, advanced communication and sophisticated perception and cogn...

  6. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

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

  7. Do robots need to sleep?

    Science.gov (United States)

    Fouks, J D; Besnard, S; Signac, L; Meurice, J C; Neau, J P; Paquereau, J

    2004-04-01

    The present paper exposes algorithmic results providing a vision about sleep functions which complements biological theory and experiments. Derived from the algorithmic theory of information, the theory of adaptation aims at quantifying how an inherited or acquired piece of knowledge helps individuals to survive. It gives a scale of complexity for survival problems and proves that some of them can only be solved by a dynamical management of memory associating continuous learning and forgetting methods. In this paper we explain how a virtual robot "Picota" has been designed to simulate the behavior of a living hen. In order to survive in its synthetical environment, our robot must recognize good seeds from bad ones, and should take rest during night periods. Within this frame, and facing the rapid evolution of to-be-recognized forms, the best way to equilibrate the energetic needs of the robot and ensure survival is to use the nightly rest to reorganize the pieces of data acquired during the daily learning, and to trash the less useful ones. Thanks to this time sharing, the same circuits can be used for both daily learning and nightly forgetting and thus costs are lower; however, this also forces the system to "paralyse" the virtual robot, and therefore the night algorithm is reminiscent of paradoxical (REM) sleep. The algorithm of the robot takes advantage of the alternation between wakefulness or activity and the rest period. This diagram quite accurately recalls the REM period. In the future, the convergence between the neurophysiology of sleep and the theory of complexity may give us a new line of research in order to elucidate sleep functions.

  8. Rethinking Regulation for Experimenting with Emerging Robotics Technologies

    NARCIS (Netherlands)

    Fosch Villaronga, Eduard; Heldeweg, Michiel A.

    2016-01-01

    Great expectations and major concerns accompany the development and possible uses of robotics in many areas of life and in many forms, such as drones and care-robots. Possible pro’s and con’s require careful regulatory attention, both as regards technological aspects and with respect to

  9. Creating and maintaining chemical artificial life by robotic symbiosis

    DEFF Research Database (Denmark)

    Hanczyc, Martin M.; Parrilla, Juan M.; Nicholson, Arwen

    2015-01-01

    We present a robotic platform based on the open source RepRap 3D printer that can print and maintain chemical artificial life in the form of a dynamic, chemical droplet. The robot uses computer vision, a self-organizing map, and a learning program to automatically categorize the behavior...

  10. Socially intelligent robots that understand and respond to human touch

    NARCIS (Netherlands)

    Jung, Merel Madeleine

    Touch is an important nonverbal form of interpersonal interaction which is used to communicate emotions and other social messages. As interactions with social robots are likely to become more common in the near future these robots should also be able to engage in tactile interaction with humans.

  11. Modelling and identification of robots with joint and drive flexibilities

    NARCIS (Netherlands)

    Hardeman, T.; Aarts, Ronald G.K.M.; Jonker, Jan B.; Ulrich, H.; Günther, W.

    2005-01-01

    This paper deals with modelling and identification of flexible-joint robot models that can be used for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and

  12. Presence of Life-Like Robot Expressions Influences Children’s Enjoyment of Human-Robot Interactions in the Field

    NARCIS (Netherlands)

    Cameron, David; Fernando, Samuel; Collins, Emily; Millings, Abigail; Moore, Roger; Sharkey, Amanda; Evers, Vanessa; Prescott, Tony

    Emotions, and emotional expression, have a broad influence on the interactions we have with others and are thus a key factor to consider in developing social robots. As part of a collaborative EU project, this study examined the impact of lifelike affective facial expressions, in the humanoid robot

  13. A hybrid Force Position Control for a Upper Limb Rehabilitation Robot of Series Mechanism

    OpenAIRE

    Liu Yali; Ji Linhong

    2016-01-01

    Interactive rehabilitation robot which has better interaction is one main method to improve the patients’ motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients’ state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UEC...

  14. Robotics and medicine: A scientific rainbow in hospital.

    Science.gov (United States)

    Jeelani, S; Dany, A; Anand, B; Vandana, S; Maheswaran, T; Rajkumar, E

    2015-08-01

    The journey of robotics is a real wonder and astonishingly can be considered as a scientific rainbow showering surprising priceless power in the era of future technologies. The astonishing seven technologies discussed in this paper are da Vinci Robotic surgical system and sperm sorters for infertility, Veebot for blood investigation, Hanako the robotic dental patient for simulating the dental patient and helping a trainee dentist, RP-7 robot who is around-the-clock physician connecting the physician and patient, Robot for Interactive Body Assistance (RIBA) who is a RIBA serving as a nurse, Bushbot serving as a brilliant surgeon, and Virtibot helping in virtual autopsy. Thus, robotics in medicine is a budding field contributing a great lot to human life from before birth to afterlife in seven forms thus gracefully portraying a scientific rainbow in hospital environment.

  15. Smooth leader or sharp follower? Playing the Mirror Game with a Robot.

    Science.gov (United States)

    Kashi, Shir; Levy-Tzedek, Shelly

    2017-10-09

    The increasing number of opportunities for human-robot interactions in various settings, from industry through home use to rehabilitation, creates a need to understand how to best personalize human-robot interactions to fit both the user and the task at hand. In the current experiment, we explored a human-robot collaborative task of joint movement, in the context of an interactive game. We set out to test people's preferences when interacting with a robotic arm, playing a leader-follower imitation game (the mirror game). Twenty two young participants played the mirror game with the robotic arm, where one player (person or robot) followed the movements of the other. Each partner (person and robot) was leading part of the time, and following part of the time. When the robotic arm was leading the joint movement, it performed movements that were either sharp or smooth, which participants were later asked to rate. The greatest preference was given to smooth movements. Half of the participants preferred to lead, and half preferred to follow. Importantly, we found that the movements of the robotic arm primed the subsequent movements performed by the participants. The priming effect by the robot on the movements of the human should be considered when designing interactions with robots. Our results demonstrate individual differences in preferences regarding the role of the human and the joint motion path of the robot and the human when performing the "mirror game" collaborative task, and highlight the importance of personalized human-robot interactions.

  16. Humanoid Cognitive Robots That Learn by Imitating: Implications for Consciousness Studies

    Directory of Open Access Journals (Sweden)

    James A. Reggia

    2018-01-01

    Full Text Available While the concept of a conscious machine is intriguing, producing such a machine remains controversial and challenging. Here, we describe how our work on creating a humanoid cognitive robot that learns to perform tasks via imitation learning relates to this issue. Our discussion is divided into three parts. First, we summarize our previous framework for advancing the understanding of the nature of phenomenal consciousness. This framework is based on identifying computational correlates of consciousness. Second, we describe a cognitive robotic system that we recently developed that learns to perform tasks by imitating human-provided demonstrations. This humanoid robot uses cause–effect reasoning to infer a demonstrator’s intentions in performing a task, rather than just imitating the observed actions verbatim. In particular, its cognitive components center on top-down control of a working memory that retains the explanatory interpretations that the robot constructs during learning. Finally, we describe our ongoing work that is focused on converting our robot’s imitation learning cognitive system into purely neurocomputational form, including both its low-level cognitive neuromotor components, its use of working memory, and its causal reasoning mechanisms. Based on our initial results, we argue that the top-down cognitive control of working memory, and in particular its gating mechanisms, is an important potential computational correlate of consciousness in humanoid robots. We conclude that developing high-level neurocognitive control systems for cognitive robots and using them to search for computational correlates of consciousness provides an important approach to advancing our understanding of consciousness, and that it provides a credible and achievable route to ultimately developing a phenomenally conscious machine.

  17. 2011 Ground Robotics Capabilities Conference and Exhibition

    Science.gov (United States)

    2011-03-24

    Indoor & Outdoor demos of cutting-edge robotics technologies” ARA Segway Charles Rivier Analytics SPAWAR Harris...RE2, Inc. ReconRobotics, Inc. Roboteam Robotic Research, LLC Robotics Technology Consortium - RTC Schafer Segway Robotics Silvus Technologies...Engineering Center Robotic Research, LLC iRobot Corporation Kairos Autonomi Applied Research Associates Stratom, Inc. Think-A-Move, Ltd. Segway Robotics

  18. Robotic endovascular surgery.

    Science.gov (United States)

    Au, Stephanie; Ko, Koel; Tsang, Josephine; Chan, Yiu Che

    2014-01-01

    The purpose of this review is to compare conventional endovascular procedures and the robotic endovascular approach in aortic aneurysm repair. Despite advantages over open surgery, conventional endovascular surgery has limitations. To develop an alternative, efforts have been focused on robotic endovascular systems. Two of the 3 studies comparing procedure times demonstrated reduced procedure time in the robotic group, by 6 times (p robotic procedures reduced fluoroscopic exposure time by 12 minute (p robotic surgery was reduced up to 10 times (p robotic performance score showed a better performance score in the robotic endovascular group (p = 0.007). These results demonstrate that the robotic technique has multiple advantages over the conventional procedure, including improved catheter stability, a shorter learning curve, reduced procedure time, and better performance in cannulating tortuous vessels. However, robotic endovascular technology may be limited by the cost of the system, the size of the catheter, and the setup time required preoperatively. Further comparative studies between conventional and robotic approaches regarding cost-effectiveness, safety, and performance in cases involving complex anatomy and fenestrated stent grafts are essential. Nevertheless, this revolutionary technology is increasingly popular and may be the next milestone in endovascular surgery.

  19. The Information-Cost-Reward framework for understanding robot swarm foraging

    OpenAIRE

    Pitonakova, Lenka; Crowder, Richard; Bullock, Seth

    2017-01-01

    Demand for autonomous swarms, where robots can cooperate with each other without human intervention, is set to grow rapidly in the near future. Currently, one of the main challenges in swarm robotics is understanding how the behaviour of individual robots leads to an observed emergent collective performance. In this paper, a novel approach to understanding robot swarms that perform foraging is proposed in the form of the Information-Cost-Reward (ICR) framework. The framework relates the way i...

  20. Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints

    OpenAIRE

    Bedell, Chris; Lock, Jesse; Gosline, Andrew; Dupont, Pierre E.

    2011-01-01

    Concentric tube robots are a novel continuum robot technology that is well suited to minimally invasive surgeries inside small body cavities such as the heart. These robots are constructed of concentrically combined pre-curved elastic tubes to form 3D curves. Each telescopic section of the robot is either of fixed or variable curvature. One advantage of this approach is that the component tube curvatures, lengths and stiffnesses can easily be fabricated to be procedure- and patient-specific. ...

  1. Development of a Survivable Cloud Multi-Robot Framework for Heterogeneous Environments

    Directory of Open Access Journals (Sweden)

    Isaac Osunmakinde

    2014-10-01

    Full Text Available Cloud robotics is a paradigm that allows for robots to offload computationally intensive and data storage requirements into the cloud by providing a secure and customizable environment. The challenge for cloud robotics is the inherent problem of cloud disconnection. A major assumption made in the development of the current cloud robotics frameworks is that the connection between the cloud and the robot is always available. However, for multi-robots working in heterogeneous environments, the connection between the cloud and the robots cannot always be guaranteed. This work serves to assist with the challenge of disconnection in cloud robotics by proposing a survivable cloud multi-robotics (SCMR framework for heterogeneous environments. The SCMR framework leverages the combination of a virtual ad hoc network formed by robot-to-robot communication and a physical cloud infrastructure formed by robot-to-cloud communications. The quality of service (QoS on the SCMR framework was tested and validated by determining the optimal energy utilization and time of response (ToR on drivability analysis with and without cloud connection. The design trade-off, including the result, is between the computation energy for the robot execution and the offloading energy for the cloud execution.

  2. 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

  3. Delta robotsrobots for high speed manipulation

    OpenAIRE

    Poppeová, Viera; Uríček, Juraj; Bulej, Vladimír; Šindler, Peter

    2011-01-01

    This paper is oriented to parallel kinematic robots definition, description of their specific application, comparison of robots made by different producers and determination of velocity and acceleration parameters, kinematic analysis – inverse and forward kinematic. It brings information about development of Delta robots at Academia, including the University of Žilina and Delta robots in the market. Two models of Delta robots called M-1iA and M-3iA have been developed by FANUC Robotics during...

  4. Advances in Automation and Robotics

    CERN Document Server

    International conference on Automation and Robotics ICAR2011

    2012-01-01

    The international conference on Automation and Robotics-ICAR2011 is held during December 12-13, 2011 in Dubai, UAE. The proceedings of ICAR2011 have been published by Springer Lecture Notes in Electrical Engineering, which include 163 excellent papers selected from more than 400 submitted papers.   The conference is intended to bring together the researchers and engineers/technologists working in different aspects of intelligent control systems and optimization, robotics and automation, signal processing, sensors, systems modeling and control, industrial engineering, production and management.   This part of proceedings includes 81 papers contributed by many researchers in relevant topic areas covered at ICAR2011 from various countries such as France, Japan, USA, Korea and China etc.     Many papers introduced their advanced research work recently; some of them gave a new solution to problems in the field, with powerful evidence and detail demonstration. Others stated the application of their designed and...

  5. Incremental electrohydraulic forming - A new approach for the manufacture of structured multifunctional sheet metal blanks

    Science.gov (United States)

    Djakow, Eugen; Springer, Robert; Homberg, Werner; Piper, Mark; Tran, Julian; Zibart, Alexander; Kenig, Eugeny

    2017-10-01

    Electrohydraulic Forming (EHF) processes permit the production of complex, sharp-edged geometries even when high-strength materials are used. Unfortunately, the forming zone is often limited as compared to other sheet metal forming processes. The use of a special industrial-robot-based tool setup and an incremental process strategy could provide a promising solution for this problem. This paper describes such an innovative approach using an electrohydraulic incremental forming machine, which can be employed to manufacture the large multifunctional and complex part geometries in steel, aluminium, magnesium and reinforced plastic that are employed in lightweight constructions or heating elements.

  6. Algorithm for automated calculation of a segmented electromechatronic module of robotic system motion

    Directory of Open Access Journals (Sweden)

    Shepelenko Mikhail

    2017-01-01

    Full Text Available The paper deals with the design of digital models of the elements of the electromechatronic part of motion module of robotic systems, which provides increasing productivity of the electromechatronic components of robotic and mechatronic manipulators. The developed software provides 3D-modeling of the electromechatronic part; calculation of electromechatronic and electrical elements and visualization of the electrical machine part. It reduces the cost of designing electromechatronic components of manipulators of robotic and mechatronic systems.

  7. Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Janos Simon

    2015-01-01

    Full Text Available The Internet of Things (IoT is slowly gaining grounds and through the properties of barcodes, QR codes, RFID, active sensors and IPv6, objects are fitted with some form of readability and traceability. People are becoming part of digital global network driven by personal interests. The feeling being part of a community and the constant drive of getting connected from real life finds it continuation in digital networks. This article investigates the concepts of the internet of things from the aspect of the autonomous mobile robots with an overview of the performances of the currently available database systems.

  8. Acceptance of an assistive robot in older adults: a mixed-method study of human–robot interaction over a 1-month period in the Living Lab setting

    Science.gov (United States)

    Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

    2014-01-01

    Background There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Subjects and methods Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Results Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults’ uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. Conclusion It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to

  9. 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.

  10. Manifold learning in machine vision and robotics

    Science.gov (United States)

    Bernstein, Alexander

    2017-02-01

    Smart algorithms are used in Machine vision and Robotics to organize or extract high-level information from the available data. Nowadays, Machine learning is an essential and ubiquitous tool to automate extraction patterns or regularities from data (images in Machine vision; camera, laser, and sonar sensors data in Robotics) in order to solve various subject-oriented tasks such as understanding and classification of images content, navigation of mobile autonomous robot in uncertain environments, robot manipulation in medical robotics and computer-assisted surgery, and other. Usually such data have high dimensionality, however, due to various dependencies between their components and constraints caused by physical reasons, all "feasible and usable data" occupy only a very small part in high dimensional "observation space" with smaller intrinsic dimensionality. Generally accepted model of such data is manifold model in accordance with which the data lie on or near an unknown manifold (surface) of lower dimensionality embedded in an ambient high dimensional observation space; real-world high-dimensional data obtained from "natural" sources meet, as a rule, this model. The use of Manifold learning technique in Machine vision and Robotics, which discovers a low-dimensional structure of high dimensional data and results in effective algorithms for solving of a large number of various subject-oriented tasks, is the content of the conference plenary speech some topics of which are in the paper.

  11. Nasa's Ant-Inspired Swarmie Robots

    Science.gov (United States)

    Leucht, Kurt W.

    2016-01-01

    As humans push further beyond the grasp of earth, robotic missions in advance of human missions will play an increasingly important role. These robotic systems will find and retrieve valuable resources as part of an in-situ resource utilization (ISRU) strategy. They will need to be highly autonomous while maintaining high task performance levels. NASA Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots to be used as a ground-based research platform for ISRU missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in a previously unmapped environment and return those resources to a central site. This talk will guide the audience through the Swarmie robot project from its conception by students in a New Mexico research lab to its robot trials in an outdoor parking lot at NASA. The software technologies and techniques used on the project will be discussed, as well as various challenges and solutions that were encountered by the development team along the way.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-10-15

    Highlights: • A high-level protocol is proposed for the data inter-transmission. • The protocol design is task-oriented for the robot control in the software system. • The protocol functions as a role of middleware in the software. • The protocol running stand-alone as an independent process in the software provides greater security. • Providing a reference design protocol for the multi-task robot machine in the industry. - Abstract: A specific communication and control protocol for software design of a multi-task robot machine is proposed. In order to fulfill the requirements on the complicated multi machining functions and the high performance motion control, the software design of robot is divided into two main parts accordingly, which consists of the user-oriented HMI part and robot control-oriented real-time control system. The two parts of software are deployed in the different hardware for the consideration of run-time performance, which forms a client–server-control architecture. Therefore a high-level task-oriented protocol is designed for the data inter-communication between the HMI part and the control system part, in which all the transmitting data related to a machining task is divided into three categories: trajectory-oriented data, task control-oriented data and status monitoring-oriented data. The protocol consists of three sub-protocols accordingly – a trajectory protocol, task control protocol and status protocol – which are deployed over the Ethernet and run as independent processes in both the client and server computers. The protocols are able to manage the vast amounts of data streaming due to the multi machining functions in a more efficient way. Since the protocol is functioning in the software as a role of middleware, and providing the data interface standards for the developing groups of two parts of software, it also permits greater focus of both software parts developers on their own requirements-oriented design. By

  13. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

    improve a person’s overall health, and this thesis investigates how games based on an autonomous, mobile robot platform, can be used to motivate elderly to move physically while playing. The focus of the investigation is on the development of games for an autonomous, mobile robot based on algorithms using...... spatio-temporal information about player behaviour - more specifically, I investigate three types of games each using a different control strategy. The first game is based on basic robot control which allows the robot to detect and follow a person. A field study in a rehabilitation centre and a nursing...... home shows how the robot operates autonomously in in a real-world scenario although the elderly use different assistive tools. The elderly express a low degree of rejection of playing with the robot and tend to treat it as a living creature, i.e. talking to it as if it was a young boy or a dog...

  14. 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...

  15. 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

  16. Discovery Mondays: "Robots: At your service!"

    CERN Multimedia

    2005-01-01

    Two of the ISOLDE robots. Robots at CERN? Yes, because their presence is essential for replacing human beings when some tasks are too difficult for them, for example when materials are too fragile or too risky to work with. Come and discover the ISOLDE robots. You will also be able to meet "the Crab", in charge of carrying the LHC magnets in its claws. EPFL engineers from Autonomous Systems Lab and the Laboratory of Intelligent Systems will introduce you to some of their creations, including a robot built for planetary exploration, an indoor flying robot and a microrobot as tiny as a lump of sugar. At the next Discovery Monday, you will have the opportunity to meet robots of many sizes and forms. You will be amazed by their diversity and their personalities. Join us at the Microcosm (Reception Building 33, Meyrin site) on Monday 4 April from 7.30 p.m. to 9.00 p.m. Entrance Free http://www.cern.ch/microcosm http://intranet.cern.ch/Microcosm/LundisDecouverte/

  17. Discovery Mondays: "Robots: At your service!"

    CERN Multimedia

    2005-01-01

    Two of the ISOLDE robots. Robots at CERN? Yes, because their presence is essential for replacing human beings when some tasks are too difficult for them, for example when materials are too fragile or too risky to work with. Come and discover the ISOLDE robots. You will also be able to meet "the Crab", in charge of carrying the LHC magnets in its claws. EPFL engineers from Autonomous Systems Lab and the Laboratory of Intelligent Systems will introduce you to some of their creations, including a robot built for planetary exploration, an indoor flying robot and a microrobot as tiny as a lump of sugar. At the next Discovery Monday, you will have the opportunity to meet robots of many sizes and forms. You will be amazed by their diversity and their personalities. Join us at the Microcosm (Reception Building 33, Meyrin site) on Monday 4 April from 7.30 p.m. to 9.00 p.m. Entrance Free http://www.cern.ch/microcosm http://cern.ch/lundisdecouverte

  18. A Unified Robotic Software Architecture for Service Robotics and Networks of Smart Sensors

    Science.gov (United States)

    Westhoff, Daniel; Zhang, Jianwei

    This paper proposes a novel architecture for the programming of multi-modal service robots and networked sensors. The presented software framework eases the development of high-level applications for distributed systems. The software architecture is based upon the Roblet-Technology, which is an exceptionally powerful medium in robotics. The possibility to develop, compile and execute an application on one workstation and distribute parts of a program based on the idea of mobile code is pointed out. Since the Roblet-Technology uses Java the development is independent of the operation system. The framework hides the network communication and therefore greatly improves the programming and testing of applications in service robotics. The concept is evaluated in the context of the service robot TASER of the TAMS Institute at the University of Hamburg. This robot consists of a mobile platform with two manipulators equipped with artificial hands. Several multimodal input and output devices for interaction round off the robot. Networked cameras in the working environment of TASER provide additional information to the robot. The integration of these smart sensors shows the extendability of the proposed concept to general distributed systems.

  19. Advances in soft computing, intelligent robotics and control

    CERN Document Server

    Fullér, Robert

    2014-01-01

    Soft computing, intelligent robotics and control are in the core interest of contemporary engineering. Essential characteristics of soft computing methods are the ability to handle vague information, to apply human-like reasoning, their learning capability, and ease of application. Soft computing techniques are widely applied in the control of dynamic systems, including mobile robots. The present volume is a collection of 20 chapters written by respectable experts of the fields, addressing various theoretical and practical aspects in soft computing, intelligent robotics and control. The first part of the book concerns with issues of intelligent robotics, including robust xed point transformation design, experimental verification of the input-output feedback linearization of differentially driven mobile robot and applying kinematic synthesis to micro electro-mechanical systems design. The second part of the book is devoted to fundamental aspects of soft computing. This includes practical aspects of fuzzy rule ...

  20. Teaching Form as Form

    DEFF Research Database (Denmark)

    Keiding, Tina Bering

    2012-01-01

    , this book offers both inspiration to teaching form and a systematic framework for pedagogical and didactical reflection on this topic. In this sense, it shapes and professionalizes design teaching, and contributes to the development of the double-professionalism, which is so essential for teachers in modern...... means that form serves both as the connective value and as the concept for reflection. In other words, form is observed as form, not anything else. The didactical challenge of teaching form as form is accentuated by students’ everyday-based pre-orientation towards function at the expense of form...... in this book that they are highly interested in both the declarative and formative dimension of making form. Methodologically, the courses described in the contributions have a strong focus on student-centered experiential activities, thereby implicitly claiming that students must learn to make form...