WorldWideScience

Sample records for semi-autonomous robotic sampler

  1. GPS Enabled Semi-Autonomous Robot

    Science.gov (United States)

    2017-09-01

    GPVTG. The GPGLL sentence, illustrated in Figure 6, provides the location of the robot in real time via latitude and longitude coordinates. The...equal and the goal has not yet been reached (i.e., any time the robot has reached a local minimum), and direct the robot to travel in a specific...pulled into MATLAB was not sufficiently close to real time . While any input buffer ensures data is not immediate, the size of the default input

  2. Semi-autonomous robots for reactor containments

    International Nuclear Information System (INIS)

    1994-01-01

    During 1993, the activity at the University was split into two primary groups. One group provided direct support for the development and testing of the RVIR vehicle. This effort culminated in a demonstration of the vehicle at ORNL during December. The second group of researchers focused attention on pushing the technology forward in the areas of radiation imaging, navigation, and sensing modalities. A major effort in technology transfer took place during this year. All of these efforts reflected in the periodic progress reports which are attached. During 1994, our attention will change from the Nuclear Energy program to the Environmental Restoration and Waste Management office. The immediate needs of the Robotics Technology Development Program within the Office of Technology Development of EM drove this change in target applications. The University will be working closely with the national laboratories to further develop and transfer existing technologies to mobile platforms which are currently being designed and employed in seriously hazardous environments

  3. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  4. Responsive Social Positioning Behaviors for Semi-Autonomous Telepresence Robots

    NARCIS (Netherlands)

    Vroon, Jered Hendrik

    2017-01-01

    Social interaction with a mobile robot requires the establishment of appropriate social positioning behaviors. Previous work has focused mostly on general and static rules that can be applied to robotics, such as proxemics. How can we deal effectively and efficiently with the dynamic positioning

  5. Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

    Science.gov (United States)

    Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

    2018-02-01

    We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

  6. Semi-autonomous exploration of multi-floor buildings with a legged robot

    Science.gov (United States)

    Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

    2015-05-01

    This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

  7. Toward semi-autonomous control of mobile robots for constrained environments

    International Nuclear Information System (INIS)

    Mercier, O.; Cara, O.

    1991-01-01

    Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

  8. An Intention-Driven Semi-autonomous Intelligent Robotic System for Drinking

    Directory of Open Access Journals (Sweden)

    Zhijun Zhang

    2017-09-01

    Full Text Available In this study, an intention-driven semi-autonomous intelligent robotic (ID-SIR system is designed and developed to assist the severely disabled patients to live independently. The system mainly consists of a non-invasive brain–machine interface (BMI subsystem, a robot manipulator and a visual detection and localization subsystem. Different from most of the existing systems remotely controlled by joystick, head- or eye tracking, the proposed ID-SIR system directly acquires the intention from users’ brain. Compared with the state-of-art system only working for a specific object in a fixed place, the designed ID-SIR system can grasp any desired object in a random place chosen by a user and deliver it to his/her mouth automatically. As one of the main advantages of the ID-SIR system, the patient is only required to send one intention command for one drinking task and the autonomous robot would finish the rest of specific controlling tasks, which greatly eases the burden on patients. Eight healthy subjects attended our experiment, which contained 10 tasks for each subject. In each task, the proposed ID-SIR system delivered the desired beverage container to the mouth of the subject and then put it back to the original position. The mean accuracy of the eight subjects was 97.5%, which demonstrated the effectiveness of the ID-SIR system.

  9. A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

    Science.gov (United States)

    Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

    2014-12-01

    Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

  10. Bilateral human-robot control for semi-autonomous UAV navigation

    NARCIS (Netherlands)

    Wopereis, Han Willem; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2015-01-01

    This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as

  11. Operator-centered control of a semi-autonomous industrial robot

    International Nuclear Information System (INIS)

    Spelt, P.F.; Jones, S.L.

    1994-01-01

    This paper presents work done by Oak Ridge National Laboratory and Remotec, Inc., to develop a new operator-centered control system for Remotec's Andros telerobot. Andros robots are presently used by numerous electric utilities, the armed forces, and numerous law enforcement agencies to perform tasks which are hazardous for human operators. This project has automated task components and enhanced the video graphics display of the robot's position in the environment to significantly reduce operator workload. The procedure of automating a telerobot requires the addition of computer power to the robot, along with a variety of sensors and encoders to provide information about the robots performance in and relationship to its environment The resulting vehicle serves as a platform for research on strategies to integrate automated tasks with those performed by a human operator. The addition of these capabilities will greatly enhance the safety and efficiency of performance in hazardous environments

  12. Pengembangan OSD (On Screen Display dengan Penambahan Menu untuk Aplikasi pada Semi Autonomous Mobile Robot dengan Lengan untuk Mengambil Objek

    Directory of Open Access Journals (Sweden)

    Muhammad Saiful Hak

    2017-01-01

    Full Text Available Tugas Akhir ini membahas pengembangan OSD (On Screen Display dengan sistem FPV (First Person View yang bertujuan untuk mendukung kinerja sebuah RC (Remote Control atau mobile robot dengan cara mengambil data pada RC atau mobile robot tersebut. Penggunaan sensor pad a modul OSD ini terbatas, sehingga dilakukan sebuah pengembangan dengan penambahan pengkabelan dan pemrograman menggunakan kompiler Arduino. Dalam sistem ini, OSD yang dipakai adalah dua buah minimOSD yang telah dirancang dengan penambahan beberapa fitur menu sensor. Pada minimOSD yang pertama data GPS (Global Positioning System berupa posisi lintang dan bujur didapat dari APM (ArduPilot Mega yang diprogram menggunakan minimOSD extra. Pada minimOSD yang kedua didapat data sensor ultrasonik dan posisi lengan robot yang dikirim oleh Arduino Mega pada mobile robot menggunakan pengiriman serial. Sensor suhu, level baterai dan data waktu diperoleh dari penambahan pengkabelan pada pin-pin ATMega328. Hasil olah data sensor pada minimOSD pertama dan kedua yang berupa data visual digabung dan dikirim menuju layar monitor FPV menggunakan video transmiter. Animasi data yang ditampilkan mempunyai batas sebesar 256 data karakter, sehingga posisi lengan robot dan sensor ultrasonik hanya bisa digambarkan berupa perbandingan skala tingkatan dan data teks, sedangkan data sensor yang lain ditampilkan sesuai hasil olah data sebenarnya.

  13. The Design and Implementation of a Semi-Autonomous Surf-Zone Robot Using Advanced Sensors and a Common Robot Operating System

    Science.gov (United States)

    2011-06-01

    effective way- point navigation algorithm that interfaced with a Java based graphical user interface (GUI), written by Uzun, for a robot named Bender [2...the angular acceleration, θ̈, or angular rate, θ̇. When considering a joint driven by an electric motor, the inertia and friction can be divided into...interactive simulations that can receive input from user controls, scripts , and other applications, such as Excel and MATLAB. One drawback is that the

  14. Semi-Autonomous Vehicle Project

    Science.gov (United States)

    Stewart, Christopher

    2016-01-01

    The primary objective this summer is "evaluating standards for wireless architecture for the internet of things". The Internet of Things is the network of physical objects or "things" embedded with electronics, software, sensors and network connectivity which enables these objects to collect and exchange data and make decisions based on said data. This was accomplished by creating a semi-autonomous vehicle that takes advantage of multiple sensors, cameras, and onboard computers and combined them with a mesh network which enabled communication across large distances with little to no interruption. The mesh network took advantage of what is known as DTN - Disruption Tolerant Networking which according to NASA is the new communications protocol that is "the first step towards interplanetary internet." The use of DTN comes from the fact that it will store information if an interruption in communications is detected and even forward that information via other relays within range so that the data is not lost. This translates well into the project because as the car moves further away from whatever is sending it commands (in this case a joystick), the information can still be forwarded to the car with little to no loss of information thanks to the mesh nodes around the driving area.

  15. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning

    International Nuclear Information System (INIS)

    Schalkoff, Robert J.

    1999-01-01

    This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology

  16. Linguistic Formalism for Semi-Autonomous Reactor Operation

    International Nuclear Information System (INIS)

    Joo, Sungmoon; Seo, Sang Mun; Suh, Yong-Suk; Park, Cheol

    2017-01-01

    The ultimate goal of our work is to develop a novel, integrated system for semi-autonomous reactor operation by introducing an interfacing language shared by human reactor operators and artificially intelligent service agents (e.g., robots). We envision that human operators and artificially intelligent service agents operate the reactor cooperatively in the future. For example, an artificially intelligent service agent carries out a human reactor operator's command or reports the result of a task commanded by the human reactor operator. This work presents preliminary work towards a unified linguistic formalism for cooperative, semiautonomous reactor operation. Application of the proposed formalism to reactor operator communication domain shows that the formalism effectively captures the syntax and semantics of the domain-specific language defined by the communication protocol.

  17. Robotic soil sampler for hazardous waste clean up

    International Nuclear Information System (INIS)

    Jaselskis, E.J.

    1993-01-01

    An innovative field sampling system using LA-ICP-AES (laser ablation-inductively coupled plasma atomic emission spectrometry) technology is currently being developed through an integrated team approach at Ames Laboratory to provide in-situ, real time analysis of inorganic hazardous waste. This sampling approach is conducted through a mobile testing facility which consists of an instrumentation vehicle called the Mobile Demonstration Laboratory for Environmental Screening Technologies (MDLEST), and an attached trailer called the Robotic Sampling Accessory (RSA). The RSA provides automated sampling capabilities through an attached three-degree-of-freedom robot that will be equipped with surface and subsurface sampling probes. The probes are currently being designed by a multidisciplinary team consisting of engineers and scientists at Ames Laboratory, Iowa State University, and Lockheed. This system is expected to improve sample quality assurance, reduce sampling time and cost, and improve worker safety. Limitations and future areas of research for the MDLEST-RSA are also discussed

  18. Priming Drivers before Handover in Semi-Autonomous Cars

    NARCIS (Netherlands)

    van der Heiden, R.M.A.; Iqbal, Shamsi T.; Janssen, C.P.

    2017-01-01

    Semi-autonomous vehicles occasionally require control to be handed over to the driver in situations where the vehicle is unable to operate safely. Currently, such handover requests require the driver to take control almost instantaneously. We investigate how auditory pre-alerts that occur well

  19. TERESA: a socially intelligent semi-autonomous telepresence system

    NARCIS (Netherlands)

    Shiarlis, Kyriacos; Messias, Joao; van Someren, Maarten; Whiteson, Shimon; Kim, Jaebok; Vroon, Jered Hendrik; Englebienne, Gwenn; Truong, Khiet Phuong; Pérez-Higueras, Noé; Pérez-Hurtado, Ignacio; Ramon-Vigo, Rafael; Caballero, Fernando; Merino, Luis; Shen, Jie; Petridis, Stavros; Pantic, Maja; Hedman, Lasse; Scherlund, Marten; Koster, Raphaël; Michel, Hervé

    2015-01-01

    TERESA is a socially intelligent semi-autonomous telepresence system that is currently being developed as part of an FP7-STREP project funded by the European Union. The ultimate goal of the project is to deploy this system in an elderly day centre to allow elderly people to participate in social

  20. Comparison of particulate matter exposure estimates in young children from personal sampling equipment and a robotic sampler.

    Science.gov (United States)

    Sagona, Jessica A; Shalat, Stuart L; Wang, Zuocheng; Ramagopal, Maya; Black, Kathleen; Hernandez, Marta; Mainelis, Gediminas

    2017-05-01

    Accurate characterization of particulate matter (PM) exposure in young children is difficult, because personal samplers are often too heavy, bulky or impractical to be used. The Pretoddler Inhalable Particulate Environmental Robotic (PIPER) sampler was developed to help address this problem. In this study, we measured inhalable PM exposures in 2-year-olds via a lightweight personal sampler worn in a small backpack and evaluated the use of a robotic sampler with an identical sampling train for estimating PM exposure in this age group. PM mass concentrations measured by the personal sampler ranged from 100 to almost 1,200 μg/m 3 , with a median value of 331 μg/m 3 . PM concentrations measured by PIPER were considerably lower, ranging from 14 to 513 μg/m 3 with a median value of 56 μg/m 3 . Floor cleaning habits and activity patterns of the 2-year-olds varied widely by home; vigorous play and recent floor cleaning were most associated with higher personal exposure. Our findings highlight the need for additional characterization of children's activity patterns and their effect on personal exposures.

  1. Advanced sensing and control techniques to facilitate semi-autonomous decommissioning. 1998 annual progress report

    International Nuclear Information System (INIS)

    Dawson, D.M.; Geist, R.M.; Schalkoff, R.J.

    1998-01-01

    'This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology. This report summarizes work after approximately 1.5 years of a 3-year project. The autonomous, non-contact creation of a virtual environment from an existing, real environment (virtualization) is an integral part of the workcell functionality. This requires that the virtual world be geometrically correct. To this end, the authors have encountered severe sensitivity in quadric estimation. As a result, alternative procedures for geometric rendering, iterative correction approaches, new calibration methods and associated hardware, and calibration quality examination software have been developed. Following geometric rendering, the authors have focused on improving the color and texture recognition components of the system. In particular, the authors have moved beyond first-order illumination modeling to include higher order diffuse effects. This allows us to combine the surface geometric information, obtained from the laser projection and surface recognition components of the system, with a stereo camera image. Low-level controllers for Puma 560 robotic arms were designed and implemented using QNX. The resulting QNX/PC based low-level robot control system is called QRobot. A high-level trajectory generator and application programming interface (API) as well as a new, flexible robot control API was required. Force/torque sensors and interface hardware have been identified and ordered. A simple 3-D OpenGL-based graphical Puma 560 robot simulator was developed and interfaced with ARCL and RCCL to assist in the development of robot motion programs.'

  2. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

    International Nuclear Information System (INIS)

    Schalkoff, R.J.

    2000-01-01

    This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested

  3. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Schalkoff, R.J.

    2000-12-01

    This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested.

  4. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

    Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

    2006-05-01

    Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

  5. Semi-Autonomous Rodent Habitat for Deep Space Exploration

    Science.gov (United States)

    Alwood, J. S.; Shirazi-Fard, Y.; Pletcher, D.; Globus, R.

    2018-01-01

    NASA has flown animals to space as part of trailblazing missions and to understand the biological responses to spaceflight. Mice traveled in the Lunar Module with the Apollo 17 astronauts and now mice are frequent research subjects in LEO on the ISS. The ISS rodent missions have focused on unravelling biological mechanisms, better understanding risks to astronaut health, and testing candidate countermeasures. A critical barrier for longer-duration animal missions is the need for humans-in-the-loop to perform animal husbandry and perform routine tasks during a mission. Using autonomous or telerobotic systems to alleviate some of these tasks would enable longer-duration missions to be performed at the Deep Space Gateway. Rodent missions performed using the Gateway as a platform could address a number of critical risks identified by the Human Research Program (HRP), as well as Space Biology Program questions identified by NRC Decadal Survey on Biological and Physical Sciences in Space, (2011). HRP risk areas of potentially greatest relevance that the Gateway rodent missions can address include those related to visual impairment (VIIP) and radiation risks to central nervous system, cardiovascular disease, as well as countermeasure testing. Space Biology focus areas addressed by the Gateway rodent missions include mechanisms and combinatorial effects of microgravity and radiation. The objectives of the work proposed here are to 1) develop capability for semi-autonomous rodent research in cis-lunar orbit, 2) conduct key experiments for testing countermeasures against low gravity and space radiation. The hardware and operations system developed will enable experiments at least one month in duration, which potentially could be extended to one year in duration. To gain novel insights into the health risks to crew of deep space travel (i.e., exposure to space radiation), results obtained from Gateway flight rodents can be compared to ground control groups and separate groups

  6. 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.

  7. Inexpensive semi-autonomous ground vehicles for defusing IEDs

    Science.gov (United States)

    Davenport, Chris; Lodmell, James; Womble, Phillip C.; Barzilov, Alexander; Paschal, Jon; Hernandez, Robert; Moss, Kyle T.; Hopper, Lindsay

    2008-04-01

    Improvised explosive devices (IEDs) are an important concern to coalition forces during the conflicts in the Middle East. These devices are responsible for many casualties to American armed forces in the Middle East. These explosives are particularly dangerous because they are improvised with materials readily available to the designer, and there is no systematic way of explosive ordinance disposal. IEDs can be made from things such as standard military ammunition and can be detonated with common electronic devices such as cell phones and garage door openers. There is a great need for a low cost solution to neutralize these IEDs. At the Applied Physics Institute we are building a single function disrupter robot whose sole purpose is to neutralize these IEDs. We are modifying a toy remote control car to control it either wirelessly using WI-FI (IEEE 802.11) or wired by tethering the vehicle with an Ethernet cable (IEEE 802.3). The robot will be equipped with a high velocity fuze disrupter to neutralize the IED as well as a video camera for inspection and aiming purposes. This robot utilizes commercial-off-the-shelf (COTS) components which keeps the cost relatively low. Currently, similar robot systems have been deployed in Iraq and elsewhere but their method of operation is such that it is impractical to use in non-combat situations. We will discuss our design and possible deployment scenarios.

  8. A Priori User Acceptance and the Perceived Driving Pleasure in Semi-autonomous and Autonomous Vehicles

    DEFF Research Database (Denmark)

    Bjørner, Thomas

    The aim of this minor pilot study is, from a sociological user perspective, to explore a priori user acceptance and the perceived driving pleasure in semi- autonomous and autonomous vehicles. The methods used were 13 in-depth interviews while having participants watch video examples within four...... different scenarios. After each scenario, two different numerical rating scales were used. There was a tendency toward positive attitudes regarding semi- autonomous driving systems, especially the use of a parking assistant and while driving in city traffic congestion. However, there were also major...

  9. A Framework for Analysing Driver Interactions with Semi-Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Siraj Shaikh

    2012-12-01

    Full Text Available Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers in the control loop. To ensure safety, both the driver needs to be aware of the autonomous aspects of the vehicle and the automated features of the vehicle built to enable safer control. In this paper we propose a framework to combine empirical models describing human behaviour with the environment and system models. We then analyse, via model checking, interaction between the models for desired safety properties. The aim is to analyse the design for safe vehicle-driver interaction. We demonstrate the applicability of our approach using a case study involving semi-autonomous vehicles where the driver fatigue are factors critical to a safe journey.

  10. Commanding and Planning for Robots in Space Operations

    Data.gov (United States)

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

  11. PointCom: semi-autonomous UGV control with intuitive interface

    Science.gov (United States)

    Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

    2008-04-01

    Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

  12. Sampler bias -- Phase 1

    International Nuclear Information System (INIS)

    Blanchard, R.J.

    1995-01-01

    This documents Phase 1 determinations on sampler induced bias for four sampler types used in tank characterization. Each sampler, grab sampler or bottle-on-a-string, auger sampler, sludge sampler and universal sampler, is briefly discussed and their physical limits noted. Phase 2 of this document will define additional testing and analysis to further define Sampler Bias

  13. Tank-automotive robotics

    Science.gov (United States)

    Lane, Gerald R.

    1999-07-01

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

  14. An intelligent inspection and survey robot

    International Nuclear Information System (INIS)

    Byrd, J.; Holland, J.M.

    1994-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a semi-autonomous robotic system intended for use in the automatic inspection of stored containers of low-level nuclear waste. This article describes the technology and how it could be used. 3 refs., 3 figs

  15. Development and Characteristics of a Mobile, Semi-Autonomous Floating Platform for in situ Lake Measurements

    Science.gov (United States)

    Barry, D.; Lemmin, U.; Le Dantec, N.; Zulliger, L.; Rusterholz, M.; Bolay, M.; Rossier, J.; Kangur, K.

    2013-12-01

    In the development of sustainable management strategies of lakes more insight into their physical, chemical and ecological dynamics is needed. Field data obtained from various types of sensors with adequate spatial and temporal sampling rate are essential to understand better the processes that govern fluxes and pathways of water masses and transported compounds, whether for model validation or for monitoring purposes. One advantage of unmanned platforms is that they limit the disturbances typically affecting the quality of data collected on small vessels, including perturbations caused by movements of onboard crew. We have developed a mobile, semi-autonomous floating platform with 8 h power autonomy using a 5 m long by 2.5 m wide catamaran. Our approach focused on modularity and high payload capacity in order to accommodate a large number of sensors both in terms of electronic (power and data) and mechanical constraints of integration. Software architecture and onboard electronics use National Instruments technology to simplify and standardize integration of sensors, actuators and communication. Piecewise-movable deck sections allow optimizing platform stability depending on the payload. The entire system is controlled by a remote computer located on an accompanying vessel and connected via a wireless link with a range of over 1 km. Real-time transmission of GPS-stamped measurements allows immediate modifications in the survey plan if needed. The displacement of the platform is semi-autonomous, with the options of either autopilot mode following a pre-planned course specified by waypoints or remote manual control from the accompanying vessel. Maintenance of permanent control over the platform displacement is required for safety reasons with respect to other users of the lake. Currently, the sensor payload comprises an array of fast temperature probes, a bottom-tracking ADCP and atmospheric sensors including a radiometer. A towed CTD with additional water quality

  16. Design of a semi-autonomous boat for measurements of coastal sedimentation and erosion

    Directory of Open Access Journals (Sweden)

    D. Smith

    2015-03-01

    Full Text Available Measurement of sediment deposition and erosion in coastal areas is a challenge due to soft shifting sediments, but is critical to assessing loss or restoration of coastal sediments and wetlands. The aim of this project was to design and construct a semi-autonomous boat with water depth measuring capabilities. It was intended to map the depth of coastal wetlands to determine erosion rates and assess coastal restoration effects. Depth-measuring equipment was incorporated into an autonomous pontoon boat powered by solar panels. The propulsion system consisted of two paddlewheels and two-way motors to allow movement and positioning for measurements. Modifications included a lightweight, hard coating on the pontoons and powder-coating the frame to extend their usable life. A microcontroller controlled the boat and captured depth data from sensors and location data with a GPS system. The depth measuring system consisted of a pulley and counter system that completed each measurement in less than 45 seconds. This allowed the boat to take approximately 400 measurements per day. Net accuracy was approximately 3 cm in the tested configuration. The boat can continually measure the depth of specified areas in the wetlands; with this data, the change in depth can be monitored to see the effects of restoration projects.

  17. Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.

    Science.gov (United States)

    Hawary, A. F.; Razak, N. A.

    2018-05-01

    Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.

  18. Human-Vehicle Interface for Semi-Autonomous Operation of Uninhabited Aero Vehicles

    Science.gov (United States)

    Jones, Henry L.; Frew, Eric W.; Woodley, Bruce R.; Rock, Stephen M.

    2001-01-01

    The robustness of autonomous robotic systems to unanticipated circumstances is typically insufficient for use in the field. The many skills of human user often fill this gap in robotic capability. To incorporate the human into the system, a useful interaction between man and machine must exist. This interaction should enable useful communication to be exchanged in a natural way between human and robot on a variety of levels. This report describes the current human-robot interaction for the Stanford HUMMINGBIRD autonomous helicopter. In particular, the report discusses the elements of the system that enable multiple levels of communication. An intelligent system agent manages the different inputs given to the helicopter. An advanced user interface gives the user and helicopter a method for exchanging useful information. Using this human-robot interaction, the HUMMINGBIRD has carried out various autonomous search, tracking, and retrieval missions.

  19. Distributed Hybrid Information and Plan Consensus HIPC for Semi-autonomous UAV Teams

    Science.gov (United States)

    2015-09-18

    furniture may move around a bit on a daily basis, 2) workers in different parts of the building may stay later on some nights forcing a delay in entering...systems. International Journal of Robotics Research, 23(9):939–954, 2004. [17] M. B. Dias, R. Zlot, N. Kalra, and A. Stentz. Market -based multirobot...free market auctions to distribute control of UAVs. In AIAA 3rd Unmanned Unlimited Technical Conference, Workshop and Exhibit, 2004. [34] T. Lemaire

  20. Lessons Learned in Designing User-configurable Modular Robotics

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop

    2013-01-01

    User-configurable robotics allows users to easily configure robotic systems to perform task-fulfilling behaviors as desired by the users. With a user configurable robotic system, the user can easily modify the physical and func-tional aspect in terms of hardware and software components of a robotic...... with the semi-autonomous com-ponents of the user-configurable robotic system in interaction with the given environment. Components constituting such a user-configurable robotic system can be characterized as modules in a modular robotic system. Several factors in the definition and implementation...

  1. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

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

    Science.gov (United States)

    2015-09-01

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

  3. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  4. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  5. Mobile Robots for Hospital Logistics

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan

    services to maintain the quality of healthcare provided. Logistics is the most resource demanding service in a hospital. The scale of the transportation tasks is huge and the material flow in a hospital is comparable to that of a factory. We believe that these transportation tasks, to a great extent, can...... be and will be automated using mobile robots. This talk consequently addresses the key technical issues of implementing service robots in hospitals. In simple terms, a robotic system for automating hospital logistics has to be reliable, adaptable and scalable. Robots have to be semi-autonomous, and should reliably...... 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 talk summarizes the efforts to address these issues. Upon the analysis...

  6. Indoor Sampler Siting

    Energy Technology Data Exchange (ETDEWEB)

    Sohn, Michael D.; Lorenzetti, David M.

    2009-03-01

    Contaminant releases in or near a building can lead to significant human exposures unless prompt response is taken. U.S. Federal and local agencies are implementing programs to place air-monitoring samplers in buildings to quickly detect biological agents. We describe a probabilistic algorithm for siting samplers in order to detect accidental or intentional releases of biological material. The algorithm maximizes the probability of detecting a release from among a suite of realistic scenarios. The scenarios may differ in any unknown, for example the release size or location, weather, mode of building operation, etc. The algorithm also can optimize sampler placement in the face of modeling uncertainties, for example the airflow leakage characteristics of the building, and the detection capabilities of the samplers. In an illustrative example, we apply the algorithm to a hypothetical 24-room commercial building, finding optimal networks for a variety of assumed sampler types and performance characteristics. We also discuss extensions of this work for detecting ambient pollutants in buildings, and for understanding building-wide airflow, pollutant dispersion, and exposures.

  7. Indigenous high volume air sampler

    International Nuclear Information System (INIS)

    Kotrappa, P.; Setty, N.P.N.; Raghunath, B.; Sivasubrahmanyam, P.S.

    1978-01-01

    A high volume air sampler for use in assessing concentrations of low levels of air borne particulates has been fabricated. The sampler will be of use in radioactive installations, conventional industries and environmental pollution analysis. It is comparable in performance with the imported Staplex air samplers. A turbine and motor system similar to the one found in conventional vacuum cleaners is used in its design. The sampler units can be produced in large numbers. (M.G.B.)

  8. Robotics

    Indian Academy of Sciences (India)

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

  9. Adaptive Behavior for Mobile Robots

    Science.gov (United States)

    Huntsberger, Terrance

    2009-01-01

    The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

  10. Isokinetic sampler; Amostrador isocinetico

    Energy Technology Data Exchange (ETDEWEB)

    Andrade, Luis Cesar C. de; Santos, Antonio Carlos dos [PETROBRAS Transporte S.A. (TRANSPETRO), Rio de Janeiro, RJ (Brazil); Barrio, Lara B.A. del [AZ Armaturen do Brasil Ltda., Itatiba, SP (Brazil); Silva, Claudio B. da C. e; Silva, Ricardo R. da [PETROBRAS, Rio de Janeiro, RJ (Brazil). Centro de Pesquisas

    2005-07-01

    The Center of Research Leopoldo A. Miguez de Melo - CENPES - in association with AZ Armaturen Company do Brasil and TRANSPETRO developed and tested an Isokinetic sampler. This work presents the sampling principles and the results and performance of the tests realized in the 'Sitio de Testes de Atalaia' and in one of the terminals of bunker transfer of TRANSPETRO - 'Terminal Aquaviario da Baia de Guanabara'. In the 'Sitio de Testes' the products used were oil and water with BSW from 5% to 97% and in the terminal were tested samplings of bunker with ranges viscosities between (MF 180 to 380). (author)

  11. Waveform Sampler CAMAC Module

    International Nuclear Information System (INIS)

    Freytag, D.R.; Haller, G.M.; Kang, H.; Wang, J.

    1985-09-01

    A Waveform Sampler Module (WSM) for the measurement of signal shapes coming from the multi-hit drift chambers of the SLAC SLC detector is described. The module uses a high speed, high resolution analog storage device (AMU) developed in collaboration between SLAC and Stanford University. The AMU devices together with high speed TTL clocking circuitry are packaged in a hybrid which is also suitable for mounting on the detector. The module is in CAMAC format and provides eight signal channels, each recording signal amplitude versus time in 512 cells at a sampling rate of up to 360 MHz. Data are digitized by a 12-bit ADC with a 1 μs conversion time and stored in an on-board memory accessible through CAMAC

  12. Introduction to SamplerCompare

    Directory of Open Access Journals (Sweden)

    Madeleine B. Thompson

    2011-08-01

    Full Text Available SamplerCompare is an R package for comparing the performance of Markov chain Monte Carlo (MCMC samplers. It samples from a collection of distributions with a collection of MCMC methods over a range of tuning parameters. Then, using log density evaluations per uncorrelated observation as a figure of merit, it generates a grid of plots showing the results of the simulation. It comes with a collection of predefined distributions and samplers and provides R and C interfaces for defining additional ones. It also provides the means to import simulation data generated by external systems. This document provides background on the package and demonstrates the basics of running simulations, visualizing results, and defining distributions and samplers in R.

  13. Triadic split-merge sampler

    Science.gov (United States)

    van Rossum, Anne C.; Lin, Hai Xiang; Dubbeldam, Johan; van der Herik, H. Jaap

    2018-04-01

    In machine vision typical heuristic methods to extract parameterized objects out of raw data points are the Hough transform and RANSAC. Bayesian models carry the promise to optimally extract such parameterized objects given a correct definition of the model and the type of noise at hand. A category of solvers for Bayesian models are Markov chain Monte Carlo methods. Naive implementations of MCMC methods suffer from slow convergence in machine vision due to the complexity of the parameter space. Towards this blocked Gibbs and split-merge samplers have been developed that assign multiple data points to clusters at once. In this paper we introduce a new split-merge sampler, the triadic split-merge sampler, that perform steps between two and three randomly chosen clusters. This has two advantages. First, it reduces the asymmetry between the split and merge steps. Second, it is able to propose a new cluster that is composed out of data points from two different clusters. Both advantages speed up convergence which we demonstrate on a line extraction problem. We show that the triadic split-merge sampler outperforms the conventional split-merge sampler. Although this new MCMC sampler is demonstrated in this machine vision context, its application extend to the very general domain of statistical inference.

  14. EVALUATING ROBOT TECHNOLOGIES AS TOOLS TO EXPLORE RADIOLOGICAL AND OTHER HAZARDOUS ENVIRONMENTS

    International Nuclear Information System (INIS)

    Curtis W. Nielsen; David I. Gertman; David J. Bruemmer; R. Scott Hartley; Miles C. Walton

    2008-01-01

    There is a general consensus that robots could be beneficial in performing tasks within hazardous radiological environments. Most control of robots in hazardous environments involves master-slave or teleoperation relationships between the human and the robot. While teleoperation-based solutions keep humans out of harms way, they also change the training requirements to accomplish a task. In this paper we present a research methodology that allowed scientists at Idaho National Laboratory to identify, develop, and prove a semi-autonomous robot solution for search and characterization tasks within a hazardous environment. Two experiments are summarized that validated the use of semi-autonomy and show that robot autonomy can help mitigate some of the performance differences between operators who have different levels of robot experience, and can improve performance over teleoperated systems

  15. Supervision and atuomatic control of robotics systems in nuclear environments

    International Nuclear Information System (INIS)

    Benner, J.; Leinemann, K.

    1992-01-01

    The paper describes new developments in controlling remote handling systems for nuclear applications. The main emphasis is to use robotic equipment and methods for reaching a high degree of system autonomy. A remote handling workstation concept is described, supporting various stages of mission planning and supervision by means of suited geometrical, procedural and functional models. The presented control system enables easy switching between semi-autonomous and manual task execution and sensor data integration. Some experimental results of a prototypic implementation are also described

  16. Supervision and automatic control of robotic systems in nuclear environments

    International Nuclear Information System (INIS)

    Benner, J.; Leinemann, K.

    1992-01-01

    This paper describes new developments in controlling remote handling systems for nuclear applications. The main emphasis is to use robotic equipment and methods for reaching a high degree of system autonomy. A remote handling workstation concept is described, supporting various stages of mission planning and supervision by means of suited geometrical, procedural and functional models. The presented control system enables easy switching between semi-autonomous and manual task execution and sensor data integration. Some experimental results of a prototypic implementation are also described

  17. Design considerations for an intelligent mobile robot for mixed-waste inspection

    Energy Technology Data Exchange (ETDEWEB)

    Sias, F.R.; Dawson, D.M.; Schalkoff, R.J. [Clemson Univ., SC (United States). Dept. of Electrical and Computer Engineering; Byrd, J.S.; Pettus, R.O. [South Carolina Univ., Columbia, SC (United States). Dept. of Electrical and Computer Engineering

    1993-06-01

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper.

  18. Design considerations for an intelligent mobile robot for mixed-waste inspection

    International Nuclear Information System (INIS)

    Sias, F.R.; Dawson, D.M.; Schalkoff, R.J.; Byrd, J.S.; Pettus, R.O.

    1993-01-01

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper

  19. Design of a robotic automation system for transportation of goods in hospitals

    DEFF Research Database (Denmark)

    Özkil, Ali Gürcan; Sørensen, Torben; Fan, Zhun

    2007-01-01

    Hospitals face with heavy traffic of goods everyday, where transportation tasks are mainly carried by human. Analysis of the current situation of transportation in a typical hospital showed several transportation tasks are suitable for automation. This paper presents a system, consisting of a fleet...... of robot vehicles, automatic stations and smart containers for automation of transportation of goods in hospitals. Design of semi-autonomous robot vehicles, containers and stations are presented and the overall system architecture is described. Implementing such a system in an existing hospital showed...

  20. Multiagent Modeling and Simulation in Human-Robot Mission Operations Work System Design

    Science.gov (United States)

    Sierhuis, Maarten; Clancey, William J.; Sims, Michael H.; Shafto, Michael (Technical Monitor)

    2001-01-01

    This paper describes a collaborative multiagent modeling and simulation approach for designing work systems. The Brahms environment is used to model mission operations for a semi-autonomous robot mission to the Moon at the work practice level. It shows the impact of human-decision making on the activities and energy consumption of a robot. A collaborative work systems design methodology is described that allows informal models, created with users and stakeholders, to be used as input to the development of formal computational models.

  1. Design of dry sand soil stratified sampler

    Science.gov (United States)

    Li, Erkang; Chen, Wei; Feng, Xiao; Liao, Hongbo; Liang, Xiaodong

    2018-04-01

    This paper presents a design of a stratified sampler for dry sand soil, which can be used for stratified sampling of loose sand under certain conditions. Our group designed the mechanical structure of a portable, single - person, dry sandy soil stratified sampler. We have set up a mathematical model for the sampler. It lays the foundation for further development of design research.

  2. Advanced sensing and control techniques to facilitate semi-autonomous decommissioning of hazardous sites. 1997 annual progress report, September 15, 1996 - September 14, 1997

    International Nuclear Information System (INIS)

    Schalkoff, R.J.

    1997-01-01

    'The first year of this effort emphasized independent development and refinement of each of the three major subsystems (imaging/AI, robotics and virtual reality). Two of the three efforts emphasized the critical task of site. virtualization, prior to telepresence-guided D and D. Substantial algorithm refinement and software and hardware development occurred in each area. Relevant publications resulting from this work are cited below.'

  3. Current status of endovascular catheter robotics.

    Science.gov (United States)

    Lumsden, Alan B; Bismuth, Jean

    2018-06-01

    In this review, we will detail the evolution of endovascular therapy as the basis for the development of catheter-based robotics. In parallel, we will outline the evolution of robotics in the surgical space and how the convergence of technology and the entrepreneurs who push this evolution have led to the development of endovascular robots. The current state-of-the-art and future directions and potential are summarized for the reader. Information in this review has been drawn primarily from our personal clinical and preclinical experience in use of catheter robotics, coupled with some ground-breaking work reported from a few other major centers who have embraced the technology's capabilities and opportunities. Several case studies demonstrating the unique capabilities of a precisely controlled catheter are presented. Most of the preclinical work was performed in the advanced imaging and navigation laboratory. In this unique facility, the interface of advanced imaging techniques and robotic guidance is being explored. Although this procedure employs a very high-tech approach to navigation inside the endovascular space, we have conveyed the kind of opportunities that this technology affords to integrate 3D imaging and 3D control. Further, we present the opportunity of semi-autonomous motion of these devices to a target. For the interventionist, enhanced precision can be achieved in a nearly radiation-free environment.

  4. Remote Sampler Demonstration Isolok Configuration Test

    International Nuclear Information System (INIS)

    Kelly, Steve E.

    2016-01-01

    The accuracy and precision of a new Isolok sampler configuration was evaluated using a recirculation flow loop. The evaluation was performed using two slurry simulants of Hanford high-level tank waste. Through testing, the capability of the Isolok sampler was evaluated. Sample concentrations were compared to reference samples that were simultaneously collected by a two-stage Vezin sampler. The capability of the Isolok sampler to collect samples that accurately reflect the contents in the test loop improved – biases between the Isolok and Vezin samples were greatly reduce for fast settling particles.

  5. Remote Sampler Demonstration Isolok Configuration Test

    Energy Technology Data Exchange (ETDEWEB)

    Kelly, Steve E. [Washington River Protection Solutions, LLC, Richland, WA (United States)

    2016-06-08

    The accuracy and precision of a new Isolok sampler configuration was evaluated using a recirculation flow loop. The evaluation was performed using two slurry simulants of Hanford high-level tank waste. Through testing, the capability of the Isolok sampler was evaluated. Sample concentrations were compared to reference samples that were simultaneously collected by a two-stage Vezin sampler. The capability of the Isolok sampler to collect samples that accurately reflect the contents in the test loop improved – biases between the Isolok and Vezin samples were greatly reduce for fast settling particles.

  6. The Affordance Template ROS Package for Robot Task Programming

    Science.gov (United States)

    Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

    2015-01-01

    This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

  7. Evaluation of teleoperated surgical robots in an enclosed undersea environment.

    Science.gov (United States)

    Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

    2009-05-01

    The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

  8. 7 CFR 61.30 - Examination of sampler.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Examination of sampler. 61.30 Section 61.30... Cottonseed Samplers § 61.30 Examination of sampler. Each applicant for a license as a sampler and each... examination or test to show his ability properly to perform the duties for which he is applying for a license...

  9. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  10. UWB Sampler for Wireless Communications and Radar

    National Research Council Canada - National Science Library

    Han, Jeongwoo; Nguyen, Cam

    2005-01-01

    An ultra wideband (UWB) sampler, realized using step recovery and Schottky diodes on coplanar waveguide, coplanar strips and slotlines, has been developed for UWB wireless communications and radar systems...

  11. A passive sampler for atmospheric ozone

    International Nuclear Information System (INIS)

    Grosjean, D.; Hisham, M.W.M.

    1992-01-01

    A simple, cost-effective passive sampler has been developed for the determination of atmospheric ozone. This passive sampler is based on a colorant which fades upon reaction with ozone, whose concentration can be determined by reflectance measurement of the color change. Direct, on-site measurements are possible, and no chemical analyses are needed. Sampler design and validation studies have been carried out and included quantitative determination of color change vs exposure time (1-8 days), color change vs. ozone concentration (30-350 ppb), and response to changes in sampler configuration that modify the passive sampling rate. With indigo carmine as the colorant, the detection limits are 30 ppb. day and 120 ppb. day using a plastic grid and Teflon filter, respectively, as diffusion barriers. Interferences from nitrogen dioxide, formaldehyde and peroxyacetyl nitrate are 15, 4 and 16%, respectively, thus resulting in a negligible bias when measuring ozone in ambient air

  12. Sampler collection gadget for epilithic diatoms.

    Science.gov (United States)

    Salomoni, S E; Torgan, L C; Rocha, O

    2007-11-01

    This work present a new gadget for sampling epilithic diatoms from both lentic and lotic enviroments. The sampler consists of a polystyrene cylinder, left to float on the surface of the water, to which stone substrates are attached. This epilithic diatom sampler (EDS) can be used to detect spatial and temporal richness and density variation in the study of the diatom community, as well as in water quality monitoring.

  13. Sampler collection gadget for epilithic diatoms

    Directory of Open Access Journals (Sweden)

    SE. Salomoni

    Full Text Available This work present a new gadget for sampling epilithic diatoms from both lentic and lotic enviroments. The sampler consists of a polystyrene cylinder, left to float on the surface of the water, to which stone substrates are attached. This epilithic diatom sampler (EDS can be used to detect spatial and temporal richness and density variation in the study of the diatom community, as well as in water quality monitoring.

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

    Science.gov (United States)

    Petrosky, Lyman J.

    1992-01-01

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

  15. Energy storage considerations for a robotic Mars surface sampler

    International Nuclear Information System (INIS)

    O'Donnell, P.M.; Cataldo, R.L.; Gonzalez-Sanabria, O.D.

    1988-01-01

    Manned exploration of Mars is being proposed by the National Commission on Space for the next century. To accomplish this task with minimal resupply cost for extended stay times, use of Mars' resources is essential. Methods must be developed to manufacture or extract water and oxygen from elements indigenous to Mars before they send explorers to the planet. Therefore, they must send precursor surveying equipment to determine Mars' resources to a greater extent than is now known from Viking 1 and Viking 2 data. A 1992 launch is planned for the Mars Observer that will contribute greater mapping resolution and expand the scientific data base. The proposed rover will provide scientists with the necessary information about abundant resources that would guide the required technology development needed to support a manned Mars infrastructure. The actual rover operations plan for both the sample return and extended mission will have a large impact on rover capabilities and the power system supplying power for traversing and scientific instrumentation. POWER SOURCE AND CONVERSION. Several power source/conversion options for the rover have been identified. These include power generation on the lander, Entry Vehicle (EV), Mars Orbiter Vehicle (MOV) and on the rover itself. Power from the lander would require the rover to return to landing site to recharge the energy storage systems, which limits rover excursions to one-half the range of the storage capacity. For on-board rover power, a Radioisotope Thermoelectric Generator (RTG) has been considered with the appropriate energy storage to handle peak power demands

  16. Statistical analysis of the DWPF prototypic sampler

    International Nuclear Information System (INIS)

    Postles, R.L.; Reeve, C.P.; Jenkins, W.J.; Bickford, D.F.

    1991-01-01

    The DWPF process will be controlled using assay measurements on samples of feed slurry. These slurries are radioactive, and thus will be sampled remotely. A Hydraguard trademark pump-driven sampler system will be used as the remote sampling device. A prototype Hydraguard trademark sampler has been studied in a full-scale mock-up of a DWPF process vessel. Two issues were of dominant interest: (1) what accuracy and precision can be provided by such a pump-driven sampler in the face of the slurry rheology; and, if the Hydraguard trademark sample accurately represents the slurry in its local area, (2) is the slurry homogeneous enough throughout for it to represent the entire vessel? To determine Hydraguard trademark Accuracy, a Grab Sampler of simpler mechanism was used as reference. This (Low) Grab Sampler was located as near to the intake port of the Hydraguard trademark as could be arranged. To determine Homogeneity, a second (High) Grab Sampler was located above the first. The data necessary to these determinations comes from the measurement system, so its important variables also affect the results. Thus, the design of the test involved not just Sampling variables, but also some of the Measurement variables as well. However, the main concern was the Sampler and not the Measurement System, so the test design included only such measurement variables as could not be circumvented (Vials, Dissolution Method, and Aliquoting). The test was executed by, or under the direct oversight of, expert technologists. It thus did not explore the many important particulars of ''routine'' plant operations (such as Remote Sample Preparation or Laboratory Shift Operation)

  17. Investigation of human-robot interface performance in household environments

    Science.gov (United States)

    Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

    2016-05-01

    Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

  18. 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...

  19. Environmental HTO/HT sampler development

    International Nuclear Information System (INIS)

    Workman, W.J.G.; Brown, R.M.; Wood, M.J.

    1992-12-01

    Tests of retention by several drying agents of HTO from an air stream containing HT have been performed. Two batches of Molecular Sieve (MS) 4A retained up to 1.3% of HT passed through them in contrast to material tested in 1986, when retention was -4 . Retention of 10 -5 to 10 -6 was observed for DRIERITE (anhydrous calcium sulphate) and Silica Gel. DRIERITE is preferred over Silica Gel as a desiccant in an air sampler for environmental HTO/HT, because it is much easier to decontaminate for reuse. An improved air sampler has been designed, 2 units constructed and components procured for 3 more. The air sampler may be line or battery operated, accommodates up to four 120 g drier or oxidizer traps, and will pump up to 4 L/min for up to 24 hours on battery power. It is build into a rugged aluminum case and weighs approximately 11 kg overall, facilitating deployment in the field

  20. Coalescent genealogy samplers: windows into population history.

    Science.gov (United States)

    Kuhner, Mary K

    2009-02-01

    Coalescent genealogy samplers attempt to estimate past qualities of a population, such as its size, growth rate, patterns of gene flow or time of divergence from another population, based on samples of molecular data. Genealogy samplers are increasingly popular because of their potential to disentangle complex population histories. In the last decade they have been widely applied to systems ranging from humans to viruses. Findings include detection of unexpected reproductive inequality in fish, new estimates of historical whale abundance, exoneration of humans for the prehistoric decline of bison and inference of a selective sweep on the human Y chromosome. This review summarizes available genealogy-sampler software, including data requirements and limitations on the use of each program.

  1. 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...

  2. Overflow type sodium sampler for FBTR circuits

    International Nuclear Information System (INIS)

    Muralidaran, P.; Ganesan, V.; Chandran, K.; Periaswami, G.

    1996-01-01

    Obtaining a representative sample is crucial for getting reliable results in sodium analysis. Sampling liquid sodium reliability is complicated since impurities segregate while cooling. Selective sorption of certain elements calls for use of different crucible materials for various sodium impurities. Sampling methods currently in use such as flow through sampling and dip sampling are not the proper methods as they can not take care of the above problems. An overflow type sampler where the entire sample contained in a crucible can be used for analysis thus obviating problems due to segregation has been developed for use in Fast Breeder Test Reactor (FBTR). This report describes the construction and operation of this sampler. (author)

  3. Operability test report for 211BA flow proportional sampler

    International Nuclear Information System (INIS)

    Weissenfels, R.D.

    1995-01-01

    This operability report will verify that the 211-BA flow proportional sampler functions as intended by design. The sampler was installed by Project W-007H and is part of BAT/AKART for the BCE liquid effluent stream

  4. An intelligent inspection and survey robot

    International Nuclear Information System (INIS)

    Byrd, J.; Holland, J.M.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a semi-autonomous robotic system intended for use in the automatic inspection of stored containers of low level nuclear waste. The project is being performed by a team under the SCUREF (South Carolina University Research and Education Foundation) comprised of the University of South Carolina, and Clemson University, and their industrial partner Cybermotion Inc., with funding from METC, Morgantown, WV. The ARIES program is unusual in the level of cooperation between the universities and Cybermotion. By maintaining daily communications via telephone and E-Mall, participating in frequent meetings with each other and the end users, and by developing an open flow of (sometimes sensitive) technical information, the team has been able to build on a very broad base of intellectual strengths and existing technology without wasteful duplication. This base includes all of the navigation and control software and hardware developed by Cybermotion over nearly a decade and the deep technology resources of the university partners. It is anticipated that the result will be a technically advanced system that is much closer to a deployable configuration than is typical for this stage of research. In this decade of shrinking budgets, such relationships can provide a crucial advantage for all participants

  5. Particle capturing performance of South African non corrosive samplers

    CSIR Research Space (South Africa)

    Pretorius, C

    2010-05-01

    Full Text Available eq ue nc y D50 D90 © CSIR 2007 www.csir.co.za Particle size distribution of sampled filters taken in three platinum mines PSA results according to mine 0 2 4 6 8 10 12 14 16 X-Samplers Y-Samplers X-Samplers Y...

  6. A neural network-based exploratory learning and motor planning system for co-robots

    Directory of Open Access Journals (Sweden)

    Byron V Galbraith

    2015-07-01

    Full Text Available Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or learning by doing, an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

  7. A neural network-based exploratory learning and motor planning system for co-robots.

    Science.gov (United States)

    Galbraith, Byron V; Guenther, Frank H; Versace, Massimiliano

    2015-01-01

    Collaborative robots, or co-robots, are semi-autonomous robotic agents designed to work alongside humans in shared workspaces. To be effective, co-robots require the ability to respond and adapt to dynamic scenarios encountered in natural environments. One way to achieve this is through exploratory learning, or "learning by doing," an unsupervised method in which co-robots are able to build an internal model for motor planning and coordination based on real-time sensory inputs. In this paper, we present an adaptive neural network-based system for co-robot control that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. To validate this system we used the 11-degrees-of-freedom RoPro Calliope mobile robot. Through motor babbling of its wheels and arm, the Calliope learned how to relate visual and proprioceptive information to achieve hand-eye-body coordination. By continually evaluating sensory inputs and externally provided goal directives, the Calliope was then able to autonomously select the appropriate wheel and joint velocities needed to perform its assigned task, such as following a moving target or retrieving an indicated object.

  8. Mobile robots in research and development programs at the Savannah River Site

    International Nuclear Information System (INIS)

    Martin, T.P.; Byrd, J.S.; Fisher, J.J.

    1987-01-01

    Savannah River Laboratory (SRL) is developing mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP). Teleoperated mobile vehicles have been successfully used for several onsite applications. Development work using two research vehicles is underway to demonstrate semi-autonomous intelligent expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes of these vehicles is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being developed at SRL to allow vehicles to autonomously navigate and perform tasks in known environments, without the need for large computer systems. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation functions, and to analyze sensory information

  9. Mobile robots in research and development programs at the Savannah River site

    International Nuclear Information System (INIS)

    Martin, T.P.; Byrd, J.S.; Fisher, J.J.

    1987-01-01

    Mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP) have been developed. Teleoperated mobile vehicles have been successfully used for several onsite applications. Development work using two research vehicles is underway to demonstrate semi-autonomous intelligent expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes of these vehicles is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being developed at SRL to allow vehicles to autonomously navigate and perform tasks in known environments, without the need for large computer systems. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation functions, and to analyze sensory information

  10. Retained Gas Sampler Calibration and Simulant Tests

    Energy Technology Data Exchange (ETDEWEB)

    CRAWFORD, B.A.

    2000-01-05

    This test plan provides a method for calibration of the retained gas sampler (RGS) for ammonia gas analysis. Simulant solutions of ammonium hydroxide at known concentrations will be diluted with isotopically labeled 0.04 M ammonium hydroxide solution. Sea sand solids will also be mixed with ammonium hydroxide solution and diluent to determine the accuracy of the system for ammonia gas analysis.

  11. A programmable air sampler with adsorption tubes

    International Nuclear Information System (INIS)

    Riesing, J.; Roetzer, H.; Hick, H.

    1997-01-01

    The Air Sampler AS3 was utilized for the European Tracer Experiment (ETEX) to measure the concentrations of the perfluorocarbon tracers. At thirty-two sampling points these devices were placed to collect the tracer substances in adsorption tubes for subsequent laboratory analysis in the Environment Institute of the JRC Ispra. The Air Sampler is also suitable for monitoring the environment, particularly of industrial emitters or landfills, by sampling of volatile substances. The Air Sampler AS3 is a portable, user-friendly instrument due to light weight, ruggedness and reliable operation. It is capable of fully automatic sampling of air and gas with 24 adsorption tubes and program-controlled gas flow. Collection times can be programmed freely between 1 sec and 8 days and waiting times between 1 sec and 30 days. Programming is possible via keyboard, memory card or serial interface. A protocol of sampling control data is stored on a memory card giving documentation of sampling conditions. On the memory card there is space for the storage of 10 sampling programs and 10 sets of sampling control data. Before the start of ETEX the AS3 was used in a measurement campaign to measure the background concentrations of the perfluorocarbon tracers in Austria. In the provinces of Upper Austria and Salzburg the Air Sampler is used by the departments for environmental protection for the monitoring of BTX-concentrations in air. (author)

  12. Quantum Gibbs Samplers: The Commuting Case

    Science.gov (United States)

    Kastoryano, Michael J.; Brandão, Fernando G. S. L.

    2016-06-01

    We analyze the problem of preparing quantum Gibbs states of lattice spin Hamiltonians with local and commuting terms on a quantum computer and in nature. Our central result is an equivalence between the behavior of correlations in the Gibbs state and the mixing time of the semigroup which drives the system to thermal equilibrium (the Gibbs sampler). We introduce a framework for analyzing the correlation and mixing properties of quantum Gibbs states and quantum Gibbs samplers, which is rooted in the theory of non-commutative {mathbb{L}_p} spaces. We consider two distinct classes of Gibbs samplers, one of them being the well-studied Davies generator modelling the dynamics of a system due to weak-coupling with a large Markovian environment. We show that their spectral gap is independent of system size if, and only if, a certain strong form of clustering of correlations holds in the Gibbs state. Therefore every Gibbs state of a commuting Hamiltonian that satisfies clustering of correlations in this strong sense can be prepared efficiently on a quantum computer. As concrete applications of our formalism, we show that for every one-dimensional lattice system, or for systems in lattices of any dimension at temperatures above a certain threshold, the Gibbs samplers of commuting Hamiltonians are always gapped, giving an efficient way of preparing the associated Gibbs states on a quantum computer.

  13. Retained Gas Sampler Calibration and Simulant Tests

    International Nuclear Information System (INIS)

    CRAWFORD, B.A.

    2000-01-01

    This test plan provides a method for calibration of the retained gas sampler (RGS) for ammonia gas analysis. Simulant solutions of ammonium hydroxide at known concentrations will be diluted with isotopically labeled 0.04 M ammonium hydroxide solution. Sea sand solids will also be mixed with ammonium hydroxide solution and diluent to determine the accuracy of the system for ammonia gas analysis

  14. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  15. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

  16. Performance improvements on passive activated charcoal 222Rn samplers

    International Nuclear Information System (INIS)

    Wei Suxia

    1996-01-01

    Improvements have been made on passive activated charcoal 222 Rn samplers with sintered metal filters. Based on the samplers of good adaptability to temperature and humidity developed before, better charcoal was selected to further improve their performance in radon absorption ability and moisture-resistance. And charcoal quantity in samplers was strictly controlled. The integration time constant of the improved samplers was about 4.3 days. As the sampler was combined with gamma spectrometer to measure radon concentration, the calibration factor was 0.518 min -1 ·Bq -1 ·m 3 for samplers of 7 days exposure time, and the minimum detectable concentration 0.28 Bq·m -3 if counting time for both background and sample is 1000 minutes. The improved samplers are suited to accurately determine the indoor and outdoor average radon concentration under conditions of great variation in temperature and humidity

  17. Heavy water leak detection using diffusion sampler

    International Nuclear Information System (INIS)

    Joshi, M.L.; Hussain, S.A.

    1990-01-01

    In the Pressurrised Heavy Water Reactors (PHWRs) detection of the sources of heavy water leaks is importent both for the purpose of radiation hazard control as well as for the reduction of escape/loss of heavy water which, is an expensive nuclear material. This paper describes an application of tritium diffusion sampler for heavy water leak detection. The diffusion sampler comprises an usual tritium counting glass vial with a special orifice. The counting vial has water vapour, deficient in HTO concentration. The HTO present outside diffuses in the vial through the orifice, gets exchanged with water of the wet filter paper kept at the bottom and the moisture in the vial atmosphere which has HTO concentration lower than that outside. This results in continuation of net movement of HTO in the vial. The exchanged tritium is counted in liquid scintillation spectrometer. The method has a sensitivity of 10000 dpm/DAC-h. (author). 2 figs., 2 ta bs

  18. CAM and stack air sampler design guide

    International Nuclear Information System (INIS)

    Phillips, T.D.

    1994-01-01

    About 128 air samplers and CAMs presently in service to detect and document potential radioactive release from 'H' and 'F' area tank farm ventilation stacks are scheduled for replacement and/or upgrade by Projects S-5764, S-2081, S-3603, and S-4516. The seven CAMs scheduled to be upgraded by Project S-4516 during 1995 are expected to provide valuable experience for the three remaining projects. The attached document provides design guidance for the standardized High Level Waste air sampling system

  19. Environmental HTO/HT sampler development

    International Nuclear Information System (INIS)

    Workman, W.J.G.; Brown, R.M.; Wood, M.J.

    1994-01-01

    Tests of retention by several drying agents of HTO from an air stream containing HT have been performed. Two batches of Molecular Sieve (MS) 4A retained up to 1.3% of HT passed through them, in contrast to material tested in 1986, when retention was -4 . Retention of 10 -5 to 10 -6 was observed for DRIERITE (anhydrous calcium sulphate) and Silica Gel. DRIERITE is preferred over Silica Gel as a desiccant in an air sampler for environmental HTO/HT, because it is much easier to decontaminate for reuse. An improved air sampler has been designed, 2 units constructed and components procured for 3 more. The air sampler may be line or battery operated, accommodates up to four 120 g drier or oxidizer traps, and will pump up to 4 L/min for up to 24 hours on battery power. It is built into a rugged aluminum case and weighs approximately 11 kg overall, facilitating deployment in the field. (author). 5 refs., 2 tabs., 4 figs

  20. Half-liter supernatant sampler system engineering work plan

    International Nuclear Information System (INIS)

    Ritter, G.A.

    1995-01-01

    The Tank Waste Remediation System (TWRS) pretreatment facility project W-236B, known as the Initial Pretreatment Module (IPM), requires samples of supernatants and sludges from 200 Area tank farms for planned hot testing work in support of IPM design. The IPM project has proposed the development of several new sampler systems. These systems include a 0.5-l supernatant sampler, 3-l and 25-l supernatant and sludge samplers, and a 4,000-l sampler system. The 0.5-l sampler will support IPM sampling needs in the 1 to 3 l range starting in late fiscal year 1995. This sampler is intended to be used in conjunction with the existing 100 ml bottle-on-a-string. The 3-l and 25-l systems will be based on the Savannah River Site's sampler system and will support IPM sampling needs in the 3 to 100 liter range. Most of the hot testing required for design of the IPM must be accomplished in the next 3 years. This work plan defines the tasks associated with the development of a 0.5-l sampler system. This system will be referred to as the Half-Liter Supernatant Sampler System (HLSSS). Specifically, this work plan will define the scope of work, identify organizational responsibilities, identify major technical requirements, describe configuration control and verification requirements, and provide estimated costs and schedule. The sampler system will be fully operational, including trained staff and operating procedures, upon completion of this task

  1. Functional design criteria for the retained gas sampler system

    International Nuclear Information System (INIS)

    Wootan, D.W.

    1995-01-01

    A Retained Gas Sampler System (RGSS) is being developed to capture and analyze waste samples from Hanford Flammable Gas Watch List Tanks to determine both the quantity and composition of gases retained in the waste. The RGSS consists of three main components: the Sampler, Extractor, and Extruder. This report describes the functional criteria for the design of the RGSS components. The RGSS Sampler is based on the WHC Universal Sampler design with modifications to eliminate gas leakage. The primary function of the Sampler is to capture a representative waste sample from a tank and transport the sample with minimal loss of gas content from the tank to the laboratory. The function of the Extruder is to transfer the waste sample from the Sampler to the Extractor. The function of the Extractor is to separate the gases from the liquids and solids, measure the relative volume of gas to determine the void fraction, and remove and analyze the gas constituents

  2. Characterization of the GENT PM10 sampler. Appendix 18

    International Nuclear Information System (INIS)

    Hopke, Philip K.; Xie Ying; Raunemaa, Taisto; Biegalski, Steven; Landsberger, Sheldon

    1995-01-01

    An integral part of the Co-ordinated Research Programme: Applied Research on Air Pollution using Nuclear-Related Analytical Techniques is the PM 10 sampler that was designed by Dr. W. Maenhaut of the University of Gent. Each participant was provided with such a sampler so that comparable samples will be obtained by each of the participating groups. Thus, in order to understand the characteristics of this sampler, we have undertaken several characterization studies in which we have examine the aerodynamic collection characteristics of the impactor inlet and the reproducibility of the sample mass collection. The sampler does provide a collection efficiency that follows the guidelines for a PM 10 sampler. Comparing one of the original samplers built at the University of Gent with a unit built from the same plans at Clarkson University showed good reproducibility in mass collection. (author)

  3. Environmental monitoring of tritium in air with passive diffusion samplers

    International Nuclear Information System (INIS)

    Wood, M.J.; Workman, W.J.G.

    1992-01-01

    This paper reports on a field trail in which outdoor air was sampled with an active reference sampler and several passive HTO-in-air samplers simultaneously carried out at Chalk River Laboratories. Both passive and active samplers were changed on an approximately monthly schedule from 1990 September 2 to 1991 April 18. Average temperatures for the sampling intervals ranged from -8.06 degrees C to +15.5 degrees C and HTO-in-air concentrations measured by the active sampler were typically 10 Bq/m 3 . A total of 1290 passive HTO-in-air sampler measurements were made during the seven sampling intervals. The passive samplers used for the field trial were prepared with either tritium-free water or a solution of 50% tritium-free water and 50% ethylene glycol. As expected, the samplers prepared with the water-glycol solution performed more consistently than the samplers prepared with water only. Good agreement between passive and active sampler measurements was observed throughout the field trial

  4. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  5. 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....

  6. 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....

  7. Prototype of Remote Controlled Robot Vehicle to Scan Radioactive Contaminated Areas

    International Nuclear Information System (INIS)

    Ratongasoandrazana, J.B.; Raoelina Andriambololona; Rambolamanana, G.; Andrianiaina, H.; Rajaobelison, J.

    2016-01-01

    The ionizing radiations are not directly audible by the organs of sense of the human being. Maintenance and handling of sources of such ionizing radiations present some risks of very serious and often irreversible accident for human organism. The works of experimentation and maintenance in such zone also present the risks requiring some minimum of precaution. Thus, the main objective of this work is to design and develop (hard- and software) a prototype of educational semi-autonomous Radio Frequency controlled robot-vehicle based on 8-bit AVR-RISC Flash microcontroller system (ATmega128L) able to detect, identify and map the radioactive contaminated area. An integrated video camera coupled with a UHF video transmitter module, placed in front of the robot, will be used as visual feedback control to well direct it toward a precise place to reach. The navigation information and the data collected are transmitted from the robot toward the Computer via 02 Radio Frequency Transceivers for peer-to-peer serial data transfer in half-duplex mode. A Joystick module which is connected to the Computer parallel port allows full motion control of the platform. Robot-vehicle user interface program for the PC has been designed to allow full control of all functions of the robot vehicles.

  8. Retained gas sampler interim safety assessment

    Energy Technology Data Exchange (ETDEWEB)

    Pasamehmetoglu, K.O.; Miller, W.O.; Unal, C.; Fujita, R.K.

    1995-01-13

    This safety assessment addresses the proposed action to install, operate, and remove a Retained Gas Sampler (RGS) in Tank 101-SY at Hanford. Purpose of the RGS is to help characterize the gas species retained in the tank waste; the information will be used to refine models that predict the gas-producing behavior of the waste tank. The RGS will take samples of the tank from top to bottom; these samples will be analyzed for gas constituents. The proposed action is required as part of an evaluation of mitigation concepts for eliminating episodic gas releases that result in high hydrogen concentrations in the tank dome space.

  9. Retained gas sampler interim safety assessment

    International Nuclear Information System (INIS)

    Pasamehmetoglu, K.O.; Miller, W.O.; Unal, C.; Fujita, R.K.

    1995-01-01

    This safety assessment addresses the proposed action to install, operate, and remove a Retained Gas Sampler (RGS) in Tank 101-SY at Hanford. Purpose of the RGS is to help characterize the gas species retained in the tank waste; the information will be used to refine models that predict the gas-producing behavior of the waste tank. The RGS will take samples of the tank from top to bottom; these samples will be analyzed for gas constituents. The proposed action is required as part of an evaluation of mitigation concepts for eliminating episodic gas releases that result in high hydrogen concentrations in the tank dome space

  10. An innovative discrete multilevel sampler design

    International Nuclear Information System (INIS)

    Marvin, B.K.; De Clercq, P.J.; Taylor, B.B.; Mauro, D.M.

    1995-01-01

    An innovative, small-diameter PVC discrete multilevel sampler (DMLS) was designed for the Electric Power Research Institute (EPRI) to provide low-cost, discrete groundwater samples from shallow aquifers. When combined with appropriately-sized direct push soil sampling technologies, high resolution aquifer characterization can be achieved during initial site assessment or remediation monitoring activities. The sampler is constructed from 1-inch diameter PVC well materials, containing polyethylene tubing threaded through PVC disks. Self-expanding annular and internal bentonite seals were developed which isolate discrete sampling zones. The DMLS design allows customization of sampling and isolation zone lengths to suit site-specific goals. Installation of the DMLS is achieved using a temporary, expendable-tipped casting driven by direct push methods. This technique minimizes mobilization costs, site and soil column disturbances, and allows rapid installation in areas of limited overhead clearance. Successful pilot installations of the DMLS prototype have been made at a former manufactured gas plant (MGP) site and a diesel fuel spill site. Analysis of groundwater samples from these sites, using relative compound distributions and contaminant concentration profiling, confirmed that representative discrete samples were collected. This design provides both economical and versatile groundwater monitoring during all phases of site assessment and remediation

  11. Air sampler performance at Ford's farm range

    International Nuclear Information System (INIS)

    Glissmeyer, J.A.; Johnston, J.W.

    1984-07-01

    An air-sampling system for a large-caliber depleted uranium (DU) penetrator firing range was tested. The objectives of the test were: to determine the bias between the monitoring readings and DU concentrations; and to determine if the target bay real-time monitor (RTM) tracks the decaying dust concentration. The test procedure was to operate total and respirable airborne particle samplers adjacent to the target bay monitors. A series of air samples was also taken after the test firings adjacent to the target bay RTM. Exhaust particle samples were analyzed for gross alpha, gross beta and uranium content. The target bay RTM correlated well (0.977) with the sequential samples. Average concentration from the RTM did not correlate with either the long-term total or respirable sampler DU concentrations. The monitor used to confirm a low dust concentration when the door is open correlated well (0.810) with the RTM; the other bay monitor did not. In the ventilation discharge, the long-term average monitor readings did not correlate with DU concentrations, probably due to levels near lower detection limits. Smearable surface-contamination samples showed highest contamination on the equipment, gravel floor and exhaust intake. The location air-intake contamination increased over the first 3 rounds. Contamination was reduced by a low-pressure water spray washdown to about the same concentration as often the second round, then remained at about twice the level. 2 references, 18 figures, 16 tables. (MF)

  12. Performance characteristics of a low-volume PM10 sampler

    Science.gov (United States)

    Four identical PM10 pre-separators, along with four identical low-volume (1m3 hr-1) total suspended particulate (TSP) samplers were tested side-by-side in a controlled laboratory particulate matter (PM) chamber. The four PM10 and four TSP samplers were also tested in an oil pipe-cleaning field to ev...

  13. A radon progeny sampler for the determination of effective dose

    Energy Technology Data Exchange (ETDEWEB)

    Solomon, S.B. [Australian Radiation Laboratory, Victoria (Australia)

    1997-12-01

    The design and simulated performance is described of a two-stage sampler (HE-Sampler) for {sup 222}Rn progeny. This HE-Sampler has a collection efficiency optimised to match the particle size dependency of the radon progeny dose conversion factor (DCF), derived from the latest Respiratory Tract Model of the International Commission on Radiological Protection, as implemented in the computer code RADEP. The He-Sampler comprises a wire screen pre-separator, matched to the nasal deposition, and a wire screen collector, matched to the respiratory tract collection. This HE-Sampler allows for the estimation of the radiation dose from the inhalation of {sup 222}Rn progeny, derived from two concurrent alpha particle activity measurements, one on the HE-Sampler screen collector and one on a reference filter sample. As a first approximation, the DCF is proportional to the collected fraction. The HE-Sampler response was simulated for a range of radon progeny size distributions to determine the error in the estimated DCF values. The simulation results show that the HE-Sampler is relatively insensitive to variations in sampling rate and in the screen parameters, particularly for environmental exposure. (Author).

  14. Optimal relaxed causal sampler using sampled-date system theory

    NARCIS (Netherlands)

    Shekhawat, Hanumant; Meinsma, Gjerrit

    This paper studies the design of an optimal relaxed causal sampler using sampled data system theory. A lifted frequency domain approach is used to obtain the existence conditions and the optimal sampler. A state space formulation of the results is also provided. The resulting optimal relaxed causal

  15. Passive sampler for dissolved organic matter in freshwater environments.

    Science.gov (United States)

    Lam, Buuan; Simpson, André J

    2006-12-15

    A passive sampler for the isolation of dissolved organic matter (DOM) from freshwater environments is described. The sampler consists of a molecular weight selective membrane (1000 kDa) and an anion exchange resin (diethylaminoethylcellulose (DEAE-cellulose)). NMR indicates the samplers isolate DOM that is nearly indistinguishable from that isolated using the batch DEAE-cellulose procedure. In a comparative study DOM isolated from Lake Ontario cost approximately 0.30 dollars/mg to isolate using the passive samplers while DOM isolated using the traditional batch procedure cost approximately 8-10 dollars/mg. The samplers have been shown to be effective in a range of freshwater environments including a large inland lake (Lake Ontario), fast flowing tributary, and wetland. Large amounts (gram quantities of DOM) can be easily isolated by increasing the size or number of samplers deployed. Samplers are easy to construct, negate the need for pressure filtering, and also permit a range of temporal and spatial experiments that would be very difficult or impossible to perform using conventional approaches. For example, DOM can be monitored on a regular basis at numerous different locations, or samplers could be set at different depths in large lakes. Furthermore, they could potentially be deployed into hard to reach environments such as wells, groundwater aquifers, etc., and as they are easy to use, they can be mailed to colleagues or included with expeditions going to difficult to reach places such as the Arctic and Antarctic.

  16. Siting Samplers to Minimize Expected Time to Detection

    Energy Technology Data Exchange (ETDEWEB)

    Walter, Travis; Lorenzetti, David M.; Sohn, Michael D.

    2012-05-02

    We present a probabilistic approach to designing an indoor sampler network for detecting an accidental or intentional chemical or biological release, and demonstrate it for a real building. In an earlier paper, Sohn and Lorenzetti(1) developed a proof of concept algorithm that assumed samplers could return measurements only slowly (on the order of hours). This led to optimal detect to treat architectures, which maximize the probability of detecting a release. This paper develops a more general approach, and applies it to samplers that can return measurements relatively quickly (in minutes). This leads to optimal detect to warn architectures, which minimize the expected time to detection. Using a model of a real, large, commercial building, we demonstrate the approach by optimizing networks against uncertain release locations, source terms, and sampler characteristics. Finally, we speculate on rules of thumb for general sampler placement.

  17. BCE selector valves and flow proportional sampler

    International Nuclear Information System (INIS)

    Rippy, G.L.

    1994-01-01

    This Acceptance Test Procedure (ATP) has been prepared to demonstrate that the Electrical/Instrumentation systems for the B-Plant Process Condensate Treatment Facility (BCE) function as required by project criteria. Tests will be run to: Verify the operation of the solenoid valve and associated limit switches installed for the BCE portion of W-007H; Operate the solenoid valve and verify the proper operation of the associated limit switches based on the position of the solenoid valve;and, Demonstrate the integrity of the Sample Failure Alarm Relay XFA-211BA-BCE-1, and Power Failure ALarm Relay JFA-211BA-BCE-1 located inside the Flow Proportional Sampler in Building 211 BA

  18. Multipurpose sampler device for liquid metal

    International Nuclear Information System (INIS)

    Nelson, P.A.; Kolba, V.M.; Holmes, J.T.

    1975-01-01

    A device for collecting samples or examining a flow of liquid metal is provided for use with such as a liquid-metal-cooled nuclear reactor. The sampler device includes a casing surrounded by an external heater for establishing an upper isothermal zone and a lower zone for heating the entering liquid metal. One of various inserts is suspended into the isothermal zone where it is surrounded by a shroud tube for directing liquid-metal flow from the heating zone into the top of the insert. Discharge flow from the insert gravitates through a helically wound tube in heat exchange contact with entering liquid-metal flow within the heating zone. The inserts comprise an overflow cup with upper and lower freeze seals, a filter for removing particulate matter, and a fixture for maintaining various sample materials in equilibrium with liquid-metal flow. (U.S.)

  19. Concurrent use of data base and graphics computer workstations to provide graphic access to large, complex data bases for robotics control of nuclear surveillance and maintenance

    International Nuclear Information System (INIS)

    Dalton, G.R.; Tulenko, J.S.; Zhou, X.

    1990-01-01

    The University of Florida is part of a multiuniversity research effort, sponsored by the US Department of Energy which is under way to develop and deploy an advanced semi-autonomous robotic system for use in nuclear power stations. This paper reports on the development of the computer tools necessary to gain convenient graphic access to the intelligence implicit in a large complex data base such as that in a nuclear reactor plant. This program is integrated as a man/machine interface within the larger context of the total computerized robotic planning and control system. The portion of the project described here addresses the connection between the three-dimensional displays on an interactive graphic workstation and a data-base computer running a large data-base server program. Programming the two computers to work together to accept graphic queries and return answers on the graphic workstation is a key part of the interactive capability developed

  20. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  1. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  2. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

  3. Evaluation of air samplers and filter materials for collection and recovery of airborne norovirus

    DEFF Research Database (Denmark)

    Uhrbrand, Katrine; Kalevi Koponen, Ismo; Schultz, Anna Charlotte

    2017-01-01

    V. Sampling was performed using a nylon (NY) filter in conjunction with four kinds of personal samplers; Gesamtstaubprobenahme sampler (GSP), Triplex-cyclone sampler (TC), 3-piece closed-faced Millipore cassette (3P) and a 2-stage NIOSH cyclone sampler (NIO). In addition, sampling was performed using the GSP...

  4. 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.

  5. Robot Futures

    DEFF Research Database (Denmark)

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

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

  6. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  7. Automated particulate sampler field test model operations guide

    Energy Technology Data Exchange (ETDEWEB)

    Bowyer, S.M.; Miley, H.S.

    1996-10-01

    The Automated Particulate Sampler Field Test Model Operations Guide is a collection of documents which provides a complete picture of the Automated Particulate Sampler (APS) and the Field Test in which it was evaluated. The Pacific Northwest National Laboratory (PNNL) Automated Particulate Sampler was developed for the purpose of radionuclide particulate monitoring for use under the Comprehensive Test Ban Treaty (CTBT). Its design was directed by anticipated requirements of small size, low power consumption, low noise level, fully automatic operation, and most predominantly the sensitivity requirements of the Conference on Disarmament Working Paper 224 (CDWP224). This guide is intended to serve as both a reference document for the APS and to provide detailed instructions on how to operate the sampler. This document provides a complete description of the APS Field Test Model and all the activity related to its evaluation and progression.

  8. Europa Drum Sampler (EDuS), Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The main objective of the proposed work is to develop a robust and effective sample acquisition system for the Europa lander called the Europa Drum Sampler (EDuS)....

  9. Pesticide monitoring in surface water and groundwater using passive samplers

    Science.gov (United States)

    Kodes, V.; Grabic, R.

    2009-04-01

    Passive samplers as screening devices have been used within a czech national water quality monitoring network since 2002 (SPMD and DGT samplers for non polar substances and metals). The passive sampler monitoring of surface water was extended to polar substances, in 2005. Pesticide and pharmaceutical POCIS samplers have been exposed in surface water at 21 locations and analysed for polar pesticides, perfluorinated compounds, personal care products and pharmaceuticals. Pesticide POCIS samplers in groundwater were exposed at 5 locations and analysed for polar pesticides. The following active substances of plant protection products were analyzed in surface water and groundwater using LC/MS/MS: 2,4,5-T, 2,4-D, Acetochlor, Alachlor, Atrazine, Atrazine_desethyl, Azoxystrobin, Bentazone, Bromacil, Bromoxynil, Carbofuran, Clopyralid, Cyanazin, Desmetryn, Diazinon, Dicamba, Dichlobenil, Dichlorprop, Dimethoat, Diuron, Ethofumesate, Fenarimol, Fenhexamid, Fipronil, Fluazifop-p-butyl, Hexazinone, Chlorbromuron, Chlorotoluron, Imazethapyr, Isoproturon, Kresoxim-methyl, Linuron, MCPA, MCPP, Metalaxyl, Metamitron, Methabenzthiazuron, Methamidophos, Methidathion, Metobromuron, Metolachlor, Metoxuron, Metribuzin, Monolinuron, Nicosulfuron, Phorate, Phosalone, Phosphamidon, Prometryn, Propiconazole, Propyzamide, Pyridate, Rimsulfuron, Simazine, Tebuconazole, Terbuthylazine, Terbutryn, Thifensulfuron-methyl, Thiophanate-methyl and Tri-allate. The POCIS samplers performed very well being able to provide better picture than grab samples. The results show that polar pesticides and also perfluorinated compounds, personal care products and pharmaceuticals as well occur in hydrosphere of the Czech republic. Acknowledgment: Authors acknowledge the financial support of grant No. 2B06095 by the Ministry of Education, Youth and Sports.

  10. Transient digitizer with displacement current samplers

    Science.gov (United States)

    McEwan, Thomas E.

    1996-01-01

    A low component count, high speed sample gate, and digitizer architecture using the sample gates is based on use of a signal transmission line, a strobe transmission line and a plurality of sample gates connected to the sample transmission line at a plurality of positions. The sample gates include a strobe pickoff structure near the strobe transmission line which generates a charge displacement current in response to propagation of the strobe signal on the strobe transmission line sufficient to trigger the sample gate. The sample gate comprises a two-diode sampling bridge and is connected to a meandered signal transmission line at one end and to a charge-holding cap at the other. The common cathodes are reverse biased. A voltage step is propagated down the strobe transmission line. As the step propagates past a capacitive pickoff, displacement current i=c(dv/dT), flows into the cathodes, driving the bridge into conduction and thereby charging the charge-holding capacitor to a value related to the signal. A charge amplifier converts the charge on the charge-holding capacitor to an output voltage. The sampler is mounted on a printed circuit board, and the sample transmission line and strobe transmission line comprise coplanar microstrips formed on a surface of the substrate. Also, the strobe pickoff structure may comprise a planar pad adjacent the strobe transmission line on the printed circuit board.

  11. 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

  12. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

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

  13. SLAM algorithm applied to robotics assistance for navigation in unknown environments

    Directory of Open Access Journals (Sweden)

    Lobo Pereira Fernando

    2010-02-01

    Full Text Available Abstract Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous. The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI. Methods In this paper, a sequential Extended Kalman Filter (EKF feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how

  14. Task plan for test of PRBT prototypic liquid sampler

    International Nuclear Information System (INIS)

    Jenkins, W.J.

    1992-01-01

    The primary objective of this task is to determine just how representative Precipitate Reactor Bottom Tank (PRBT) samples taken from the Hydragard trademark prototypic liquid sampler are of the in-tank contents and also to determine the homogeneity of the in-tank contents. This shall be accomplished by a statistical design study sampling plan for paired contrasts of the analysis results of samples taken from: (1) the Hydragard trademark prototypic liquid sampler paired with the more fundamental grab sampler at the lower elevation for the Hydragard trademark prototypic liquid sampler accuracy and (2) the grab sampler at the lower elevation paired with the grab sampler at the upper elevation for the in-tank homogeneity. These measurements are paired together to sharpen the contrast so that, as nearly as possible, only the conditions of the effect under study will differ between the two. This ''split-plot'' arrangement provides increased precision for the contrast under study by canceling out common extraneous effects, thereby enabling the detection of smaller effects. The secondary objective of the task is to determine the level of influence of the major contributors to the overall uncertainty in the sample preparation and measurement process. These major steps include: preparation method (H 2 SO 4 -HF Titanium dissolution); aliquoting and dilution within a dissolution; measurement and long-term behavior of the ICP and AA instruments, as monitored by the measurement of standards and blanks embedded within each block of samples for the measurement sequence. This sampling task, therefore, is mostly devoted to determining the sampler characteristics and is not intended to provide a comprehensive estimate of the overall uncertainty affecting DWPF sample analysis in routine operation

  15. Volunteers Oriented Interface Design for the Remote Navigation of Rescue Robots at Large-Scale Disaster Sites

    Science.gov (United States)

    Yang, Zhixiao; Ito, Kazuyuki; Saijo, Kazuhiko; Hirotsune, Kazuyuki; Gofuku, Akio; Matsuno, Fumitoshi

    This paper aims at constructing an efficient interface being similar to those widely used in human daily life, to fulfill the need of many volunteer rescuers operating rescue robots at large-scale disaster sites. The developed system includes a force feedback steering wheel interface and an artificial neural network (ANN) based mouse-screen interface. The former consists of a force feedback steering control and a six monitors’ wall. It provides a manual operation like driving cars to navigate a rescue robot. The latter consists of a mouse and a camera’s view displayed in a monitor. It provides a semi-autonomous operation by mouse clicking to navigate a rescue robot. Results of experiments show that a novice volunteer can skillfully navigate a tank rescue robot through both interfaces after 20 to 30 minutes of learning their operation respectively. The steering wheel interface has high navigating speed in open areas, without restriction of terrains and surface conditions of a disaster site. The mouse-screen interface is good at exact navigation in complex structures, while bringing little tension to operators. The two interfaces are designed to switch into each other at any time to provide a combined efficient navigation method.

  16. Space technology and robotics in school projects

    Science.gov (United States)

    Villias, Georgios

    2016-04-01

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

  17. 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…

  18. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  19. 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...

  20. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  1. Social Robots

    DEFF Research Database (Denmark)

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

  2. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  3. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  4. 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.

  5. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  6. Sampling Efficiency and Performance of Selected Thoracic Aerosol Samplers.

    Science.gov (United States)

    Görner, Peter; Simon, Xavier; Boivin, Alexis; Bau, Sébastien

    2017-08-01

    Measurement of worker exposure to a thoracic health-related aerosol fraction is necessary in a number of occupational situations. This is the case of workplaces with atmospheres polluted by fibrous particles, such as cotton dust or asbestos, and by particles inducing irritation or bronchoconstriction such as acid mists or flour dust. Three personal and two static thoracic aerosol samplers were tested under laboratory conditions. Sampling efficiency with respect to particle aerodynamic diameter was measured in a horizontal low wind tunnel and in a vertical calm air chamber. Sampling performance was evaluated against conventional thoracic penetration. Three of the tested samplers performed well, when sampling the thoracic aerosol at nominal flow rate and two others performed well at optimized flow rate. The limit of flow rate optimization was found when using cyclone samplers. © The Author 2017. Published by Oxford University Press on behalf of the British Occupational Hygiene Society.

  7. The neighborhood MCMC sampler for learning Bayesian networks

    Science.gov (United States)

    Alyami, Salem A.; Azad, A. K. M.; Keith, Jonathan M.

    2016-07-01

    Getting stuck in local maxima is a problem that arises while learning Bayesian networks (BNs) structures. In this paper, we studied a recently proposed Markov chain Monte Carlo (MCMC) sampler, called the Neighbourhood sampler (NS), and examined how efficiently it can sample BNs when local maxima are present. We assume that a posterior distribution f(N,E|D) has been defined, where D represents data relevant to the inference, N and E are the sets of nodes and directed edges, respectively. We illustrate the new approach by sampling from such a distribution, and inferring BNs. The simulations conducted in this paper show that the new learning approach substantially avoids getting stuck in local modes of the distribution, and achieves a more rapid rate of convergence, compared to other common algorithms e.g. the MCMC Metropolis-Hastings sampler.

  8. A constant flow filter air sampler for workplace environments

    International Nuclear Information System (INIS)

    Parulian, A.; Rodgers, J.C.; McFarland, A.R.

    1996-01-01

    A filter air sampler has been developed for sampling radionuclide aerosol particles form the workplace environment. It provides easy filter changing, constant flow sampling, and a visual display to indicate proper operation. An experimental study was conducted to characterize the collection efficiency of the sampler as affected by variations in room air velocity, particle size, sampling flow rate, inlet geometry, and inlet orientation to the free stream. Tests were carried out in a wing tunnel at velocities between 0.3 m s -1 and 2.0 m s -1 , which is a range that covers anticipated velocities in the typical highly ventilated workplace environment of a nuclear facility. Nearly monodisperse aerosols with sizes between 5 and 20 μm aerodynamic diameter were sampled at flow rates between 28.3 and 84.9 L min -1 . Inlet orientations of 0 degree, 90 degree, and 180 degree from the horizontal were selected for evaluation. When the sampler was oriented at 0 degree over various ranges of free stream velocities, sampling flow rates and particle sizes, the transmission efficiency of aerosol was typically greater than 95%. The transmission efficiencies varied form 80% to 106% for 10-μm aerodynamic diameter particles over the previously noted range of free stream velocities and inlet orientations. Uniformity of deposits of 10 μm aerodynamic diameter particles on collection filters was examined for a sampling rate of 57 L min -1 , a sampler orientation of 90 degree into the wind and wind speeds of 0.3-2 m s -1 . The coefficients of variation for the areal density of the deposits ranged from 6.1% to 37.2%. A miniature critical flow venturi with a constant sampling flow rate of 57 L min -1 was developed for application to the new filter air sampler. It was demonstrated that the performance of the new filter air sampler is quite acceptable over a wide range of conditions. 31 refs., 8 figs., 1 tab

  9. A mathematics sampler topics for the liberal arts

    CERN Document Server

    Berlinghoff, William P; Skrien, Dale

    2001-01-01

    Now in its fifth edition, A Mathematics Sampler presents mathematics as both science and art, focusing on the historical role of mathematics in our culture. It uses selected topics from modern mathematics-including computers, perfect numbers, and four-dimensional geometry-to exemplify the distinctive features of mathematics as an intellectual endeavor, a problem-solving tool, and a way of thinking about the rapidly changing world in which we live. A Mathematics Sampler also includes unique LINK sections throughout the book, each of which connects mathematical concepts with areas of interest th

  10. Evaluating the Relationship between Equilibrium Passive Sampler Uptake and Aquatic Organism Bioaccumulation,

    Science.gov (United States)

    Objectives. This review evaluates passive sampler uptake of hydrophobic organic contaminants (HOCs) in water column and interstitial water exposures as a surrogate for organism bioaccumulation. Approach/Activities. Fifty-five studies were found where both passive sampler uptake...

  11. The influence of geometry and draught shields on the performance of passive samplers.

    Science.gov (United States)

    Hofschreuder, P; van der Meulen, W; Heeres, P; Slanina, S

    1999-04-01

    Passive samplers provide an excellent opportunity to perform indicative measurements or establish a dense network of measuring sites. A drawback compared with conventional active measuring methods is the larger spread of results. This variation can, to a large extent, be attributed to the influence of temperature, sampler geometry and wind on sampling results. A proper design of sampler geometry and optimum choice of draught shield can reduce the influence of wind velocity on a badge type sampler to less than 10%. Wire mesh screens prove to be inadequate in damping turbulence. Filters give good results. Attention should be paid to the size and isolation value of the walls of the sampler to prevent thermal updrafts occurring within the sampler. Tube type samplers are less influenced by wind, provided that turbulence is prevented from influencing diffusion within the sampler.

  12. Reuter Centrifugal Air Sampler: Measurement of Effective Airflow Rate and Collection Efficiency

    OpenAIRE

    Macher, J. M.; First, M. W.

    1983-01-01

    Incorrect calculation of effective air sampling rate and disregard of differences in collection efficiency among samplers can lead to false conclusions about the usefulness of samplers for measuring concentrations of airborne microorganisms.

  13. An affordable compact humanoid robot for Autism Spectrum Disorder interventions in children.

    Science.gov (United States)

    Dickstein-Fischer, Laurie; Alexander, Elizabeth; Yan, Xiaoan; Su, Hao; Harrington, Kevin; Fischer, Gregory S

    2011-01-01

    Autism Spectrum Disorder impacts an ever-increasing number of children. The disorder is marked by social functioning that is characterized by impairment in the use of nonverbal behaviors, failure to develop appropriate peer relationships and lack of social and emotional exchanges. Providing early intervention through the modality of play therapy has been effective in improving behavioral and social outcomes for children with autism. Interacting with humanoid robots that provide simple emotional response and interaction has been shown to improve the communication skills of autistic children. In particular, early intervention and continuous care provide significantly better outcomes. Currently, there are no robots capable of meeting these requirements that are both low-cost and available to families of autistic children for in-home use. This paper proposes the piloting the use of robotics as an improved diagnostic and early intervention tool for autistic children that is affordable, non-threatening, durable, and capable of interacting with an autistic child. This robot has the ability to track the child with its 3 degree of freedom (DOF) eyes and 3-DOF head, open and close its 1-DOF beak and 1-DOF each eyelids, raise its 1-DOF each wings, play sound, and record sound. These attributes will give it the ability to be used for the diagnosis and treatment of autism. As part of this project, the robot and the electronic and control software have been developed, and integrating semi-autonomous interaction, teleoperation from a remote healthcare provider and initiating trials with children in a local clinic are in progress.

  14. Enhanced surface sampler and process for collection and release of analytes

    Energy Technology Data Exchange (ETDEWEB)

    Addleman, Raymond S; Atkinson, David A; Bays, John T; Chouyyok, Wilaiwan; Cinson, Anthony D; Ewing, Robert G; Gerasimenko, Aleksandr A

    2015-02-03

    An enhanced swipe sampler and method of making are described. The swipe sampler is made of a fabric containing selected glass, metal oxide, and/or oxide-coated glass or metal fibers. Fibers are modified with silane ligands that are directly attached to the surface of the fibers to functionalize the sampling surface of the fabric. The swipe sampler collects various target analytes including explosives and other threat agents on the surface of the sampler.

  15. Development of a personal multi-pollutant exposure sampler for particulate matter and criteria gases

    Energy Technology Data Exchange (ETDEWEB)

    Chang, I.T.; Sarnat, J.; Wolfson, J.M.; Rojas-Bracho, L.; Suh, H.H.; Koutrakis, P. [Harvard Univ., Boston, MA (United States). School of Public Health

    1999-12-01

    A novel personal sampler is reported which allows simultaneous measurement of PM{sub 2,5}, and PM{sub 10}, ozone, nitrogen dioxide, and sulfur dioxide. This method combines previously used samplers for personal mass measurement with passive samplers for criteria gases and uses a single pump. Preliminarily results are reported for laboratory chamber tests and field comparisons with reference methods for both mass and criteria gases. These results demonstrate the suitability of this sampler of exposure assessment studies. (authors)

  16. Mining in the Future: Autonomous Robotics for Safer Mines

    CSIR Research Space (South Africa)

    Shahdi, A

    2012-10-01

    Full Text Available ? Require less support infrastructure ? Advanced sensors ? CSIR 2012 Slide 4 Degree of Autonomy ? Teleoperation ? Semi-autonomous ? Autonomous ? CSIR 2012 Slide 5 Mobile Intelligent Autonomous Systems Group ? The Mobile Intelligent Autonomous...

  17. Space Robotics Challenge

    Data.gov (United States)

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

  18. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  19. Robotic surgery

    Science.gov (United States)

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

  20. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  1. 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...

  2. 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.

  3. 30 CFR 74.5 - Tests of coal mine dust personal sampler units.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Tests of coal mine dust personal sampler units... Personal Sampler Unit § 74.5 Tests of coal mine dust personal sampler units. (a) The National Institute for... tests and evaluations to determine whether the pump unit of a CMDPSU that is submitted for approval...

  4. 50 CFR 697.12 - At-sea sea sampler/observer coverage.

    Science.gov (United States)

    2010-10-01

    ... sampler/observer access to and use of the vessel's communications equipment and personnel upon request for...) Allow the sea sampler/observer to inspect and copy the vessel's log, communications log, and records... must: (1) Notify the sea sampler/observer of any sea turtles, marine mammals, or other specimens taken...

  5. Developments in Emission Measurements Using Lightweight Sensors and Samplers.

    Science.gov (United States)

    Lightweight emission measurement systems making use of miniaturized sensors and samplers have been developed for portable and aerial sampling for an array of pollutants. Shoebox-sized systems called “Kolibri”, weighing 3-5 kg, have been deployed on NASA-flown unmanned...

  6. Operability test procedure for 211BA flow proportional sampler

    International Nuclear Information System (INIS)

    Weissenfels, R.D.

    1994-01-01

    The purpose of this operability test procedure (OTP) is to verify the 211-BA flow proportional sampler system and components function correctly as intended by design. System test will include the sampling system, all associated instrumentation, and Facility Process Monitor and Control System (FPMCS). The combined chemical sewer stream from B Plant flows through sump 211BA-SMP-01 located in 211-BA and is continuously monitored for gamma and beta radiation and pH. 211-BA has been upgraded to include a flow proportional sampler. A specified sample volume will be withdrawn at programmed intervals from the 211BA sump and deposited in a 19 liter plastic carboy. The sampler will be programmed per the vendor installation and operations manual by B Plant instrument maintenance personnel. Samples will be taken during five consecutive sample cycles with the sample volumes and sample frequencies recorded for comparison purposes. Additional tests related to the sampler include the alarm circuitry for loss of power and failure to obtain sample

  7. Fluidic Sampler. Tanks Focus Area. OST Reference No. 2007

    International Nuclear Information System (INIS)

    1999-01-01

    Problem Definition; Millions of gallons of radioactive and hazardous wastes are stored in underground tanks across the U.S. Department of Energy (DOE) complex. To manage this waste, tank operators need safe, cost-effective methods for mixing tank material, transferring tank waste between tanks, and collecting samples. Samples must be collected at different depths within storage tanks containing various kinds of waste including salt, sludge, and supernatant. With current or baseline methods, a grab sampler or a core sampler is inserted into the tank, waste is maneuvered into the sample chamber, and the sample is withdrawn from the tank. The mixing pumps in the tank, which are required to keep the contents homogeneous, must be shut down before and during sampling to prevent airborne releases. These methods are expensive, require substantial hands-on labor, increase the risk of worker exposure to radiation, and often produce nonrepresentative and unreproducible samples. How It Works: The Fluidic Sampler manufactured by AEA Technology Engineering Services, Inc., enables tank sampling to be done remotely with the mixing pumps in operation. Remote operation minimizes the risk of exposure to personnel and the possibility of spills, reducing associated costs. Sampling while the tank contents are being agitated yields consistently homogeneous, representative samples and facilitates more efficient feed preparation and evaluation of the tank contents. The above-tank portion of the Fluidic Sampler and the replacement plug and pipework that insert through the tank top are shown.

  8. Observation of 45 GHz current waveforms using HTS sampler

    International Nuclear Information System (INIS)

    Maruyama, M.; Suzuki, H.; Hato, T.; Wakana, H.; Nakayama, K.; Ishimaru, Y.; Horibe, O.; Adachi, S.; Kamitani, A.; Suzuki, K.; Oshikubo, Y.; Tarutani, Y.; Tanabe, K.

    2005-01-01

    We succeeded in observing high-frequency current waveforms up to 45 GHz using a high-temperature superconducting (HTS) sampler. In this experiment, we used a sampler circuit with a superconducting pickup coil, which magnetically detects current signals flowing through a micro-strip line on a printed board placed outside the cryochamber. This type of measurement enables non-contact current-waveform observation that seems useful for analyses of EMI, defects in LSI, etc. Computer simulation reveals that one of our latest versions of HTS sampler circuits having Josephson transmission lines with optimized biases as buffers has a potential of sampling high-frequency signals with a bandwidth above 100 GHz. To realize the circuit parameters required in the simulations, we developed an HTS circuit fabrication process employing a lower ground plane structure with SrSnO 3 insulating layers. We consider that improvement of the circuit fabrication process and optimization of the pickup coil lead to much higher signal frequency observable by the sampler

  9. Evaluation of IOM personal sampler at different flow rates.

    Science.gov (United States)

    Zhou, Yue; Cheng, Yung-Sung

    2010-02-01

    The Institute of Occupational Medicine (IOM) personal sampler is usually operated at a flow rate of 2.0 L/min, the rate at which it was designed and calibrated, for sampling the inhalable mass fraction of airborne particles in occupational environments. In an environment of low aerosol concentrations only small amounts of material are collected, and that may not be sufficient for analysis. Recently, a new sampling pump with a flow rate up to 15 L/min became available for personal samplers, with the potential of operating at higher flow rates. The flow rate of a Leland Legacy sampling pump, which operates at high flow rates, was evaluated and calibrated, and its maximum flow was found to be 10.6 L/min. IOM samplers were placed on a mannequin, and sampling was conducted in a large aerosol wind tunnel at wind speeds of 0.56 and 2.22 m/s. Monodisperse aerosols of oleic acid tagged with sodium fluorescein in the size range of 2 to 100 microm were used in the test. The IOM samplers were operated at flow rates of 2.0 and 10.6 L/min. Results showed that the IOM samplers mounted in the front of the mannequin had a higher sampling efficiency than those mounted at the side and back, regardless of the wind speed and flow rate. For the wind speed of 0.56 m/s, the direction-averaged (the average value of all orientations facing the wind direction) sampling efficiency of the samplers operated at 2.0 L/min was slightly higher than that of 10.6 L/min. For the wind speed of 2.22 m/s, the sampling efficiencies at both flow rates were similar for particles < 60 microm. The results also show that the IOM's sampling efficiency at these two different flow rates follows the inhalable mass curve for particles in the size range of 2 to 20 microm. The test results indicate that the IOM sampler can be used at higher flow rates.

  10. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

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

  11. A mini-sampler for welding aerosol mounted in close vicinity of the mouth/nose

    International Nuclear Information System (INIS)

    Liden, Goeran; Surakka, Jouni

    2009-01-01

    A small personal aerosol mini-sampler to be used inside modern welding visors has been developed. The main object of the mini-sampler has been to sample manganese. The sampler is based on commercially available 13 mm filter holders but modified to incorporate an inlet nozzle made of aluminium. The nominal flow rate of the mini-sampler is 0,75 l/min. The sampler is to be worn mounted on a headset, modified from professional microphone headsets. The headset mounting arrangement was accepted by the welders. The sampling bias of the mini sampler versus the IOM sampler depends on the coarseness of the sampled aerosol. At the lowest concentration ratio of the open-face 25 mm filter holder to the IOM sampler equal to 0,65, the bias of the mini sampler is approximately -26% versus the IOM. The RMS sampling bias of the mini sampler versus the IOM sampler for manganese is -4,6%. The inhalable fraction of welding aerosol mass consists only of 25-55% of welding fume. The rest of the mass is made up of spatter particles and grinding particles. For manganese generally more than 65% is found in the fume.

  12. The effects of ambient conditions on the passive dust sampler when used in coal mines

    Energy Technology Data Exchange (ETDEWEB)

    Hemingway, M.; Thorpe, A.

    1998-09-01

    A previous feasibility study of the Health and Safety Laboratory (HSL) electret-based passive dust sampler carried out during site sampling in coal mines showed that the measurements made with the passive sampler and those made with the MRE sampler correlated well in each of two mines, but the ratios of samples obtained with the passive sampler and the MRE sampler in the two mines were different. This means the passive sampler would need a separate calibration for each coal mine in which it was used. Laboratory tests and further underground trials were carried out to quantify the possible effects of temperature and humidity on ratios. The passive dust samplers used at Maltby Colliery in the UK were found to pass the acceptance criteria according to the CEN standard for the assessment of the performance of instruments for the measurement of airborne particles, provided that samplers exposed when coal was not being cut were not included in the analysis. Temperature and relative humidity slightly affected the behaviour of the passive sampler during laboratory trials and relative humidity was found to possibly affect the behaviour during field trials. Ventilation rates had no effect on the passive sampler behaviour but the orientation of the passive dust sampler with respect to air flow affected the behaviour during laboratory trials. Further work is needed to quantify effects. 7 refs., 14 figs., 3 tabs.

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  18. 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.

  19. 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

  20. 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...

  1. 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...

  2. 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.

  3. Comparison. US P-61 and Delft sediment samplers

    Science.gov (United States)

    Beverage, Joseph P.; Williams, David T.

    1990-01-01

    The Delft Bottle (DB) is a flow-through device designed by the Delft Hydraulic Laboratory (DHL), The Netherlands, to sample sand-sized sediment suspended in streams. The US P-61 sampler was designed by the Federal Interagency Sedimentation Project (FISP) at the St. Anthony Falls Hydraulic Laboratory, Minneapolis, Minnesota, to collect suspended sediment from deep, swift rivers. The results of two point-sampling tests in the United States, the Mississippi River near Vicksburg, Mississippi, in 1983 and the Colorado River near Blythe, California, in 1984, are provided in this report. These studies compare sand-transport rates, rather than total sediment-transport rates, because fine material washes through the DB sampler. In the United States, the commonly used limits for sand-sized material are 0.062 mm to 2.00 mm (Vanoni 1975).

  4. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  5. Semi-autonomous controller for data acquisition, the Brilliant ADC

    International Nuclear Information System (INIS)

    Breidenbach, M.; Frank, E.; Hall, J.; Nelson, D.

    1977-10-01

    A set of high speed 16-bit computers and ADC's designed and built for the data collection, compression, and correction system of the SLAC/LBL Mark II Magnetic Detector. The ''Brilliant ADC'' controls the analog multiplexing of a CAMAC crate of data acquisition modules, digitizes the analog data, and executes microprogrammed algorithms for data handling and correction

  6. Development and evaluation of an ultrasonic personal aerosol sampler.

    Science.gov (United States)

    Volckens, J; Quinn, C; Leith, D; Mehaffy, J; Henry, C S; Miller-Lionberg, D

    2017-03-01

    Assessing personal exposure to air pollution has long proven challenging due to technological limitations posed by the samplers themselves. Historically, wearable aerosol monitors have proven to be expensive, noisy, and burdensome. The objective of this work was to develop a new type of wearable monitor, an ultrasonic personal aerosol sampler (UPAS), to overcome many of the technological limitations in personal exposure assessment. The UPAS is a time-integrated monitor that features a novel micropump that is virtually silent during operation. A suite of onboard environmental sensors integrated with this pump measure and record mass airflow (0.5-3.0 L/min, accurate within 5%), temperature, pressure, relative humidity, light intensity, and acceleration. Rapid development of the UPAS was made possible through recent advances in low-cost electronics, open-source programming platforms, and additive manufacturing for rapid prototyping. Interchangeable cyclone inlets provided a close match to the EPA PM 2.5 mass criterion (within 5%) for device flows at either 1.0 or 2.0 L/min. Battery life varied from 23 to 45 hours depending on sample flow rate and selected filter media. Laboratory tests of the UPAS prototype demonstrate excellent agreement with equivalent federal reference method samplers for gravimetric analysis of PM 2.5 across a broad range of concentrations. © 2016 The Authors. Indoor Air published by John Wiley & Sons Ltd.

  7. A Bayesian Sampler for Optimization of Protein Domain Hierarchies

    Science.gov (United States)

    2014-01-01

    Abstract The process of identifying and modeling functionally divergent subgroups for a specific protein domain class and arranging these subgroups hierarchically has, thus far, largely been done via manual curation. How to accomplish this automatically and optimally is an unsolved statistical and algorithmic problem that is addressed here via Markov chain Monte Carlo sampling. Taking as input a (typically very large) multiple-sequence alignment, the sampler creates and optimizes a hierarchy by adding and deleting leaf nodes, by moving nodes and subtrees up and down the hierarchy, by inserting or deleting internal nodes, and by redefining the sequences and conserved patterns associated with each node. All such operations are based on a probability distribution that models the conserved and divergent patterns defining each subgroup. When we view these patterns as sequence determinants of protein function, each node or subtree in such a hierarchy corresponds to a subgroup of sequences with similar biological properties. The sampler can be applied either de novo or to an existing hierarchy. When applied to 60 protein domains from multiple starting points in this way, it converged on similar solutions with nearly identical log-likelihood ratio scores, suggesting that it typically finds the optimal peak in the posterior probability distribution. Similarities and differences between independently generated, nearly optimal hierarchies for a given domain help distinguish robust from statistically uncertain features. Thus, a future application of the sampler is to provide confidence measures for various features of a domain hierarchy. PMID:24494927

  8. Partitioning of organochlorine pesticides from water to polyethylene passive samplers

    International Nuclear Information System (INIS)

    Hale, Sarah E.; Martin, Timothy J.; Goss, Kai-Uwe; Arp, Hans Peter H.; Werner, David

    2010-01-01

    The mass transfer rates and equilibrium partitioning behaviour of 14 diverse organochlorine pesticides (OCP) between water and polyethylene (PE) passive samplers, cut from custom made PE sheets and commercial polyethylene plastic bags, were quantified. Overall mass transfer coefficients, k O , estimated PE membrane diffusion coefficients, D PE , and PE-water partitioning coefficients, K PE-water, are reported. In addition, the partitioning of three polycyclic aromatic hydrocarbons (PAHs) from water to PE is quantified and compared with literature values. K PE-water values agreed mostly within a factor of two for both passive samplers and also with literature values for the reference PAHs. As PE is expected to exhibit similar sorption behaviour to long-chain alkanes, PE-water partitioning coefficients were compared to hexadecane-water partitioning coefficients estimated with the SPARC online calculator, COSMOtherm and a polyparameter linear free energy relationship based on the Abraham approach. The best correlation for all compounds tested was with COSMOtherm estimated hexadecane-water partitioning coefficients. - The partitioning of organochlorine pesticides between single phase polyethylene passive samplers and water is quantified.

  9. A carbon monoxide passive sampler: Research and development needs

    Energy Technology Data Exchange (ETDEWEB)

    Traynor, G.W.; Apte, M.G.; Diamond, R.C.; Woods, A.L.

    1991-11-01

    In rare instances, carbon monoxide (CO) levels in houses can reach dangerously high concentrations, causing adverse health effects ranging from mild headaches to, under extreme conditions, death. Hundreds of fatal accidental carbon monoxide poisonings occur each year primarily due to the indoor operation of motor vehicles, the indoor use of charcoal for cooking, the operation of malfunctioning vented and unvented combustion appliances, and the misuse combustion appliances. Because there is a lack of simple, inexpensive, and accurate field sampling instrumentation, it is difficult for gas utilities and researchers to conduct field research studies designed to quantify the concentrations of CO in residences. Determining the concentration of CO in residences is the first step towards identifying the high risk appliances and high-CO environments which pose health risks. Thus, there exists an urgent need to develop and field-validate a CO-quantifying technique suitable for affordable field research. A CO passive sampler, if developed, could fulfill these requirements. Existing CO monitoring techniques are discussed as well as three potential CO-detection methods for use in a CO passive sampler. Laboratory and field research needed for the development and validation of an effective and cost-efficient CO passive sampler are also discussed.

  10. Wind tunnel evaluation of the RAAMP sampler. Final report

    International Nuclear Information System (INIS)

    Vanderpool, R.W.; Peters, T.M.

    1994-11-01

    Wind tunnel tests of the Department of Energy RAAMP (Radioactive Atmospheric Aerosol Monitoring Program) monitor have been conducted at wind speeds of 2 km/hr and 24 km/hr. The RAAMP sampler was developed based on three specific performance objectives: (1) meet EPA PM10 performance criteria, (2) representatively sample and retain particles larger than 10 microm for later isotopic analysis, (3) be capable of continuous, unattended operation for time periods up to 2 months. In this first phase of the evaluation, wind tunnel tests were performed to evaluate the sampler as a potential candidate for EPA PM10 reference or equivalency status. As an integral part of the project, the EPA wind tunnel facility was fully characterized at wind speeds of 2 km/hr and 24 km/hr in conjunction with liquid test aerosols of 10 microm aerodynamic diameter. Results showed that the facility and its operating protocols met or exceeded all 40 CFR Part 53 acceptance criteria regarding PM10 size-selective performance evaluation. Analytical procedures for quantitation of collected mass deposits also met 40 CFR Part 53 criteria. Modifications were made to the tunnel's test section to accommodate the large dimensions of the RAAMP sampler's instrument case

  11. Performances of an atmospheric tritium sampler and its application

    International Nuclear Information System (INIS)

    Inoue, Yoshikazu; Kahn, B.; Carter, M.W.

    1983-01-01

    A sampling system for atmospheric tritium in the form of water vapor, hydrogen and hydrocarbons was designed and built. The air was passed first through molecular sieve which adsorbed water vapor, then over palladium catalyst which oxidized hydrogen and adsorbed resulting water in situ, and finally over hot Hopcalite catalyst, which oxidized hydrocarbons and the resulting water was adsorbed on a following molecular sieve column. Three water samples were extracted from adsorbers and their tritium contents were measured by liquid scintillation counting. Performances of this sampler were examined for retrieval of tritiated water from molecular sieve, oxidation of hydrogen on palladium catalyst and oxidation of methane on Hopcalite. The portable sampler was applied to analyze tritium in a duct air of a heavy water moderated research reactor. More than 99% of total tritium was in vapor form. Trace amounts of tritiated hydrogen and hydrocarbon were also detected. This tritium sampler is applicable to detect all of atmospheric tritium as high as ten times of ambient levels. (author)

  12. 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…

  13. 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

  14. Comparison of the sampling rates and partitioning behaviour of polar and non-polar contaminants in the polar organic chemical integrative sampler and a monophasic mixed polymer sampler for application as an equilibrium passive sampler.

    Science.gov (United States)

    Jeong, Yoonah; Schäffer, Andreas; Smith, Kilian

    2018-06-15

    In this work, Oasis HLB® beads were embedded in a silicone matrix to make a single phase passive sampler with a higher affinity for polar and ionisable compounds than silicone alone. The applicability of this mixed polymer sampler (MPS) was investigated for 34 aquatic contaminants (log K OW -0.03 to 6.26) in batch experiments. The influence of flow was investigated by comparing uptake under static and stirred conditions. The sampler characteristics of the MPS was assessed in terms of sampling rates (R S ) and sampler-water partition coefficients (K SW ), and these were compared to those of the polar organic chemical integrative sampler (POCIS) as a reference kinetic passive sampler. The MPS was characterized as an equilibrium sampler for both polar and non-polar compounds, with faster uptake rates and a shorter time to reach equilibrium than the POCIS. Water flow rate impacted sampling rates by up to a factor of 12 when comparing static and stirred conditions. In addition, the relative accumulation of compounds in the polyethersulfone (PES) membranes versus the inner Oasis HLB sorbent was compared for the POCIS, and ranged from <1% to 83% depending on the analyte properties. This is indicative of a potentially significant lag-phase for less polar compounds within POCIS. The findings of this study can be used to quantitatively describe the partitioning and kinetic behaviour of MPS and POCIS for a range of aquatic organic contaminants for application in field sampling. Copyright © 2018 Elsevier B.V. All rights reserved.

  15. Summary report on the design of the retained gas sampler system (retained gas sampler, extruder and extractor)

    International Nuclear Information System (INIS)

    Wootan, D.W.; Bolden, R.C.; Bridges, A.E.; Cannon, N.S.; Chastain, S.A.; Hey, B.E.; Knight, R.C.; Linschooten, C.G.; Pitner, A.L.; Webb, B.J.

    1994-01-01

    This document summarizes work performs in Fiscal Year 1994 to develop the three main components of Retained Gas Sampler System (RGSS). These primary components are the Retained Gas Sampler (RGS), the Retained Gas Extruder (RGE), and the Retained Gas Extractor (RGEx). The RGS is based on the Westinghouse Hanford Company (WHC) Universal Sampler design, and includes modifications to reduce gas leakage. The primary data priorities for the RGSS are to measure the void fraction and the flammable gas concentration in the waste sample. Significant progress has been made in developing the RGSS. The RGSS is being developed by WHC to extract a representative waste sample from a Flammable Gas Watch List Tanks and to measure both the amount and composition of free and open-quotes boundclose quotes gases. Sudden releases of flammable gas mixtures are a safety concern for normal waste storage operations and eventual waste retrieval. Flow visualization testing was used to identify important fluid dynamic issues related to the sampling process. The primary data priorities for the RGSS are to measure the void fraction and the flammable gas concentration in the waste sample. The safety analysis for the RGSS is being performed by Los Alamos National Laboratory and is more than sixty percent (60%) complete

  16. Micro Robotics Lab

    Data.gov (United States)

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

  17. Robots of the Future

    Indian Academy of Sciences (India)

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

  18. 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

  19. 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...

  20. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  1. Estudo sobre implementação de trabalho em grupos com autonomia: pesquisa quantitativa numa amostra de empresas operando no Brasil Study of the implementation of semi-autonomous groups and teamwork: survey research on a sample of enterprises operating in Brazil

    Directory of Open Access Journals (Sweden)

    Paulo Eduardo Simonetti

    2010-09-01

    Full Text Available O artigo apresenta uma pesquisa sobre grupos semiautônomos e trabalho em grupos numa amostra intersetorial de 49 empresas operando no Brasil, as quais declararam utilizar equipes com autonomia em suas operações. Foi enviado um questionário com questões visando caracterizar as empresas, a abrangência da autonomia de suas equipes e os resultados obtidos a partir da sua utilização. Os dados foram submetidos a tratamento estatístico apropriado para variáveis não paramétricas, buscando encontrar possíveis correlações entre determinadas características das empresas, entre a abrangência da autonomia das equipes e respectivos resultados. Foi encontrada correlação positiva entre o grau de autonomia das equipes e resultados associados à sua capacidade superior de aprendizado, maior flexibilidade para responder a mudanças na produção e maior eficiência no fluxo de informações. O método (questionário e tratamento estatístico pode ser replicado por outros pesquisadores em outras amostras de empresas. Trata-se de pesquisa cujos resultados permitem agregar dados quantitativos para o entendimento da utilização da autonomia nas empresas brasileiras.This paper presents research on semi-autonomous groups and teamwork in an inter-sectorial sample of 49 firms operating in Brazil, which recognized the use of autonomous teams in its operations. A questionnaire was sent with questions aimed at profiling these firms, the comprehensiveness of the autonomy of their teams, and the results attained by adopting such teams with degrees of autonomy. Data were submitted to appropriate non-parametric statistical treatment, aiming to find possible correlations among characteristics of the firms, the comprehensiveness of the autonomy of the teams, and the respective results. A positive correlation was found between the degree of autonomy of teams and results linked to their superior learning ability, flexibility to respond to changes in the

  2. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  3. Development of automatic smear testing sampler for radioactive contamination of floor in nuclear power plant

    International Nuclear Information System (INIS)

    Nozawa, Katsuro; Hashimoto, Hiroshi; Shinohara, Yohtaro; Iwaki, Kiyotaka

    1980-01-01

    The floor contamination with radioactive substances in the controlled area of nuclear power stations is strictly controlled, and it is tested by the smear method, wiping the contaminants on floors with filter papers or cloths and measuring the radioactive intensity to obtain contamination density. The works are very laborious, therefore the automatic smear sampler was developed. Simple operation, shortening of time required for wiping, constant and high efficiency of wiping, and easy numbering of samples were the aims in the development. The method of wiping, the mechanisms of wiping, cloth feeding and running, the surface pressure at the time of wiping, the number of times of wiping and required motor torque were studied. The outline of the developed sampler is explained. The performance of the sampler was compared with manual wiping. The efficiency of wiping with the sampler was 92%, assuming manual wiping as 100. Difference was not observed between careful manual wiping and the wiping with the sampler, therefore it was confirmed that this automatic floor smear sampler can be put in practical use. By conventional manual sampling, the maximum limit was about 400 samples/man-day, but when this sampler is used, about 1000 samples/sampler-day is possible. At present, this sampler is operated in Hamaoka Nuclear Power Station. (Kako, I.)

  4. Field calibration of polyurethane foam (PUF) disk passive air samplers for PCBs and OC pesticides.

    Science.gov (United States)

    Chaemfa, Chakra; Barber, Jonathan L; Gocht, Tilman; Harner, Tom; Holoubek, Ivan; Klanova, Jana; Jones, Kevin C

    2008-12-01

    Different passive air sampler (PAS) strategies have been developed for sampling in remote areas and for cost-effective simultaneous spatial mapping of POPs (persistent organic pollutants) over differing geographical scales. The polyurethane foam (PUF) disk-based PAS is probably the most widely used. In a PUF-based PAS, the PUF disk is generally mounted inside two stainless steel bowls to buffer the air flow to the disk and to shield it from precipitation and light. The field study described in this manuscript was conducted to: compare performance of 3 different designs of sampler; to further calibrate the sampler against the conventional active sampler; to derive more information on field-based uptake rates and equilibrium times of the samplers. Samplers were also deployed at different locations across the field site, and at different heights up a meteorological tower, to investigate the possible influence of sampler location. Samplers deployed <5m above ground, and not directly sheltered from the wind gave similar uptake rates. Small differences in dimensions between the 3 designs of passive sampler chamber had no discernable effect on accumulation rates, allowing comparison with previously published data.

  5. Comparison of PM collection efficiency of Gent and Airmatrics MiniVol portable air sampler

    International Nuclear Information System (INIS)

    Begum, Bilkis A.; Biswas, Swapan K.

    2005-01-01

    Gent PM sampler was developed as an integral part of several International Atomic Energy Agency sponsored coordinated research programmes (CRP) for collecting air particulate samples. On the other hand, the MiniVol Portable Air Sampler is a commercial ambient air sampler for particulate matter and non-reactive gases used by different agencies. Air quality management system requires comparable air quality data to be collected by different stake holders for assessment and regulatory purposes. In order to compare the characteristics of Gent sampler with the MiniVol Portable Air Sampler, the reproducibility of the sample mass collection efficiency were examined and the measured mass concentrations were compared. It was found that in case of PM 10 both samplers collect almost same fraction of PM 10 mass when the Gent sampler was operated at 16 litre per minute flow rate. But in case of fine fraction, Portable sampler collects 70% higher PM 2.5 mass concentration compared to the Gent PM 2.2 mass concentrations. This is because, the Gent sampler was typically operated at 16 to 17 lpm resulting in an estimated 50% cut point of 2.2 μm.(author)

  6. Particle-capturing performance of South African non-corrosive samplers

    CSIR Research Space (South Africa)

    Pretorius, CJ

    2011-10-01

    Full Text Available analysis (PSA) could be carried out. The duration of the sampling was established at ? 30 seconds, so the mass of dust collected per sample ranged from 1 to 2 mg. The flow rates for each sampler were specified by the suppliers. For the X... chain to eliminate pulsation in the air flow. The pressure loss due to air flow resistance was measured with a digital micro manometer for each sampler with 2.2 L/min passing through the sampler (2.5 L/min for the aluminium samplers). PSA...

  7. Inclusion of service robots in the daily lives of frail older users: A step-by-step definition procedure on users' requirements.

    Science.gov (United States)

    García-Soler, Álvaro; Facal, David; Díaz-Orueta, Unai; Pigini, Lucia; Blasi, Lorenzo; Qiu, Renxi

    2018-01-01

    The implications for the inclusion of robots in the daily lives of frail older adults, especially in relation to these population needs, have not been extensively studied. The "Multi-Role Shadow Robotic System for Independent Living" (SRS) project has developed a remotely-controlled, semi-autonomous robotic system to be used in domestic environments. The objective of this paper is to document the iterative procedure used to identify, select and prioritize user requirements. Seventy-four requirements were identified by means of focus groups, individual interviews and scenario-based interviews. The list of user requirements, ordered according to impact, number and transnational criteria, revealed a high number of requirements related to basic and instrumental activities of daily living, cognitive and social support and monitorization, and also involving privacy, safety and adaptation issues. Analysing and understanding older users' perceptions and needs when interacting with technological devices adds value to assistive technology and ensures that the systems address currently unmet needs. Copyright © 2017 Elsevier B.V. All rights reserved.

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

    OpenAIRE

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

    2013-01-01

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

  10. Determination of erosion thresholds and aeolian dune stabilization mechanisms via robotic shear strength measurements

    Science.gov (United States)

    Qian, F.; Lee, D. B.; Bodek, S.; Roberts, S.; Topping, T. T.; Robele, Y.; Koditschek, D. E.; Jerolmack, D. J.

    2017-12-01

    Understanding the parameters that control the spatial variation in aeolian soil erodibility is crucial to the development of sediment transport models. Currently, in-situ measurements of erodibility are time consuming and lack robustness. In an attempt to remedy this issue, we perform field and laboratory tests to determine the suitability of a novel mechanical shear strength method to assess soil erodibility. These tests can be performed quickly ( 1 minute) by a semi-autonomous robot using its direct-drive leg, while environmental controls such as soil moisture and grain size are simultaneously characterized. The robot was deployed at White Sands National Monument to delineate and understand erodibility gradients at two different scales: (1) from dry dune crest to moist interdune (distance 10s m), where we determined that shear strength increases by a factor of three with increasing soil moisture; and (2) from barren barchan dunes to vegetated and crusted parabolics downwind (distance 5 km), where we found that shear strength was enhanced by a factor of two relative to loose sand. Interestingly, shear strength varied little from carbonate-crusted dune surfaces to bio-crust covered interdunes in the downwind parabolic region, indicating that varied surface crusts contribute similarly to erosion resistance. To isolate the control of soil moisture on erodibility, we performed laboratory experiments in a sandbox. These results verify that the observed increase in soil erodibility from barchan crest to interdune at White Sands is dominated by soil moisture, and the variation in parabolic dune and barchan interdune areas results from a combination of soil moisture, bio-activity, and crust development. This study highlights that spatial variation of soil erodibility in arid environments is large enough to significantly affect sediment transport, and that probing soil erodibility with a robot has the potential to improve our understanding of this multifaceted problem.

  11. FAST MUSIC SPECTRUM PEAK SEARCH VIA METROPOLIS-HASTINGS SAMPLER

    Institute of Scientific and Technical Information of China (English)

    Guo Qinghua; Liao Guisheng

    2005-01-01

    A fast MUltiple SIgnal Classification (MUSIC) spectrum peak search algorithm is devised, which regards the power of the MUSIC spectrum function as target distribution up to a constant of proportionality, and uses Metropolis-Hastings (MH) sampler, one of the most popular Markov Chain Monte Carlo (MCMC) techniques, to sample from it. The proposed method reduces greatly the tremendous computation and storage costs in conventional MUSIC techniques i.e., about two and four orders of magnitude in computation and storage costs under the conditions of the experiment in the paper respectively.

  12. Soil separator and sampler and method of sampling

    Science.gov (United States)

    O'Brien, Barry H [Idaho Falls, ID; Ritter, Paul D [Idaho Falls, ID

    2010-02-16

    A soil sampler includes a fluidized bed for receiving a soil sample. The fluidized bed may be in communication with a vacuum for drawing air through the fluidized bed and suspending particulate matter of the soil sample in the air. In a method of sampling, the air may be drawn across a filter, separating the particulate matter. Optionally, a baffle or a cyclone may be included within the fluidized bed for disentrainment, or dedusting, so only the finest particulate matter, including asbestos, will be trapped on the filter. The filter may be removable, and may be tested to determine the content of asbestos and other hazardous particulate matter in the soil sample.

  13. 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...

  14. Mobile dynamic passive sampling of trace organic compounds: Evaluation of sampler performance in the Danube River.

    Science.gov (United States)

    Vrana, Branislav; Smedes, Foppe; Allan, Ian; Rusina, Tatsiana; Okonski, Krzysztof; Hilscherová, Klára; Novák, Jiří; Tarábek, Peter; Slobodník, Jaroslav

    2018-03-29

    A "dynamic" passive sampling (DPS) device, consisting of an electrically driven large volume water pumping device coupled to a passive sampler exposure cell, was designed to enhance the sampling rate of trace organic compounds. The purpose of enhancing the sampling rate was to achieve sufficient method sensitivity, when the period available for sampling is limited to a few days. Because the uptake principle in the DPS remains the same as for conventionally-deployed passive samplers, free dissolved concentrations can be derived from the compound uptake using available passive sampler calibration parameters. This was confirmed by good agreement between aqueous concentrations of polycyclic aromatic hydrocarbons (PAHs), polychlorinated biphenyls (PCBs) and hexachlorobenzene (HCB) derived from DPS and conventional caged passive sampler. The DPS device enhanced sampling rates of compounds that are accumulated in samplers under water boundary layer control (WBL) more than five times compared with the conventionally deployed samplers. The DPS device was deployed from a ship cruising downstream the Danube River to provide temporally and spatially integrated concentrations. A DPS-deployed sampler with surface area of 400cm 2 can reach sampling rates up to 83Ld -1 . The comparison of three passive samplers made of different sorbents and co-deployed in the DPS device, namely silicone rubber (SR), low density polyethylene (LDPE) and SDB-RPS Empore™ disks showed a good correlation of surface specific uptake for compounds that were sampled integratively during the entire exposure period. This provided a good basis for a cross-calibration between the samplers. The good correlation of free dissolved PAHs, PCBs and HCB concentration estimates obtained using SR and LDPE confirmed that both samplers are suitable for the identification of concentration gradients and trends in the water column. We showed that the differences in calculated aqueous concentrations between sampler types

  15. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  16. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

    The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

  17. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  18. Visual Chronicles from the Balkans and Central Europe: Samplers Remembered

    Directory of Open Access Journals (Sweden)

    Maria-Alina Asavei

    2016-03-01

    Full Text Available This paper examines the relationship between craft and popular culture by focusing on a peculiar type of textile sampler (needlework that used to be omnipresent in the last century both in rural and urban houses across Central and South-Eastern Europe. Although these hand-crafted items are no longer part of today’s ‘compulsory’ household, they are still regarded as nostalgic, familiar or emotional forms of materiality and tangibility which perform a cultural politics of identity. These vernacular textiles predate the digital age and the free market and yet co-evolve and interact with digital networks and technologies. This paper brings into focus ‘amateur’ and regional forms of home grown cultural expression and the ways in which these forms of folk creativity and materiality are recast in contemporary urban popular culture and arts. Thus, the main aim of this study is to explore the contemporary re-enactments of these vernacular samplers.

  19. Responses of low pressure Andersen sampler for collecting substrates

    Energy Technology Data Exchange (ETDEWEB)

    Yamasaki, K. [Research Reactor Institute, Kyoto University, Osaka (Japan); Yamada, Y.; Miyamoto, K.; Shimo, M. [Division of Radiotoxicology and Protection, National Institute of Radiological Sciences, Chiba (Japan)

    2000-05-01

    Some types of low pressure cascade impactors (Andersen, Berner, Davies, and MOUDI etc) have been used to measure the activity size distribution of radon progeny in the environment. In spite of their careful uses, their nonideal responses are not adequately known. Some important factors such as the wall loss, electrostatic attraction, and the surface nature of collecting substrates may affect the reliability of the impactor data. Size selective characteristics of a low pressure Andersen sampler for various collecting substrates were examined in a radon exposure chamber using several kinds of liquid (DOS) or solid (carnauba wax) carrier aerosols labelled with radon progeny. These carrier aerosols were produced by commercial condensation aerosol generator. Tested collecting substrates were, (1) uncoated clean stainless steel plate, (2) silicone oil or grease coated stainless steel plate, (3) polyethylene sheet covered stainless steel plate, (4) membrane filter, (5) glass fiber filter, and (6) quartz fiber filter. In the case of collecting liquid or sticky carrier aerosols, the effect of particle bounce was small and nearly any substrates might used on the impaction plate. On the other hand, in the case of solid carrier aerosols, an adhesive layer such as grease or oil might have to be applied to the substrate. It was concluded that a low pressure cascade impactor such as Andersen sampler might need an appropriate calibration procedure including the interstage characteristics for determining the accurate activity size distribution. (author)

  20. Hayabusa2 Sampler: Collection of Asteroidal Surface Material

    Science.gov (United States)

    Sawada, Hirotaka; Okazaki, Ryuji; Tachibana, Shogo; Sakamoto, Kanako; Takano, Yoshinori; Okamoto, Chisato; Yano, Hajime; Miura, Yayoi; Abe, Masanao; Hasegawa, Sunao; Noguchi, Takaaki

    2017-07-01

    Japan Aerospace Exploration Agency (JAXA) launched the asteroid exploration probe "Hayabusa2" in December 3rd, 2014, following the 1st Hayabusa mission. With technological and scientific improvements from the Hayabusa probe, we plan to visit the C-type asteroid 162137 Ryugu (1999 JU3), and to sample surface materials of the C-type asteroid that is likely to be different from the S-type asteroid Itokawa and contain more pristine materials, including organic matter and/or hydrated minerals, than S-type asteroids. We developed the Hayabusa2 sampler to collect a minimum of 100 mg of surface samples including several mm-sized particles at three surface locations without any severe terrestrial contamination. The basic configuration of the sampler design is mainly as same as the 1st Hayabusa (Yano et al. in Science, 312(5778):1350-1353, 2006), with several minor but important modifications based on lessons learned from the Hayabusa to fulfill the scientific requirements and to raise the scientific value of the returned samples.

  1. SyPRID sampler: A large-volume, high-resolution, autonomous, deep-ocean precision plankton sampling system

    Science.gov (United States)

    Billings, Andrew; Kaiser, Carl; Young, Craig M.; Hiebert, Laurel S.; Cole, Eli; Wagner, Jamie K. S.; Van Dover, Cindy Lee

    2017-03-01

    The current standard for large-volume (thousands of cubic meters) zooplankton sampling in the deep sea is the MOCNESS, a system of multiple opening-closing nets, typically lowered to within 50 m of the seabed and towed obliquely to the surface to obtain low-spatial-resolution samples that integrate across 10 s of meters of water depth. The SyPRID (Sentry Precision Robotic Impeller Driven) sampler is an innovative, deep-rated (6000 m) plankton sampler that partners with the Sentry Autonomous Underwater Vehicle (AUV) to obtain paired, large-volume plankton samples at specified depths and survey lines to within 1.5 m of the seabed and with simultaneous collection of sensor data. SyPRID uses a perforated Ultra-High-Molecular-Weight (UHMW) plastic tube to support a fine mesh net within an outer carbon composite tube (tube-within-a-tube design), with an axial flow pump located aft of the capture filter. The pump facilitates flow through the system and reduces or possibly eliminates the bow wave at the mouth opening. The cod end, a hollow truncated cone, is also made of UHMW plastic and includes a collection volume designed to provide an area where zooplankton can collect, out of the high flow region. SyPRID attaches as a saddle-pack to the Sentry vehicle. Sentry itself is configured with a flight control system that enables autonomous survey paths to low altitudes. In its verification deployment at the Blake Ridge Seep (2160 m) on the US Atlantic Margin, SyPRID was operated for 6 h at an altitude of 5 m. It recovered plankton samples, including delicate living larvae, from the near-bottom stratum that is seldom sampled by a typical MOCNESS tow. The prototype SyPRID and its next generations will enable studies of plankton or other particulate distributions associated with localized physico-chemical strata in the water column or above patchy habitats on the seafloor.

  2. Effects of Hardness on Pintle Rod Performance in the Universal and Retained Gas Samplers

    International Nuclear Information System (INIS)

    BOGER, R.M.

    1999-01-01

    Interaction between hardness of the pintle rods and the retainer rings used in the core samplers is investigated. It is found that ordinary Rockwell C measurements are not sufficient and superficial hardness instruments are recommended to verify hardness since in-production hardness of pintle rods is found to vary widely and probably leads to some premature release of pistons in samplers

  3. 40 CFR 53.54 - Test for proper sampler operation following power interruptions.

    Science.gov (United States)

    2010-07-01

    ...) Mean sample flow rate. (i) From the certified measurements (Qref) of the test sampler flow rate... facilitate measurement of sample flow rate at the sampler downtube. (5) Means for creating an additional... pressures and temperatures used in the tests and shall be checked at zero and at least one flow rate within...

  4. Chemistry of the sea surface microlayer. 1. Fabrication and testing of the sampler

    Digital Repository Service at National Institute of Oceanography (India)

    Singbal, S.Y.S.; Narvekar, P.V.

    A screen sampler fabricated to study the sea surface microlayer (SML) has been described. The screen sampler was tested in the Mandovi estuary and adjacent waters. Physico-chemical parameters of the subsurface waters from a depth of 25 cm was also...

  5. Performance Evaluation of Automated Passive Capillary Sampler for Estimating Water Drainage in the Vadose Zone

    Science.gov (United States)

    Passive capillary samplers (PCAPs) are widely used to monitor, measure and sample drainage water under saturated and unsaturated soil conditions in the vadose zone. The objective of this study was to evaluate the performance and accuracy of automated passive capillary sampler for estimating drainage...

  6. Evaluating the Relationship between Equilibrium Passive Sampler Uptake and Aquatic Organism Bioaccumulation (IPSW)

    Science.gov (United States)

    This review evaluates passive sampler uptake of hydrophobic organic contaminants (HOCs) as it relates to organism bioaccumulation in the water column and interstitial water. Fifty-five studies were found where both passive samplers and organism bioaccumulation were used to measur...

  7. Evaluation of air samplers and filter materials for collection and recovery of airborne norovirus.

    Science.gov (United States)

    Uhrbrand, K; Koponen, I K; Schultz, A C; Madsen, A M

    2018-04-01

    The aim of this study was to identify the most efficient sampling method for quantitative PCR-based detection of airborne human norovirus (NoV). A comparative experiment was conducted in an aerosol chamber using aerosolized murine norovirus (MNV) as a surrogate for NoV. Sampling was performed using a nylon (NY) filter in conjunction with four kinds of personal samplers: Gesamtstaubprobenahme sampler (GSP), Triplex-cyclone sampler (TC), 3-piece closed-faced Millipore cassette (3P) and a 2-stage NIOSH cyclone sampler (NIO). In addition, sampling was performed using the GSP sampler with four different filter types: NY, polycarbonate (PC), polytetrafluoroethylene (PTFE) and gelatine (GEL). The sampling efficiency of MNV was significantly influenced by both sampler and filter type. The GSP sampler was found to give significantly (P airborne NoV. The identification of a suitable NoV air sampler is an important step towards studying the association between exposure to airborne NoV and infection. © 2017 The Society for Applied Microbiology.

  8. A cheap and simple passive sampler using silicone rubber for the ...

    African Journals Online (AJOL)

    caffeine, personal care products, pharmaceuticals, pesticides and polycyclic aromatic hydrocarbons. Keywords: passive sampler, silicone rubber (PDMS) tubing, GCxGC-TOFMS, ..... concentrations may be derived by using performance reference compounds to determine in situ passive sampler sampling rates followed by ...

  9. Determination of organochlorine pesticides in Indian coastal water using a moored in-situ sampler

    Digital Repository Service at National Institute of Oceanography (India)

    Sarkar, A.; SenGupta, R.

    An attempt has been made to determine the concentration of different organochlorine pesticides in the seawater off the central West Coast of India using an in-situ-sampler. The Seastar in-situ sampler is an instrument, which is designed to pump...

  10. Improving the UNC Passive Aerosol Sampler Model Based on Comparison with Commonly Used Aerosol Sampling Methods.

    Science.gov (United States)

    Shirdel, Mariam; Andersson, Britt M; Bergdahl, Ingvar A; Sommar, Johan N; Wingfors, Håkan; Liljelind, Ingrid E

    2018-03-12

    In an occupational environment, passive sampling could be an alternative to active sampling with pumps for sampling of dust. One passive sampler is the University of North Carolina passive aerosol sampler (UNC sampler). It is often analysed by microscopic imaging. Promising results have been shown for particles above 2.5 µm, but indicate large underestimations for PM2.5. The aim of this study was to evaluate, and possibly improve, the UNC sampler for stationary sampling in a working environment. Sampling was carried out at 8-h intervals during 24 h in four locations in an open pit mine with UNC samplers, respirable cyclones, PM10 and PM2.5 impactors, and an aerodynamic particle sizer (APS). The wind was minimal. For quantification, two modifications of the UNC sampler analysis model, UNC sampler with hybrid model and UNC sampler with area factor, were compared with the original one, UNC sampler with mesh factor derived from wind tunnel experiments. The effect of increased resolution for the microscopic imaging was examined. Use of the area factor and a higher resolution eliminated the underestimation for PM10 and PM2.5. The model with area factor had the overall lowest deviation versus the impactor and the cyclone. The intraclass correlation (ICC) showed that the UNC sampler had a higher precision and better ability to distinguish between different exposure levels compared to the cyclone (ICC: 0.51 versus 0.24), but lower precision compared to the impactor (PM10: 0.79 versus 0.99; PM2.5: 0.30 versus 0.45). The particle size distributions as calculated from the different UNC sampler analysis models were visually compared with the distributions determined by APS. The distributions were obviously different when the UNC sampler with mesh factor was used but came to a reasonable agreement when the area factor was used. High resolution combined with a factor based on area only, results in no underestimation of small particles compared to impactors and cyclones and a

  11. 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....

  12. Assembly, operation and disassembly manual for the Battelle Large Volume Water Sampler (BLVWS)

    International Nuclear Information System (INIS)

    Thomas, V.W.; Campbell, R.M.

    1984-12-01

    Assembly, operation and disassembly of the Battelle Large Volume Water Sampler (BLVWS) are described in detail. Step by step instructions of assembly, general operation and disassembly are provided to allow an operator completely unfamiliar with the sampler to successfully apply the BLVWS to his research sampling needs. The sampler permits concentration of both particulate and dissolved radionuclides from large volumes of ocean and fresh water. The water sample passes through a filtration section for particle removal then through sorption or ion exchange beds where species of interest are removed. The sampler components which contact the water being sampled are constructed of polyvinylchloride (PVC). The sampler has been successfully applied to many sampling needs over the past fifteen years. 9 references, 8 figures

  13. Project R43.106: Field trails of a passive dust sampler in mines: Final report

    Energy Technology Data Exchange (ETDEWEB)

    Hemingway, M. [Health and Safety Laboratory, Sheffield (United Kingdom). Environmental Measurement Groups

    1999-12-01

    Electret based passive dust samplers developed by the project were tested in four collieries in the United Kingdom and compared with MRE gravimetric site samplers (Casella type 113A) and CIP10 samplers (Capteur Indivuel de Poussiere 10 made by Arelco, France). Results of site sampling and personal sampling was assessed according to the draft-CFB standard (1998). The sampler did not satisfy the CEN criteria when results from all the collieries were analysed and therefore a general calibration function suitable for all mines could not be used. In the severe conditions of the coal mines, 62% of the passive samplers failed because the electrets lost more than 70% of their initial surface charge. Work is recommended on improving the charge stability of the electrets. 7 refs., 6 figs., 1 app.

  14. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  15. Performance of prototype high-flow inhalable dust sampler in a livestock production facility.

    Science.gov (United States)

    Anthony, T Renée; Cai, Changjie; Mehaffy, John; Sleeth, Darrah; Volckens, John

    2017-05-01

    A high-flow inhalable sampler, designed for operational flow rates up to 10 L/min using computer simulations and examined in wind tunnel experiments, was evaluated in the field. This prototype sampler was deployed in collocation with an IOM (the benchmark standard sampler) in a swine farrowing building to examine the sampling performance for assessing concentrations of inhalable particulate mass and endotoxin. Paired samplers were deployed for 24 hr on 19 days over a 3-month period. On each sampling day, the paired samplers were deployed at three fixed locations and data were analyzed to identify agreement and to examine systematic biases between concentrations measured by these samplers. Thirty-six paired gravimetric samples were analyzed; insignificant, unsubstantial differences between concentrations were identified between the two samplers (p = 0.16; mean difference 0.03 mg/m 3 ). Forty-four paired samples were available for endotoxin analysis, and a significant (p = 0.001) difference in endotoxin concentration was identified: the prototype sampler, on average, had 120 EU/m 3 more endotoxin than did the IOM samples. Since the same gravimetric samples were analyzed for endotoxin content, the endotoxin difference is likely attributable to differences in endotoxin extraction. The prototype's disposable thin-film polycarbonate capsule was included with the filter in the 1-hr extraction procedure while the internal plastic cassette of the IOM required a rinse procedure that is susceptible to dust losses. Endotoxin concentrations measured with standard plastic IOM inserts that follow this rinsing procedure may underestimate the true endotoxin exposure concentrations. The maximum concentrations in the study (1.55 mg/m 3 gravimetric, 2328 EU/m 3 endotoxin) were lower than other agricultural or industrial environments. Future work should explore the performance of the prototype sampler in dustier environments, where concentrations approach particulates not otherwise

  16. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  17. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  18. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  19. 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.

  20. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  1. Two-Stage Variable Sample-Rate Conversion System

    Science.gov (United States)

    Tkacenko, Andre

    2009-01-01

    A two-stage variable sample-rate conversion (SRC) system has been pro posed as part of a digital signal-processing system in a digital com munication radio receiver that utilizes a variety of data rates. The proposed system would be used as an interface between (1) an analog- todigital converter used in the front end of the receiver to sample an intermediatefrequency signal at a fixed input rate and (2) digita lly implemented tracking loops in subsequent stages that operate at v arious sample rates that are generally lower than the input sample r ate. This Two-Stage System would be capable of converting from an input sample rate to a desired lower output sample rate that could be var iable and not necessarily a rational fraction of the input rate.

  2. Operating manual for Ford's Farm Range air samplers

    International Nuclear Information System (INIS)

    Glissmeyer, J.A.; Halverson, M.A.

    1980-10-01

    An air-sampling program was designed for a target enclosure at the Ford's Farm Range, Aberdeen Proving Ground, Maryland, where the Army test-fires tungsten and depleted-uranium armor penetrators. The primary potential particle inhalation hazard is depleted uranium. The sampling program includes workplace and filtered exhaust air sampling. Conventional isokinetic stack sampling was employed for the filtered exhaust air. Because of the need for rapid monitor response to concentration increases and decreases, conventional radioactive particle monitors were not used. Instead, real-time aerosol monitors employing a light-scattering technique were used for monitors requiring a fast response. For other monitoring functions, piezoelectric and beta-attenuation respirable-particle sampling techniques were used. The application of these technologies to the monitoring of airborne radioactive contaminants is addressed. Sampler installation and operation are detailed

  3. Concentrations of pollutants in fogwaters using a Grunow fogwater sampler

    Energy Technology Data Exchange (ETDEWEB)

    Schrimpff, E.; Klemm, O.; Eiden, R.; Frevert, T.; Herrmann, R.

    1984-02-01

    A simple device for sampling fog water is described (modified passive Grunow sampler), and analytical results as were found in rain and fog waters are reported. All samples were taken in the northern part of the Frankenwald mountains (near Bad Steben) from November 1982 until March 1983. Specific conductivity (..mu..Sxcm/sup -1/, 20/sup 0/C), titration acidity, Cl/sup -/, NO/sub 3//sup -/, SO/sub 4//sup 2 -/, total hardness, Ca, Na, Fe, Cd, Pb, TDOC and the polycyclic aromates fluoranthene and 3.4-benzopyrene were continuously higher in fog than in rain water. pH's were remarkably decreased in fog water. Here extreme results were measured in the first two weeks of March with pH 2.5, and acidities proportional2 mequivxl/sup -1/. Possible reasons for such extraordinary concentrations are discussed meteorologically as well as hydrochemically.

  4. Determining the spatial variability of personal sampler inlet locations.

    Science.gov (United States)

    Vinson, Robert; Volkwein, Jon; McWilliams, Linda

    2007-09-01

    This article examines the spatial variability of dust concentrations within a coal miner's breathing zone and the impact of sampling location at the cap lamp, nose, and lapel. Tests were conducted in the National Institute for Safety and Health Pittsburgh Research Laboratory full-scale, continuous miner gallery using three prototype personal dust monitors (PDM). The dust masses detected by the PDMs were used to calculate the percentage difference of dust mass between the cap lamp and the nose and between the lapel and the nose. The calculated percentage differences of the masses ranged from plus 12% to minus 25%. Breathing zone tests were also conducted in four underground coal mines using the torso of a mannequin to simulate a miner. Coal mine dust was sampled with multi-cyclone sampling cans mounted directly in front of the mannequin near the cap lamp, nose, and lapel. These four coal mine tests found that the spatial variability of dust levels and imprecision of the current personal sampler is a greater influence than the sampler location within the breathing zone. However, a one-sample t-test of this data did find that the overall mean value of the cap lamp/nose ratio was not significantly different than 1 (p-value = 0.21). However, when applied to the overall mean value of the lapel/nose ratio there was a significant difference from 1 (p-value sampling location for coal mine dust samples. But these results suggest that the cap location is slightly more indicative of what is breathed through the nose area.

  5. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  6. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

  7. AN AFFINE-INVARIANT SAMPLER FOR EXOPLANET FITTING AND DISCOVERY IN RADIAL VELOCITY DATA

    International Nuclear Information System (INIS)

    Hou Fengji; Hogg, David W.; Goodman, Jonathan; Weare, Jonathan; Schwab, Christian

    2012-01-01

    Markov chain Monte Carlo (MCMC) proves to be powerful for Bayesian inference and in particular for exoplanet radial velocity fitting because MCMC provides more statistical information and makes better use of data than common approaches like chi-square fitting. However, the nonlinear density functions encountered in these problems can make MCMC time-consuming. In this paper, we apply an ensemble sampler respecting affine invariance to orbital parameter extraction from radial velocity data. This new sampler has only one free parameter, and does not require much tuning for good performance, which is important for automatization. The autocorrelation time of this sampler is approximately the same for all parameters and far smaller than Metropolis-Hastings, which means it requires many fewer function calls to produce the same number of independent samples. The affine-invariant sampler speeds up MCMC by hundreds of times compared with Metropolis-Hastings in the same computing situation. This novel sampler would be ideal for projects involving large data sets such as statistical investigations of planet distribution. The biggest obstacle to ensemble samplers is the existence of multiple local optima; we present a clustering technique to deal with local optima by clustering based on the likelihood of the walkers in the ensemble. We demonstrate the effectiveness of the sampler on real radial velocity data.

  8. 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

  9. An Introduction to the DA-T Gibbs Sampler for the Two-Parameter Logistic (2PL Model and Beyond

    Directory of Open Access Journals (Sweden)

    Gunter Maris

    2005-01-01

    Full Text Available The DA-T Gibbs sampler is proposed by Maris and Maris (2002 as a Bayesian estimation method for a wide variety of Item Response Theory (IRT models. The present paper provides an expository account of the DAT Gibbs sampler for the 2PL model. However, the scope is not limited to the 2PL model. It is demonstrated how the DA-T Gibbs sampler for the 2PL may be used to build, quite easily, Gibbs samplers for other IRT models. Furthermore, the paper contains a novel, intuitive derivation of the Gibbs sampler and could be read for a graduate course on sampling.

  10. A Passive Diffusion Sampler for HT- and HTO-in-Air

    International Nuclear Information System (INIS)

    Surette, R.A.; Nunes, J.C.

    2005-01-01

    Fusion research and tritium removal facilities potentially handle large inventories of tritium gas (HT). If any HT is released into the workplace, a fraction may be converted to tritiated water vapour (HTO). A convenient method to determine the activity concentration of each species is necessary to assess the potential hazard since the radiological hazard of HTO is more than 10 4 that due to HT. Passive samplers for measuring tritiated water vapour (HTO) have been shown to be suitable for use indoors and outdoors. These simple samplers consist of a standard 20-mL liquid scintillation vial with a diffusion orifice that determines the sampling rate.The total tritium samplers described herein are passive or diffusion samplers that contain a small amount of AECL-proprietary wet-proofed catalyst fixed to the underside of the sampling heads to allow conversion of the HT to HTO that is subsequently collected in the sink, (HTO), in the bottom of the sampler. After an appropriate sampling time, liquid scintillation cocktail is added to the vial and the activity collected determined by liquid scintillation analysis. When used in conjunction with the conventional HTO passive sampler the difference between the total and HTO samplers can be used to determine the HT fraction ((HT+HTO) - HTO HT). The sampling rates for the modified diffusion sampler were measured to be 4.6 and 8.1 L/d for HTO and HT, respectively. For a fifteen-minute sampling period, passive samplers can be used to measure tritium activity concentrations from 37 kBq/m 3 to 115 MBq/m 3

  11. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  12. 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.

  13. Engineering Task Plan for Preparing the Type 4 In Situ Vapor Samplers (ISVS) for Use

    International Nuclear Information System (INIS)

    BOGER, R.M.

    2000-01-01

    The DOE has identified a need to sample vapor space and exhaust ducts of several waste tanks The In-Situ Vapor Sampling (ISVS) Type IV vapor sampling cart has been identified as the appropriate monitoring tool. The ISVS carts have been out of service for a number of years. This ETP outlines the work to be performed to ready the type IV gas sampler for operation Characterization Engineering will evaluate the Type IV gas sampler carts to determine their state of readiness and will proceed to update procedures and equipment documentation to make the sampler operationally acceptable

  14. 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...

  15. 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....

  16. 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...

  17. 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

  18. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  19. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  20. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  1. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  2. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  3. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

    Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

  4. 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.

  5. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

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

  6. 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...

  7. 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,…

  8. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

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

  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. 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

  11. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  12. 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.

  13. Application of Robotic System for Emergency Response in NPP

    International Nuclear Information System (INIS)

    Jeong, Kyung Min; Seo, Yong Chil; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Chang Hoi; Kim, Seung Ho

    2010-01-01

    Increasing energy demand and concerns over climate change make increasing use of nuclear power plant in worldwide. Even though the probability of accident is greatly reduced, safety is the highest priority issue in the nuclear energy industry. Applying highly reliable and conservative 'defense in depth' concepts with the design and construction of NPP, there are very little possibilities with which accidents are occur and radioactive materials are released to environments in NPP. But NPP have prepared with the emergency response procedures and conduct exercises for post-accident circumstance according to the procedures. The application of robots for emergency response task for post-accident in nuclear facilities is not a new concept. Robots have been sent to recover the damaged reactor at Chernobyl where human workers could receive a lifetime dose of radiation in minutes. Based on NRC's TMI-2 Cleanup Program, several robots were built in the 1980s to help gather information and remove debris from a reactor at the Three Mile Island nuclear power plant that partially melted down in 1979. The first robot was lowered into the basement through a hatch and human operators monitoring in a control room drove it through mud, water and debris, capturing the initial post-accident images of the reactor's basement. It was used for several years equipped with various tools allowing it to scour surfaces, scoop samples and vacuum sludge. A second version carried a core sampler to determine the intensity and depth of the radiation that had permeated into the walls. To perform cleanup tasks, they built Workhorse that featured system redundancy and had a boom extendable to reach high places, but it was never used because it had too many complexities and to clean and fix. While remote robotics technology has proven to remove the human from the radioactive environment, it is also difficult to make it useful because it may requires skill about remote control and obtaining remote

  14. Application of Robotic System for Emergency Response in NPP

    Energy Technology Data Exchange (ETDEWEB)

    Jeong, Kyung Min; Seo, Yong Chil; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Chang Hoi; Kim, Seung Ho [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2010-10-15

    Increasing energy demand and concerns over climate change make increasing use of nuclear power plant in worldwide. Even though the probability of accident is greatly reduced, safety is the highest priority issue in the nuclear energy industry. Applying highly reliable and conservative 'defense in depth' concepts with the design and construction of NPP, there are very little possibilities with which accidents are occur and radioactive materials are released to environments in NPP. But NPP have prepared with the emergency response procedures and conduct exercises for post-accident circumstance according to the procedures. The application of robots for emergency response task for post-accident in nuclear facilities is not a new concept. Robots have been sent to recover the damaged reactor at Chernobyl where human workers could receive a lifetime dose of radiation in minutes. Based on NRC's TMI-2 Cleanup Program, several robots were built in the 1980s to help gather information and remove debris from a reactor at the Three Mile Island nuclear power plant that partially melted down in 1979. The first robot was lowered into the basement through a hatch and human operators monitoring in a control room drove it through mud, water and debris, capturing the initial post-accident images of the reactor's basement. It was used for several years equipped with various tools allowing it to scour surfaces, scoop samples and vacuum sludge. A second version carried a core sampler to determine the intensity and depth of the radiation that had permeated into the walls. To perform cleanup tasks, they built Workhorse that featured system redundancy and had a boom extendable to reach high places, but it was never used because it had too many complexities and to clean and fix. While remote robotics technology has proven to remove the human from the radioactive environment, it is also difficult to make it useful because it may requires skill about remote control and

  15. Design of data sampler in intelligent physical start-up system for nuclear reactor

    International Nuclear Information System (INIS)

    Wang Yinli; Ling Qiu

    2007-01-01

    It introduces the design of data sampler in intelligent physical start-up system for nuclear reactor. The hardware frame taking STμPSD3234A as the core and the firmware design based on USB interface are discussed. (authors)

  16. The Winfrith portable self-contained air samplers, type W.A.S. 1

    International Nuclear Information System (INIS)

    Cavell, I.W.

    1961-11-01

    This memorandum describes a self-contained air sampler for collecting samples of airborne particulates on a standard 6 centimetre filter paper. Its construction, use and performance are discussed. (author)

  17. [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.

  18. 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.

  19. The suitability of the IOM foam sampler for bioaerosol sampling in Occupational Environments.

    Science.gov (United States)

    Haatainen, Susanna; Laitinen, Juha; Linnainmaa, Markku; Reponen, Tiina; Kalliokoski, Pentti

    2010-01-01

    Concurrent samples were collected with Andersen and IOM foam samplers to determine whether if the IOM foam sampler can be applied to collect culturable microorganisms. Two different kinds of aerosols were studied: peat dust in a power plant and mist from coolant fluid aerosolized during grinding of blades and rollers in a paper mill. In the power plant, the concentrations of fungi were 2-3 times higher in the IOM samples than in the Andersen samples. However, more fungal genera were identified in the latter case. The methods yielded similar concentrations of bacteria and actinobacteria in the power plant. On the other hand, the performance of the IOM foam sampler was very poor in the paper mill, where stress-sensitive gram-negative bacteria dominated; low concentration of bacteria was detected in only one IOM sample even though the concentration of bacteria often exceeded even the upper detection limit in the Andersen impactor samples. It could be concluded that the IOM foam sampler performs quite well for collecting inhalable fungi and actinobacteria. However, the Andersen sampler provides better information on fungal genera and concentrations of gram-negative bacteria. Personal sampling with the IOM foam sampler provided an important benefit in the power plant, where the concentration ratio of personal to stationary samples was much higher for bacteria than for inhalable or respirable dust.

  20. A directional passive air sampler for monitoring polycyclic aromatic hydrocarbons (PAHs) in air mass

    International Nuclear Information System (INIS)

    Tao, S.; Liu, Y.N.; Lang, C.; Wang, W.T.; Yuan, H.S.; Zhang, D.Y.; Qiu, W.X.; Liu, J.M.; Liu, Z.G.; Liu, S.Z.; Yi, R.; Ji, M.; Liu, X.X.

    2008-01-01

    A passive air sampler was developed for collecting polycyclic aromatic hydrocarbons (PAHs) in air mass from various directions. The airflow velocity within the sampler was assessed for its responses to ambient wind speed and direction. The sampler was examined for trapped particles, evaluated quantitatively for influence of airflow velocity and temperature on PAH uptake, examined for PAH uptake kinetics, calibrated against active sampling, and finally tested in the field. The airflow volume passing the sampler was linearly proportional to ambient wind speed and sensitive to wind direction. The uptake rate for an individual PAH was a function of airflow velocity, temperature and the octanol-air partitioning coefficient of the PAH. For all PAHs with more than two rings, the passive sampler operated in a linear uptake phase for three weeks. Different PAH concentrations were obtained in air masses from different directions in the field test. - A novel directional passive air sampler was developed and tested for monitoring PAHs in air masses from different directions

  1. Radial diffusive sampler for the determination of 8-h ambient ozone concentrations

    International Nuclear Information System (INIS)

    Plaisance, H.; Gerboles, M.; Piechocki, A.; Detimmerman, F.; Saeger, E. de

    2007-01-01

    The 8-h ozone radial diffusive sampler was evaluated according to the CEN protocol for the validation of diffusive samplers. All the parameters regarding the sampler characteristics were found to be consistent with the requirements of this protocol apart from the blank value, which must be evaluated and subtracted at each sampling. The nominal uptake rate was determined in laboratory conditions. However, the uptake rate depends on the mass uptake, temperature, humidity and on the combination of temperature and humidity. Based on laboratory experiments, an empirical model has been established which improved the agreement between the radial sampler and the reference method. This improvement was observed under several different meteorological and emission conditions of sampling. By using the model equation of uptake rate, the data quality objective of 30% for the expanded uncertainty included in the O 3 European Directive, is easily attained. Therefore, the sampler represents an appropriate indicative method. - A passive sampler has been fully validated for monitoring 8-h ozone concentrations in ambient air

  2. Computational fluid dynamics (CFD) simulation of a newly designed passive particle sampler.

    Science.gov (United States)

    Sajjadi, H; Tavakoli, B; Ahmadi, G; Dhaniyala, S; Harner, T; Holsen, T M

    2016-07-01

    In this work a series of computational fluid dynamics (CFD) simulations were performed to predict the deposition of particles on a newly designed passive dry deposition (Pas-DD) sampler. The sampler uses a parallel plate design and a conventional polyurethane foam (PUF) disk as the deposition surface. The deposition of particles with sizes between 0.5 and 10 μm was investigated for two different geometries of the Pas-DD sampler for different wind speeds and various angles of attack. To evaluate the mean flow field, the k-ɛ turbulence model was used and turbulent fluctuating velocities were generated using the discrete random walk (DRW) model. The CFD software ANSYS-FLUENT was used for performing the numerical simulations. It was found that the deposition velocity increased with particle size or wind speed. The modeled deposition velocities were in general agreement with the experimental measurements and they increased when flow entered the sampler with a non-zero angle of attack. The particle-size dependent deposition velocity was also dependent on the geometry of the leading edge of the sampler; deposition velocities were more dependent on particle size and wind speeds for the sampler without the bend in the leading edge of the deposition plate, compared to a flat plate design. Foam roughness was also found to have a small impact on particle deposition. Copyright © 2016 Elsevier Ltd. All rights reserved.

  3. iDNA screening: Disease vectors as vertebrate samplers.

    Science.gov (United States)

    Kocher, Arthur; de Thoisy, Benoit; Catzeflis, François; Valière, Sophie; Bañuls, Anne-Laure; Murienne, Jérôme

    2017-11-01

    In the current context of global change and human-induced biodiversity decline, there is an urgent need for developing sampling approaches able to accurately describe the state of biodiversity. Traditional surveys of vertebrate fauna involve time-consuming and skill-demanding field methods. Recently, the use of DNA derived from invertebrate parasites (leeches and blowflies) was suggested as a new tool for vertebrate diversity assessment. Bloodmeal analyses of arthropod disease vectors have long been performed to describe their feeding behaviour, for epidemiological purposes. On the other hand, this existing expertise has not yet been applied to investigate vertebrate fauna per se. Here, we evaluate the usefulness of hematophagous dipterans as vertebrate samplers. Blood-fed sand flies and mosquitoes were collected in Amazonian forest sites and analysed using high-throughput sequencing of short mitochondrial markers. Bloodmeal identifications highlighted contrasting ecological features and feeding behaviour among dipteran species, which allowed unveiling arboreal and terrestrial mammals of various body size, as well as birds, lizards and amphibians. Additionally, lower vertebrate diversity was found in sites undergoing higher levels of human-induced perturbation. These results suggest that, in addition to providing precious information on disease vector host use, dipteran bloodmeal analyses may represent a useful tool in the study of vertebrate communities. Although further effort is required to validate the approach and consider its application to large-scale studies, this first work opens up promising perspectives for biodiversity monitoring and eco-epidemiology. © 2017 John Wiley & Sons Ltd.

  4. Development of a passive sampler for gaseous mercury

    Science.gov (United States)

    Gustin, M. S.; Lyman, S. N.; Kilner, P.; Prestbo, E.

    2011-10-01

    Here we describe work toward development of the components of a cost effective passive sampling system for gaseous Hg that could be broadly deployed by nontechnical staff. The passive sampling system included an external shield to reduce turbulence and exposure to precipitation and dust, a diffusive housing that directly protects the collection surface during deployment and handling, and a collection surface. A protocol for cleaning and deploying the sampler and an analytical method were developed. Our final design consisted of a polycarbonate external shield enclosing a custom diffusive housing made from expanded PTFE tubing. Two collection surfaces were investigated, gold sputter-coated quartz plates and silver wires. Research showed the former would require extensive quality control for use, while the latter had interferences with other atmosphere constituents. Although the gold surface exhibited the best performance over space and time, gradual passivation would limit reuse. For both surfaces lack of contamination during shipping, deployment and storage indicated that the handling protocols developed worked well with nontechnical staff. We suggest that the basis for this passive sampling system is sound, but further exploration and development of a reliable collection surface is needed.

  5. 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...

  6. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

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

  7. Differences in particle size distributions collected by two wood dust samplers: preliminary findings

    International Nuclear Information System (INIS)

    Campopiano, A.; Olori, A.; Basili, F.; Ramires, D.; Zakrzewska, A.M.

    2008-01-01

    The International Agency for Research on Cancer (IARC) classification of wood dust as carcinogenic to humans, and the threshold limit value (TLV) of 5 mg/m 3 weighted over an 8-hour work day as defined by Italian legislation, have raised the issue of dust risk assessments in all woodworking environments. The aim is to characterize the particle size distribution for wood particles collected by two samplers used for collecting the inhalable fraction: the IOM sampler (Institute of Occupational Medicine, Edinburgh, Scotland) and the conical sampler also known in Italy as conetto. These two sampling heads were chosen mainly because the Italian conical sampler, used in the past for total dust sampling, is the most widely used by the Italian Prevention Services and analysis laboratories in general, whereas the IOM sampler was specifically designed to collect the inhalable fraction of airborne particles. The devices were placed side by side within the worker's breathing zone. In addition, another IOM sampler not connected to the personal sampling pump was placed on the same worker, thus functioning as a passive sampler capable of collecting projectile particles normally produced during processing. A Scanning Electron Microscope (SEM) coupled with energy dispersive X-ray spectrometry (EDAX) was used to count the number of particles collected on the sampling filters. The size of each particle identified by the SEM was determined by measuring its mean diameter. The SEM analysis revealed that the average size of the largest particles collected by the conetto sampler did not exceed 150 μm, whereas the size of particles collected by the IOM sampler was up to 350 μm. Indeed, the analysis of the filters of the passive IOM samplers showed that particles with mean diameters larger than 100 μm were collected, although the calculated percentage was very low (on average, approximately 1%). This does not mean that their gravimetric contribution is negligible; indeed, the weight of

  8. Characteristics and Sampling Efficiencies of Two Impactor Bioaerosol Samplers: MAS-100(Registered) (Microbial Air Monitoring System) and Single-Stage Andersen Viable Microbial Samplers

    National Research Council Canada - National Science Library

    Hottell, K

    2004-01-01

    .... A petri dish with agar is used as the impaction surface for these samplers. The MAS-l00 is a single-stage impactor that aspirates air through a 400-hole perforated entry plate onto an agar plate at an airflow rate of 100 L/min...

  9. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

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

  10. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  11. 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

  12. Ammonia concentration modeling based on retained gas sampler data

    International Nuclear Information System (INIS)

    Terrones, G.; Palmer, B.J.; Cuta, J.M.

    1997-09-01

    The vertical ammonia concentration distributions determined by the retained gas sampler (RGS) apparatus were modeled for double-shell tanks (DSTs) AW-101, AN-103, AN-104, and AN-105 and single-shell tanks (SSTs) A-101, S-106, and U-103. One the vertical transport of ammonia in the tanks were used for the modeling. Transport in the non-convective settled solids and floating solids layers is assumed to occur primarily via some type of diffusion process, while transport in the convective liquid layers is incorporated into the model via mass transfer coefficients based on empirical correlations. Mass transfer between the top of the waste and the tank headspace and the effects of ventilation of the headspace are also included in the models. The resulting models contain a large number of parameters, but many of them can be determined from known properties of the waste configuration or can be estimated within reasonable bounds from data on the waste samples themselves. The models are used to extract effective diffusion coefficients for transport in the nonconvective layers based on the measured values of ammonia from the RGS apparatus. The modeling indicates that the higher concentrations of ammonia seen in bubbles trapped inside the waste relative to the ammonia concentrations in the tank headspace can be explained by a combination of slow transport of ammonia via diffusion in the nonconvective layers and ventilation of the tank headspace by either passive or active means. Slow transport by diffusion causes a higher concentration of ammonia to build up deep within the waste until the concentration gradients between the interior and top of the waste are sufficient to allow ammonia to escape at the same rate at which it is being generated in the waste

  13. A Pilot Study: The UNC Passive Aerosol Sampler in a Working Environment.

    Science.gov (United States)

    Shirdel, Mariam; Wingfors, Håkan; Andersson, Britt M; Sommar, Johan N; Bergdahl, Ingvar A; Liljelind, Ingrid E

    2017-10-01

    Dust is generally sampled on a filter using air pumps, but passive sampling could be a cost-effective alternative. One promising passive sampler is the University of North Carolina passive aerosol sampler (UNC sampler). The aim of this study is to characterize and compare the UNC sampler's performance with PM10 and PM2.5 impactors in a working environment. Area sampling was carried out at different mining locations using UNC samplers in parallel with PM2.5 and PM10 impactors. Two different collection surfaces, polycarbonate (PC) and carbon tabs (CT), were employed for the UNC sampling. Sampling was carried out for 4-25 hours. The UNC samplers underestimated the concentrations compared to PM10 and PM2.5 impactor data. At the location with the highest aerosol concentration, the time-averaged mean of PC showed 24% and CT 35% of the impactor result for PM2.5. For PM10, it was 39% with PC and 58% with CT. Sample blank values differed between PC and CT. For PM2.5, PC blank values were ~7 times higher than those of CT, but only 1.8 times higher for PM10. The blank variations were larger for PC than for CT. Particle mass concentrations appear to be underestimated by the UNC sampler compared to impactors, more so for PM2.5 than for PM10. CT may be preferred as a collection surface because the blank values were lower and less variable than for PC. Future validations in the working environment should include respirable dust sampling. © The Author 2017. Published by Oxford University Press on behalf of the British Occupational Hygiene Society.

  14. Development of a new passive sampler based on diffusive milligel beads for copper analysis in water

    International Nuclear Information System (INIS)

    Perez, M.; Reynaud, S.; Lespes, G.; Potin-Gautier, M.; Mignard, E.; Chéry, P.; Schaumlöffel, D.; Grassl, B.

    2015-01-01

    A new passive sampler was designed and characterized for the determination of free copper ion (Cu 2+ ) concentration in aqueous solution. Each sampling device was composed of a set of about 30 diffusive milligel (DMG) beads. Milligel beads with incorporated cation exchange resin (Chelex) particles were synthetized using an adapted droplet-based millifluidic process. Beads were assumed to be prolate spheroids, with a diameter of 1.6 mm and an anisotropic factor of 1.4. The milligel was controlled in chemical composition of hydrogel (monomer, cross-linker, initiator and Chelex concentration) and characterized in pore size. Two types of sampling devices were developed containing 7.5% and 15% of Chelex, respectively, and 6 nm pore size. The kinetic curves obtained demonstrated the accumulation of copper in the DMG according to the process described in the literature as absorption (and/or adsorption) and release following the Fick's first law of diffusion. For their use in water monitoring, the typical physico-chemical characteristics of the samplers, i.e. the mass-transfer coefficient (k 0 ) and the sampler-water partition coefficient (K sw ), were determined based on a static exposure design. In order to determine the copper concentration in the samplers after their exposure, a method using DMG bead digestion combined to Inductively Coupled Plasma – Atomic Emission Spectrometry (ICP-AES) analysis was developed and optimized. The DMG devices proved to be capable to absorb free copper ions from an aqueous solution, which could be accurately quantified with a mean recovery of 99% and a repeatability of 7% (mean relative uncertainty). - Highlights: • Controlled geometry of new passive sampler with ellipsoidal shape. • Original manufacturing process based on droplet-based millifluidic device. • Pore size characterization of the sampler. • Mass-transfer and sampler-water partitioning coefficients by static exposure experiments

  15. Development of a new passive sampler based on diffusive milligel beads for copper analysis in water

    Energy Technology Data Exchange (ETDEWEB)

    Perez, M.; Reynaud, S.; Lespes, G.; Potin-Gautier, M. [Université de Pau et des Pays de l’Adour/CNRS UMR IPREM 5254, Hélioparc, 2 av. du Président Angot, 64053 Pau (France); Mignard, E. [CNRS-Solvay-Université Bordeaux, UMR5258, Laboratoire du Futur, 178 Avenue du Dr. A. Schweitzer, 33608 Pessac Cedex (France); Chéry, P. [Bordeaux Science Agro, 1 cours du Général De Gaulle, Gradignan, 33175 (France); Schaumlöffel, D. [Université de Pau et des Pays de l’Adour/CNRS UMR IPREM 5254, Hélioparc, 2 av. du Président Angot, 64053 Pau (France); Grassl, B., E-mail: bruno.grassl@univ-pau.fr [Université de Pau et des Pays de l’Adour/CNRS UMR IPREM 5254, Hélioparc, 2 av. du Président Angot, 64053 Pau (France)

    2015-08-26

    A new passive sampler was designed and characterized for the determination of free copper ion (Cu{sup 2+}) concentration in aqueous solution. Each sampling device was composed of a set of about 30 diffusive milligel (DMG) beads. Milligel beads with incorporated cation exchange resin (Chelex) particles were synthetized using an adapted droplet-based millifluidic process. Beads were assumed to be prolate spheroids, with a diameter of 1.6 mm and an anisotropic factor of 1.4. The milligel was controlled in chemical composition of hydrogel (monomer, cross-linker, initiator and Chelex concentration) and characterized in pore size. Two types of sampling devices were developed containing 7.5% and 15% of Chelex, respectively, and 6 nm pore size. The kinetic curves obtained demonstrated the accumulation of copper in the DMG according to the process described in the literature as absorption (and/or adsorption) and release following the Fick's first law of diffusion. For their use in water monitoring, the typical physico-chemical characteristics of the samplers, i.e. the mass-transfer coefficient (k{sub 0}) and the sampler-water partition coefficient (K{sub sw}), were determined based on a static exposure design. In order to determine the copper concentration in the samplers after their exposure, a method using DMG bead digestion combined to Inductively Coupled Plasma – Atomic Emission Spectrometry (ICP-AES) analysis was developed and optimized. The DMG devices proved to be capable to absorb free copper ions from an aqueous solution, which could be accurately quantified with a mean recovery of 99% and a repeatability of 7% (mean relative uncertainty). - Highlights: • Controlled geometry of new passive sampler with ellipsoidal shape. • Original manufacturing process based on droplet-based millifluidic device. • Pore size characterization of the sampler. • Mass-transfer and sampler-water partitioning coefficients by static exposure experiments.

  16. Field performance evaluation during fog-dominated wintertime of a newly developed denuder-equipped PM1 sampler.

    Science.gov (United States)

    Singh, Dharmendra Kumar; Lakshay; Gupta, Tarun

    2014-03-01

    This study presents the performance evaluation of a novel denuder-equipped PM1 (particles having aerodynamic diameter less than 1 μm) sampler, tested during fog-dominated wintertime, in the city of Kanpur, India. One PM1 sampler and one denuder-equipped PM1 sampler were co-located to collect ambient PM1 for 25 days. The mean PM1 mass concentration measured on foggy days with the PM1 sampler and the denuder-equipped PM1 sampler was found to be 165.95 and 135.48 μg/m(3), respectively. The mean PM1 mass concentration measured on clear days with the PM1 sampler and the denuder-equipped PM1 sampler was observed to be 159.66 and 125.14 μg/m(3), respectively. The mass concentration with denuder-fitted PM1 sampler for both foggy and clear days was always found less than the PM1 sampler. The same drift was observed in the concentrations of water-soluble ions and water-soluble organic carbon (WSOC). Moreover, it was observed that the use of denuder leads to a significant reduction in the PM positive artifact. The difference in the concentration of chemical species obtained by two samplers indicates that the PM1 sampler without denuder had overestimated the concentrations of chemical species in a worst-case scenario by almost 40 %. Denuder-fitted PM1 sampler can serve as a useful sampling tool in estimating the true values for nitrate, ammonium, potassium, sodium and WSOC present in the ambient PM.

  17. Field evaluation of a tailor-made new passive sampler for the determination of NO2 levels in ambient air.

    Science.gov (United States)

    Ozden, Ozlem; Dogeroglu, Tuncay

    2008-07-01

    This study describes the field evaluation of a tailor-made new glass passive sampler developed for the determination of NO(2), based on the collection on triethanolemine (TEA)-coated fibre filter paper. The sampler has been derived from a Palmes design. The overall uncertainty of the sampler was determined by using Griess-Saltzman ASTM D 1607 standard test method as a reference method. The agreement between the results of the passive sampler and the reference method was +/-7.90% with the correlation coefficient of 0.90. Method precision in terms of coefficient of variance (CV) for three simultaneously applied passive samplers was 8.80%. The uptake rate of NO(2) was found to be 2.49 ml/min in a very good agreement with the value calculated from theory (2.63 ml/min). Sampler detection limit was 1.99 microg/m(3) for an exposure period of 1 week and the sampler can be stored safely for a period of up to 6 weeks before exposure. A comparison of the sampler performance was conducted against a commercially available diffusion tube (Gradko diffusion tube). The results from the applied statistical paired t test indicated that there was no significant difference between the performances of two passive samplers (R (2) > 0.90). Also, another statistical comparison was carried out between the dark and transparent glass passive samplers. The results from the dark-colour sampler were higher than that from the transparent sampler (approximately 25%) during the summer season because of the possible photodegradation of NO(2)-TEA complex.

  18. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

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

  19. 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.

  20. The OPEnSampler: A Low-Cost, Low-Weight, Customizable and Modular Open Source 24-Unit Automatic Water Sampler

    Science.gov (United States)

    Nelke, M.; Selker, J. S.; Udell, C.

    2017-12-01

    Reliable automatic water samplers allow repetitive sampling of various water sources over long periods of time without requiring a researcher on site, reducing human error as well as the monetary and time costs of traveling to the field, particularly when the scale of the sample period is hours or days. The high fixed cost of buying a commercial sampler with little customizability can be a barrier to research requiring repetitive samples, such as the analysis of septic water pre- and post-treatment. DIY automatic samplers proposed in the past sacrifice maximum volume, customizability, or scope of applications, among other features, in exchange for a lower net cost. The purpose of this project was to develop a low-cost, highly customizable, robust water sampler that is capable of sampling many sources of water for various analytes. A lightweight aluminum-extrusion frame was designed and assembled, chosen for its mounting system, strength, and low cost. Water is drawn from two peristaltic pumps through silicone tubing and directed into 24 foil-lined 250mL bags using solenoid valves. A programmable Arduino Uno microcontroller connected to a circuit board communicates with a battery operated real-time clock, initiating sampling stages. Period and volume settings are programmable in-field by the user via serial commands. The OPEnSampler is an open design, allowing the user to decide what components to use and the modular theme of the frame allows fast mounting of new manufactured or 3D printed components. The 24-bag system weighs less than 10kg and the material cost is under $450. Up to 6L of sample water can be drawn at a rate of 100mL/minute in either direction. Faster flowrates are achieved by using more powerful peristaltic pumps. Future design changes could allow a greater maximum volume by filling the unused space with more containers and adding GSM communications to send real time status information.

  1. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

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

  2. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

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

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

  3. 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...

  4. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

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

  5. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

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

  6. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

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

  7. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

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

  8. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

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

  9. Uncertainties in monitoring of SVOCs in air caused by within-sampler degradation during active and passive air sampling

    Science.gov (United States)

    Melymuk, Lisa; Bohlin-Nizzetto, Pernilla; Prokeš, Roman; Kukučka, Petr; Přibylová, Petra; Vojta, Šimon; Kohoutek, Jiří; Lammel, Gerhard; Klánová, Jana

    2017-10-01

    Degradation of semivolatile organic compounds (SVOCs) occurs naturally in ambient air due to reactions with reactive trace gases (e.g., ozone, NOx). During air sampling there is also the possibility for degradation of SVOCs within the air sampler, leading to underestimates of ambient air concentrations. We investigated the possibility of this sampling artifact in commonly used active and passive air samplers for seven classes of SVOCs, including persistent organic pollutants (POPs) typically covered by air monitoring programs, as well as SVOCs of emerging concern. Two active air samplers were used, one equipped with an ozone denuder and one without, to compare relative differences in mass of collected compounds. Two sets of passive samplers were also deployed to determine the influence of degradation during longer deployment times in passive sampling. In active air samplers, comparison of the two sampling configurations suggested degradation of particle-bound polycyclic aromatic hydrocarbons (PAHs), with concentrations up to 2× higher in the denuder-equipped sampler, while halogenated POPs did not have clear evidence of degradation. In contrast, more polar, reactive compounds (e.g., organophosphate esters and current use pesticides) had evidence of losses in the sampler with denuder. This may be caused by the denuder itself, suggesting sampling bias for these compounds can be created when typical air sampling apparatuses are adapted to limit degradation. Passive air samplers recorded up to 4× higher concentrations when deployed for shorter consecutive sampling periods, suggesting that within-sampler degradation may also be relevant in passive air monitoring programs.

  10. Fundamentals of soft robot locomotion

    OpenAIRE

    Calisti, M.; Picardi, G.; Laschi, C.

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

  11. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

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

  12. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

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

  13. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

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

  14. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  15. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

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

  16. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

    In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...

  17. Perspectives of construction robots

    Science.gov (United States)

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

    2018-03-01

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

  18. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

    8 págs, 9 figs. El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año...

  19. Human-Robot Interaction

    Science.gov (United States)

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

    2015-01-01

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

  20. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-01-01

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

  1. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

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

  2. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  3. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

    There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...

  4. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  5. Increasing Robotic Science Applications

    Data.gov (United States)

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

  6. DSLs in robotics

    DEFF Research Database (Denmark)

    Schultz, Ulrik Pagh; Bordignon, Mirko; Stoy, Kasper

    2017-01-01

    Robotic systems blend hardware and software in a holistic way that intrinsically raises many crosscutting concerns such as concurrency, uncertainty, and time constraints. These concerns make programming robotic systems challenging as expertise from multiple domains needs to be integrated...... conceptually and technically. Programming languages play a central role in providing a higher level of abstraction. This briefing presents a case study on the evolution of domain-specific languages based on modular robotics. The case study on the evolution of domain-specific languages is based on a series...... of DSL prototypes developed over five years for the domain of modular, self-reconfigurable robots....

  7. Comparative evaluation of three impactor samplers for measuring airborne bacteria and fungi concentrations.

    Science.gov (United States)

    Méheust, Delphine; Gangneux, Jean-Pierre; Cann, Pierre Le

    2013-01-01

    Portable microbial samplers are useful for detecting microorganisms in the air. However, limited data are available on their performance when sampling airborne biological agents in a routine practice. We compared bacterial and fungal concentrations obtained in field conditions using three impactor samplers with different designs (AES Chemunex Sampl'Air, bioMérieux Air Ideal, and Sartorius AirPort MD8/BACTair). The linearity of mold collection was tested in the range of 100 L to 1000 L, and all the devices had a correlation coefficient higher than 0.95. For optimal comparison of the samplers, we performed experiments in different hospital rooms with varying levels of air biocontamination. Each sampling procedure was repeated to assess reproducibility. No significant difference between the samplers was observed for the mold concentrations on Sabouraud agar, whereas Sampl'Air collected significantly more bacteria on tryptic soy agar than Air Ideal or BACTair at one of the sites. Impactor location in the room was nevertheless associated with the variability observed with the three samplers at the highest microbial concentration levels. On the basis of their performance, autonomy and simplicity of use, these three impactors are suitable for routine indoor evaluation of microbial air contamination.

  8. Chemical and toxicologic assessment of organic contaminants in surface water using passive samplers

    Science.gov (United States)

    Alvarez, D.A.; Cranor, W.L.; Perkins, S.D.; Clark, R.C.; Smith, S.B.

    2008-01-01

    Passive sampling methodologies were used to conduct a chemical and toxicologic assessment of organic contaminants in the surface waters of three geographically distinct agricultural watersheds. A selection of current-use agrochemicals and persistent organic pollutants, including polycyclic aromatic hydrocarbons, polychlorinated biphenyls, and organochlorine pesticides, were targeted using the polar organic chemical integrative sampler (POCIS) and the semipermeable membrane device passive samplers. In addition to the chemical analysis, the Microtox assay for acute toxicity and the yeast estrogen screen (YES) were conducted as potential assessment tools in combination with the passive samplers. During the spring of 2004, the passive samplers were deployed for 29 to 65 d at Leary Weber Ditch, IN; Morgan Creek, MD; and DR2 Drain, WA. Chemical analysis of the sampler extracts identified the agrochemicals predominantly used in those areas, including atrazine, simazine, acetochlor, and metolachlor. Other chemicals identified included deethylatrazine and deisopropylatrazine, trifluralin, fluoranthene, pyrene, cis- and trans-nonachlor, and pentachloroanisole. Screening using Microtox resulted in no acutely toxic samples. POCIS samples screened by the YES assay failed to elicit a positive estrogenic response. Copyright ?? 2008 by the American Society of Agronomy, Crop Science Society of America, and Soil Science Society of America. All rights reserved.

  9. HTO/HT discriminating samplers constructed for the french experiment on the environmental behaviour of HT

    International Nuclear Information System (INIS)

    Ogram, G.L.

    1988-12-01

    The French Experiment on Environmental Tritium Behaviour was a field experiment carried out to determine the rate of formation of atmospheric HTO from a release of HT to the natural environment. The Canadian Fusion Fuels Technology Project and Ontario Hydro contributed to the project by supplying HTO/HT-discriminating, atmospheric tritium samplers. Each sampler consisted of a molecular-sieve trap to capture HTO followed by a Pd-impregnated molecular-sieve trap to oxidise and collect HT from the same air stream. This method was selected as it provided high sensitivity over short sampling periods and was convenient for field use. Laboratory tests indicated that this system measured HT concentrations reliably, but only achieved limited discrimination between HT and HTO at HTO/HT concentration ratios below 10 -2 to 10 -3 . Small cold traps were therefore operated during the French experiment in addition to the molecular-sieve samplers exhibited much improved discrimination in the field (approaching 10 4 ), possibly due to higher sampling flow rates than used in the laboratory. These results demonstrate that care should be taken in using desiccant-based, HTO/HT-discriminating samplers when the HT concentration is much higher than HTO concentration, and suggest the need to systematically characterize and perhaps improve the performance of discriminating samplers at low HTO/HT ratios

  10. Evaluation of passive samplers for the collection of dissolved organic matter in streams.

    Science.gov (United States)

    Warner, Daniel L; Oviedo-Vargas, Diana; Royer, Todd V

    2015-01-01

    Traditional sampling methods for dissolved organic matter (DOM) in streams limit opportunities for long-term studies due to time and cost constraints. Passive DOM samplers were constructed following a design proposed previously which utilizes diethylaminoethyl (DEAE) cellulose as a sampling medium, and they were deployed throughout a temperate stream network in Indiana. Two deployments of the passive samplers were conducted, during which grab samples were frequently collected for comparison. Differences in DOM quality between sites and sampling methods were assessed using several common optical analyses. The analyses revealed significant differences in optical properties between sampling methods, with the passive samplers preferentially collecting terrestrial, humic-like DOM. We assert that the differences in DOM composition from each sampling method were caused by preferential binding of complex humic compounds to the DEAE cellulose in the passive samplers. Nonetheless, the passive samplers may provide a cost-effective, integrated sample of DOM in situations where the bulk DOM pool is composed mainly of terrestrial, humic-like compounds.

  11. Monitoring of urban particulate using an electret-based passive sampler

    Energy Technology Data Exchange (ETDEWEB)

    Thorpe, A.; Hemingway, M.A.; Brown, R.C.

    1999-11-01

    Site sampling trials have been carried out in the urban environment in order to assess the usefulness of a passive sampling device, originally developed for personal monitoring of airborne dust levels in industry. The sampling element is a small disc of elect material (polymer carrying a permanent electric charge) within a metal frame weighing approximately 15 g. The sampler is designed to capture particles by electrostatic attraction, in which case the capture rate depends on their electrical mobility but is independent of the rate at which air flows past the device. Passive samplers, along with miniaturized cascade impactors, have been exposed to urban particulate for periods of up to 28 days in locations with significant different levels of airborne pollution. The cascade impactor data enabled good estimates to be made of PM{sub 10} and PMN{sub 2.5} levels, and data from the passive sampler correlated with the total dust sampled by the impactor and with both the size fractions, that with the PM{sub 10} being better. Too few data have yet been obtained for its accuracy to be established, but it is unlikely that it will approach that of pumped samplers. It has been shown to be potentially useful for multiple, simultaneous site sampling and for monitoring personal environmental exposure situations in which dispensing with a power source is particularly useful. Being small, the sampler is easy to hide or camouflage, and because it is cheap, its loss or damage is not a serious matter.

  12. Field trials of an electret based passive dust sampler in coal mines

    Energy Technology Data Exchange (ETDEWEB)

    Hemingway, M.A.; Brown, R.C.; Arthur, J. [Health and Safety Laboratory, Sheffield (United Kingdom)

    1997-12-31

    An electret-based passive dust sampler has been developed by the Health and Safety Laboratory, UK. The device consists of a small disc of electret (polymer holding a permanent electric charge) held between earthen plates, and it acts by attaching charged dust particles to itself. The device does not require a pump and its rate of sampling is independent of external air velocity, provided that the velocity exceeds a low limiting value. Experiments have been carried out in two coal mines. In each experiment two passive sampler were mounted alongside an MRE sampler at the statutory sampling point in the return roadway. Both passive samplers were mounted vertically but in one the plane of the electret was parallel to the air flow and in the other it was perpendicular. The result obtained from the first mine showed a good correlation between gravimetric estimates of dust concentration obtained with the passive samplers and respirable dust concentrations obtained with MRE. The correlation between the two sets of results at the second mine was not quite as good as those of the first, but was reasonable. In no instance was any significant difference observed between samples obtained from pairs of passive samples in different orientations. 8 refs., 5 figs., 2 tabs.

  13. Potential of a suite of robot/computer-assisted motivating systems for personalized, home-based, stroke rehabilitation

    Directory of Open Access Journals (Sweden)

    Feng Xin

    2007-03-01

    Full Text Available Abstract Background There is a need to improve semi-autonomous stroke therapy in home environments often characterized by low supervision of clinical experts and low extrinsic motivation. Our distributed device approach to this problem consists of an integrated suite of low-cost robotic/computer-assistive technologies driven by a novel universal access software framework called UniTherapy. Our design strategy for personalizing the therapy, providing extrinsic motivation and outcome assessment is presented and evaluated. Methods Three studies were conducted to evaluate the potential of the suite. A conventional force-reflecting joystick, a modified joystick therapy platform (TheraJoy, and a steering wheel platform (TheraDrive were tested separately with the UniTherapy software. Stroke subjects with hemiparesis and able-bodied subjects completed tracking activities with the devices in different positions. We quantify motor performance across subject groups and across device platforms and muscle activation across devices at two positions in the arm workspace. Results Trends in the assessment metrics were consistent across devices with able-bodied and high functioning strokes subjects being significantly more accurate and quicker in their motor performance than low functioning subjects. Muscle activation patterns were different for shoulder and elbow across different devices and locations. Conclusion The Robot/CAMR suite has potential for stroke rehabilitation. By manipulating hardware and software variables, we can create personalized therapy environments that engage patients, address their therapy need, and track their progress. A larger longitudinal study is still needed to evaluate these systems in under-supervised environments such as the home.

  14. Multi-robot control interface

    Science.gov (United States)

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

    2011-12-06

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

  15. Short-term diffusive sampler for nitrogen dioxide monitoring in epidemiology

    International Nuclear Information System (INIS)

    Michaud, J.P.; Quackenboss, J.

    1991-01-01

    An automated timed exposure diffusive sampler (TEDS) for sampling nitrogen dioxide (NO 2 ) was developed for use in epidemiological studies. The TEDS sequentially exposes four passive sampling devices (PSD) by microprocessor controlled valves while a pump and air flow guide prevent sampler starvation. Two TEDS units and two portable, real-time NO 2 monitors were tested for accuracy, precision, sensitivity, and linearity of response. The accuracy of the TEDS was within 10 percent of the means of the measured values. The TEDS sensitivity was 20 to 30 ppb-hour for NO 2 . Co-location of the TEDS with a chemiluminescent NO x monitor (EPA reference method) showed a similar responses to ambient NO 2 . TEDS allows better time resolution than traditional diffusive samplers (i.e., Palmes tube) while sharing their ability to sample a variety of gases

  16. Bayesian analysis for exponential random graph models using the adaptive exchange sampler

    KAUST Repository

    Jin, Ick Hoon

    2013-01-01

    Exponential random graph models have been widely used in social network analysis. However, these models are extremely difficult to handle from a statistical viewpoint, because of the existence of intractable normalizing constants. In this paper, we consider a fully Bayesian analysis for exponential random graph models using the adaptive exchange sampler, which solves the issue of intractable normalizing constants encountered in Markov chain Monte Carlo (MCMC) simulations. The adaptive exchange sampler can be viewed as a MCMC extension of the exchange algorithm, and it generates auxiliary networks via an importance sampling procedure from an auxiliary Markov chain running in parallel. The convergence of this algorithm is established under mild conditions. The adaptive exchange sampler is illustrated using a few social networks, including the Florentine business network, molecule synthetic network, and dolphins network. The results indicate that the adaptive exchange algorithm can produce more accurate estimates than approximate exchange algorithms, while maintaining the same computational efficiency.

  17. Passive Sampler for Measurements of Atmospheric Nitric Acid Vapor (HNO3 Concentrations

    Directory of Open Access Journals (Sweden)

    Andrzej Bytnerowicz

    2001-01-01

    Full Text Available Nitric acid (HNO3 vapor is an important nitrogenous air pollutant responsible for increasing saturation of forests with nitrogen and direct injury to plants. The USDA Forest Service and University of California researchers have developed a simple and inexpensive passive sampler for monitoring air concentrations of HNO3. Nitric acid is selectively absorbed on 47-mm Nylasorb nylon filters with no interference from particulate NO3-. Concentrations determined with the passive samplers closely corresponded with those measured with the co-located honeycomb annular denuder systems. The PVC protective caps of standardized dimensions protect nylon filters from rain and wind and allow for reliable measurements of ambient HNO3 concentrations. The described samplers have been successfully used in Sequoia National Park, the San Bernardino Mountains, and on Mammoth Mountain in California.

  18. A novel enhanced diffusion sampler for collecting gaseous pollutants without air agitation.

    Science.gov (United States)

    Pan, Xuelian; Zhuo, Shaojie; Zhong, Qirui; Chen, Yuanchen; Du, Wei; Cheng, Hefa; Wang, Xilong; Zeng, Eddy Y; Xing, Baoshan; Tao, Shu

    2018-03-06

    A novel enhanced diffusion sampler for collecting gaseous phase polycyclic aromatic hydrocarbons (PAHs) without air agitation is proposed. The diffusion of target compounds into a sampling chamber is facilitated by continuously purging through a closed-loop flow to create a large concentration difference between the ambient air and the air in the sampling chamber. A glass-fiber filter-based prototype was developed. It was demonstrated that the device could collect gaseous PAHs at a much higher rate (1.6 ± 1.4 L/min) than regular passive samplers, while the ambient air is not agitated. The prototype was also tested in both the laboratory and field for characterizing the concentration gradients over a short distance from the soil surface. The sampler has potential to be applied in other similar situations to characterize the concentration profiles of other chemicals.

  19. COMPARISON OF THE PARTICLE SIZE DISTRIBUTION OF HEAVY-DUTY DIESEL EXHAUST USING A DILUTION TAIL-PIPE SAMPLER AND IN-PLUME SAMPLER DURING ON-ROAD OPERATION

    Science.gov (United States)

    The paper compares the particle size distribution of heavy-duty diesel exhaust using a dilution tail-pipe sampler and an in-plume sampler during on-road operation. EPA's On-road Diesel Emissions Characterization Facility, modified to incorporate particle measurement instrumentat...

  20. Establishing a Robotic, LEO-to-GEO Satellite Servicing Infrastructure as an Economic Foundation for Exploration

    Science.gov (United States)

    Horsham, Gary A. P.; Schmidt, George R.; Gilland, James H.

    2010-01-01

    The strategy for accomplishing civilian exploration goals and objectives is in the process of a fundamental shift towards a potential new approach called Flexible Path. This paper suggests that a government-industry or public-private partnership in the commercial development of low Earth orbit to geostationary orbit (LEO-to-GEO (LTG)) space, following or in parallel with the commercialization of Earth-to-LEO and International Space Station (ISS) operations, could serve as a necessary, logical step that can be incorporated into the flexible path approach. A LTG satellite-servicing infrastructure and architecture concept is discussed within this new strategic context. The concept consists of a space harbor that serves as a transport facility for a fleet of specialized, fully- or semi-autonomous robotic servicing spacecraft. The baseline, conceptual system architecture is composed of a space harbor equipped with specialized servicer spacecraft; a satellite command, communication, and control system; a parts station; a fuel station or depot; and a fuel/parts replenishment transport. The commercial servicer fleet would consist of several types of spacecraft, each designed with specialized robotic manipulation subsystems to provide services such as refueling, upgrade, repair, inspection, relocation, and removal. The space harbor is conceptualized as an ISS-type, octagonal truss structure equipped with radiation tolerant subsystems. This space harbor would be primarily capable of serving as an operational platform for various commercially owned and operated servicer spacecraft positioned and docked symmetrically on four of the eight sides. Several aspects of this concept are discussed, such as: system-level feasibility in terms of ISS-truss-type infrastructure and subsystems emplacement and maintenance between LEO and GEO; infrastructure components assembly in LEO, derived from ISS assembly experience, and transfer to various higher orbital locations; the evolving Earth

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

    International Nuclear Information System (INIS)

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

    1989-01-01

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

  2. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-09-15

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

  3. Composite sampling of a Bacillus anthracis surrogate with cellulose sponge surface samplers from a nonporous surface.

    Directory of Open Access Journals (Sweden)

    Jenia A M Tufts

    Full Text Available A series of experiments was conducted to explore the utility of composite-based collection of surface samples for the detection of a Bacillus anthracis surrogate using cellulose sponge samplers on a nonporous stainless steel surface. Two composite-based collection approaches were evaluated over a surface area of 3716 cm2 (four separate 929 cm2 areas, larger than the 645 cm2 prescribed by the standard Centers for Disease Control (CDC and Prevention cellulose sponge sampling protocol for use on nonporous surfaces. The CDC method was also compared to a modified protocol where only one surface of the sponge sampler was used for each of the four areas composited. Differences in collection efficiency compared to positive controls and the potential for contaminant transfer for each protocol were assessed. The impact of the loss of wetting buffer from the sponge sampler onto additional surface areas sampled was evaluated. Statistical tests of the results using ANOVA indicate that the collection of composite samples using the modified sampling protocol is comparable to the collection of composite samples using the standard CDC protocol (p  =  0.261. Most of the surface-bound spores are collected on the first sampling pass, suggesting that multiple passes with the sponge sampler over the same surface may be unnecessary. The effect of moisture loss from the sponge sampler on collection efficiency was not significant (p  =  0.720 for both methods. Contaminant transfer occurs with both sampling protocols, but the magnitude of transfer is significantly greater when using the standard protocol than when the modified protocol is used (p<0.001. The results of this study suggest that composite surface sampling, by either method presented here, could successfully be used to increase the surface area sampled per sponge sampler, resulting in reduced sampling times in the field and decreased laboratory processing cost and turn-around times.

  4. Evaluation of physical sampling efficiency for cyclone-based personal bioaerosol samplers in moving air environments.

    Science.gov (United States)

    Su, Wei-Chung; Tolchinsky, Alexander D; Chen, Bean T; Sigaev, Vladimir I; Cheng, Yung Sung

    2012-09-01

    The need to determine occupational exposure to bioaerosols has notably increased in the past decade, especially for microbiology-related workplaces and laboratories. Recently, two new cyclone-based personal bioaerosol samplers were developed by the National Institute for Occupational Safety and Health (NIOSH) in the USA and the Research Center for Toxicology and Hygienic Regulation of Biopreparations (RCT & HRB) in Russia to monitor bioaerosol exposure in the workplace. Here, a series of wind tunnel experiments were carried out to evaluate the physical sampling performance of these two samplers in moving air conditions, which could provide information for personal biological monitoring in a moving air environment. The experiments were conducted in a small wind tunnel facility using three wind speeds (0.5, 1.0 and 2.0 m s(-1)) and three sampling orientations (0°, 90°, and 180°) with respect to the wind direction. Monodispersed particles ranging from 0.5 to 10 μm were employed as the test aerosols. The evaluation of the physical sampling performance was focused on the aspiration efficiency and capture efficiency of the two samplers. The test results showed that the orientation-averaged aspiration efficiencies of the two samplers closely agreed with the American Conference of Governmental Industrial Hygienists (ACGIH) inhalable convention within the particle sizes used in the evaluation tests, and the effect of the wind speed on the aspiration efficiency was found negligible. The capture efficiencies of these two samplers ranged from 70% to 80%. These data offer important information on the insight into the physical sampling characteristics of the two test samplers.

  5. Microfluidic Air Sampler for Highly Efficient Bacterial Aerosol Collection and Identification.

    Science.gov (United States)

    Bian, Xiaojun; Lan, Ying; Wang, Bing; Zhang, Yu Shrike; Liu, Baohong; Yang, Pengyuan; Zhang, Weijia; Qiao, Liang

    2016-12-06

    The early warning capability of the presence of biological aerosol threats is an urgent demand in ensuing civilian and military safety. Efficient and rapid air sample collection in relevant indoor or outdoor environment is a key step for subsequent analysis of airborne microorganisms. Herein, we report a portable battery-powered sampler that is capable of highly efficient bioaerosol collection. The essential module of the sampler is a polydimethylsiloxane (PDMS) microfluidic chip, which consisted of a 3-loop double-spiral microchannel featuring embedded herringbone and sawtooth wave-shaped structures. Vibrio parahemolyticus (V. parahemolyticus) as a model microorganism, was initially employed to validate the bioaerosol collection performance of the device. Results showed that the sampling efficacy reached as high as >99.9%. The microfluidic sampler showed greatly improved capturing efficiency compared with traditional plate sedimentation methods. The high performance of our device was attributed to the horizontal inertial centrifugal force and the vertical turbulence applied to airflow during sampling. The centrifugation field and turbulence were generated by the specially designed herringbone structures when air circulated in the double-spiral microchannel. The sawtooth wave-shaped microstructure created larger specific surface area for accommodating more aerosols. Furthermore, a mixture of bacterial aerosols formed by V. parahemolyticus, Listeria monocytogenes, and Escherichia coli was extracted by the microfluidic sampler. Subsequent integration with mass spectrometry conveniently identified the multiple bacterial species captured by the sampler. Our developed stand-alone and cable-free sampler shows clear advantages comparing with conventional strategies, including portability, easy-to-use, and low cost, indicating great potential in future field applications.

  6. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

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

  7. Robotics in endoscopy.

    Science.gov (United States)

    Klibansky, David; Rothstein, Richard I

    2012-09-01

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

  8. Neuronal nets in robotics

    International Nuclear Information System (INIS)

    Jimenez Sanchez, Raul

    1999-01-01

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

  9. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

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

    1997-01-01

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

  10. Robots that care

    NARCIS (Netherlands)

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

    2010-01-01

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

  11. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

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

  12. Robotics in medicine

    Science.gov (United States)

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

    2015-11-01

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

  13. Multi-robot caravanning

    KAUST Repository

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

    2013-01-01

    of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have

  14. 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.)

  15. Reflection on robotic intelligence

    NARCIS (Netherlands)

    Bartneck, C.

    2006-01-01

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

  16. Robots Cannot Lie

    DEFF Research Database (Denmark)

    Borggreen, Gunhild

    2014-01-01

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

  17. Intelligent robot action planning

    Energy Technology Data Exchange (ETDEWEB)

    Vamos, T; Siegler, A

    1982-01-01

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

  18. Robot Vision Library

    Science.gov (United States)

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

    2009-01-01

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

  19. Innovations in robotic surgery.

    Science.gov (United States)

    Gettman, Matthew; Rivera, Marcelino

    2016-05-01

    Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.

  20. The determination of volatile chlorinated hydrocarbons in air. Sampling rate and efficiency of diffuse samplers

    Energy Technology Data Exchange (ETDEWEB)

    Giese, U.; Stenner, H.; Kettrup, A.

    1989-05-01

    When applicating diffusive sampling-systems to workplace air-monitoring it is necessary to know the behaviour of the diffusive-rate and the efficiency in dependence of concentration, exposition time and the type of pollutant. Especially concerning mixtures of pollutants there are negative influences by competition and mutual displacement possible. Diffusive-rate and discovery for CH/sub 2/Cl/sub 2/ and CHCl/sub 3/ were investigated using two different types of diffuse samplers. For this it was necessary to develop suitable defices for standard gas generation and for the exposition of diffusive-samplers to a standard gas mixture. (orig.).

  1. Accuracy criteria recommended for the certification of gravimetric coal-mine-dust samplers

    International Nuclear Information System (INIS)

    Bowman, J.D.; Bartley, D.L.; Breuer, G.M.; Doemeny, L.J.; Murdock, D.J.

    1984-07-01

    Procedures for testing bias and precision of gravimetric coal-mine-dust sampling units are reviewed. Performance criteria for NIOSH certification of personal coal-mine dust samplers are considered. The NIOSH criterion is an accuracy of 25% at the 95% confidence interval. Size distributions of coal-mine-dust are discussed. Methods for determining size distributions are described. Sampling and sizing methods are considered. Cyclone parameter estimation is discussed. Bias computations for general sampling units are noted. Recommended procedures for evaluating bias and precision of gravimetric coal mine dust personal samplers are given. The authors conclude that when cyclones are operated at lower rates, the NIOSH accuracy criteria can be met

  2. Task QA plan for Modified Prototypic Hydragard trademark Sampler Overflow System Demonstration at TNX

    International Nuclear Information System (INIS)

    Snyder, T.K.

    1993-01-01

    The primary objective of this task is to evaluate the proposed design modifications to the sample system, including the adequacy of the recommended eductor and the quality of samples obtained from the modified system. Presently, the sample streams are circulated from the originating tank, through a Hydragard trademark sampler system, and back to the originating tank. The overflow from the Hydragard trademark sampler flows to the Recycle Collection Tank (RCT). This report outlines the planned quality assurance controls for the design modification task, including organization and personnel, surveillances, and records package

  3. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  4. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

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

  5. Evidence for robots.

    Science.gov (United States)

    Shenoy, Ravikiran; Nathwani, Dinesh

    2017-01-01

    Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.

  6. Robotics: The next step?

    Science.gov (United States)

    Broeders, Ivo A M J

    2014-02-01

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

  7. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

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

  8. Exploiting Child-Robot Aesthetic Interaction for a Social Robot

    OpenAIRE

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

    2012-01-01

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

  9. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    OpenAIRE

    Lyder, Andreas

    2010-01-01

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

  10. Interaction with Soft Robotic Tentacles

    DEFF Research Database (Denmark)

    Jørgensen, Jonas

    2018-01-01

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

  11. Robots: An Impact on Education.

    Science.gov (United States)

    Blaesi, LaVon; Maness, Marion

    1984-01-01

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

  12. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

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

  13. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-01-01

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

  14. Robotics for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-10-01

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

  15. Toward cognitive robotics

    Science.gov (United States)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  16. Future of robotic surgery.

    Science.gov (United States)

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

    2013-01-01

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

  17. EVALUATION OF MEMBRANE TYPE FOR USE IN DIFFUSION SAMPLERS TO MONITOR GROUND WATER QUALITY

    Science.gov (United States)

    The Discrete Multi-Level Sampler (DMLS®) system has proven to be a useful tool for obtaining discrete interval contaminant concentrations at hazardous waste sites. The DMLS® utilizes dialysis cells, which consist of a polypropylene vial, covered on both ends by a permeable membr...

  18. 7 CFR 61.33 - Equipment of sampler; contents of certificate.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Equipment of sampler; contents of certificate. 61.33 Section 61.33 Agriculture Regulations of the Department of Agriculture (Continued) AGRICULTURAL MARKETING SERVICE (Standards, Inspections, Marketing Practices), DEPARTMENT OF AGRICULTURE (CONTINUED) REGULATIONS...

  19. Mechanical reliability evaluation of alternate motors for use in a radioiodine air sampler

    International Nuclear Information System (INIS)

    Bird, S.K.; Huchton, R.L.; Motes, B.G.

    1984-03-01

    Detailed mechanical reliability studies of two alternate motors identified for use in the BNL Air Sampler wer conducted. The two motor types were obtained from Minnesota Electric Technology, Incorporated (MET) and TCS Industries (TCSI). Planned testing included evaluation of motor lifetimes and motor operability under different conditions of temperature, relative humidity, simulated rainfall, and dusty air. The TCSI motors were not lifetime tested due to their poor performance during the temperature/relative humidity tests. While operation on alternating current was satisfactory, on direct current only one of five TCSI motors completed all environmental testing. The MET motors had average lifetimes of 47 hours, 97 hours, and 188 hours, respectively, and exhibited satisfactory operation under all environmental test conditions. Therefore, the MET motor appears to be the better candidate motor for use in the BNL Air Sampler. However, because of the relatively high cost of purchasing and incorporating the MET motor into the BNL Air Sampler System, it is recommended that commercial air sampler systems be evaluated for use instead of the BNL system

  20. Evaluation of a depth proportional intake device for automatic pumping samplers

    Science.gov (United States)

    Rand E. Eads; Robert B. Thomas

    1983-01-01

    Abstract - A depth proportional intake boom for portable pumping samplers was used to collect suspended sediment samples in two coastal streams for three winters. The boom pivots on the stream bed while a float on the downstream end allows debris to depress the boom and pass without becoming trapped. This equipment modifies point sampling by maintaining the intake...

  1. Unified Frequency-Domain Analysis of Switched-Series-RC Passive Mixers and Samplers

    NARCIS (Netherlands)

    Soer, M.C.M.; Klumperink, Eric A.M.; de Boer, Pieter-Tjerk; van Vliet, Frank Edward; Nauta, Bram

    2010-01-01

    Abstract—A wide variety of voltage mixers and samplers are implemented with similar circuits employing switches, resistors, and capacitors. Restrictions on duty cycle, bandwidth, or output frequency are commonly used to obtain an analytical expression for the response of these circuits. This paper

  2. The effect of size-selective samplers (cyclones) on XRD response

    CSIR Research Space (South Africa)

    Pretorius, CJ

    2011-07-01

    Full Text Available The study evaluated five size-selective samplers used in the South African mining industry to determine how their performance affects the X-ray powder diffraction (XRD) response when respirable dust samples are analysed for quartz using direct...

  3. Development of floor smear sampler (floor radioactive contamination measuring instrument) for nuclear facilities

    International Nuclear Information System (INIS)

    Miyagawa, Minoru; Ito, Haruo; Nozawa, Katsuro; Shinohara, Yotaro; Hashimoto, Hiroshi.

    1980-01-01

    The control of the floor contamination with radioactive substances in nuclear facilities is strictly carried out by smear method, in which the contaminants on floor surfaces are wiped off with filter papers or cloths, and the contamination density on the floor surfaces is measured through their intensity of radioactivity. This wiping work is laborious since it is carried out in leaning-over posture when many samples must be taken in wide floor area. Therefore, to achieve labor saving in this work, an automatic sampler was developed. In the floor smear sampler developed, samples are taken on long band type wiping cloths only by handle operation, and the sample numbers are printed. When many samples are taken in wide floor area, this is especially effective, and the labor saving by 1/3 to 1/2 can be achieved. At present, this sampler is put in practical use in Hamaoka Nuclear Power Station. At the time of trial manufacture, the method of wiping, the mechanisms of wiping, cloth feeding and running, the contact pressure and the number of times of wiping affecting wiping efficiency and the required torque of a motor were examined. The developed sampler is that of constant contact pressure, vibration wiping type, and the rate of sampling is 10 sec per one sample. 100 samples can be taken on one roll of wiping cloth. The results of performance test are reported. (Kako, I.)

  4. The use of passive samplers for monitoring polycyclic aromatic hydrocarbons in ambient air

    International Nuclear Information System (INIS)

    Jacob, J.; Grimmer, G.; Hildebrandt, A.

    1993-01-01

    In this study polycyclic aromatic hydrocarbon (PAH) concentrations of ambient air are compared to those present in leaves, spruce sprouts and in the corresponding soil used as passive samplers. Marked profile alterations were detected in various soil horizons with increasing relative concentrations of higher boiling and decreasing relative concentrations of lower boiling PAH with depth. There is no direct correlation between the absolute PAH masses found in air samples and those collected by passive samplers or detected in corresponding soil samples. Even the PAH profiles differ significantly: they can, however, be correlated by introducing PAH - and sampler-specific factors. The PAH profiles appear to indicate that coal combustion mostly contributes to the PAH air pollution in the FRG. The time course of the concentration of benzo(a)pyrene and benzo(e)pyrene during the past seven years as measured with spruce sprouts as biological passive sampler indicate a significant decrease of the PAH concentration (by a factor of two) in the FRG. First measurements in a clean air area of the Eastern part of the FRG exhibited up to ten times higher PAH concentrations than found in comparable areas of the western part of the country

  5. Water sampling at the Berge Helene FPSO at Chinguetti field in Mauritania using passive samplers

    NARCIS (Netherlands)

    Korytar, P.; Galien, van der W.

    2007-01-01

    Three rounds of water sampling were performed at the Berge Helene FPSO at the Chinguetti field in Mauritania using passive samplers attached to the FPSO to determine the levels of contamination that could potentially accumulate in organisms. Two rounds were carried out prior to the commencement of

  6. Design and experimental evaluation of a new nanoparticle thermophoretic personal sampler

    Energy Technology Data Exchange (ETDEWEB)

    Azong-Wara, Nkwenti; Asbach, Christof, E-mail: asbach@iuta.de; Stahlmecke, Burkhard; Fissan, Heinz; Kaminski, Heinz [Institute of Energy and Environmental Technology (IUTA), Air Quality and Sustainable Nanotechnology Unit (Germany); Plitzko, Sabine [Federal Institute for Occupational Safety and Health (BAuA) (Germany); Bathen, Dieter; Kuhlbusch, Thomas A. J. [Institute of Energy and Environmental Technology (IUTA), Air Quality and Sustainable Nanotechnology Unit (Germany)

    2013-04-15

    A personal sampler that thermophoretically samples particles between a few nanometers and approximately 300 nm has been designed and first prototypes built. The thermal precipitator (TP) is designed to take samples in the breathing zone of a worker in order to determine the personal exposure to airborne nanomaterials. In the sampler, particles are deposited onto silicon substrates that can be used for consecutive electron microscopic (EM) analysis of the particle size distribution and chemical composition of the sampled particles. Due to very homogeneous size-independent particle deposition on a large portion of the substrate, representative samples can be taken for offline analysis. The experimental evaluation revealed a good general agreement with numerical simulations concerning homogeneity of the deposit and a very high correlation (R Superscript-Two = 0.98) of the deposition rate per unit area with number concentrations simultaneously measured with an SMPS for particle sizes between 14 and 305 nm. The samplers' small size of only 45 x 32 Multiplication-Sign 97 mm{sup 3} and low weight of only 140 g make it perfectly suitable as a personal sampler. The power consumption for temperature control and pump is around 1.5 W and can be easily provided by batteries.

  7. Comparative performance of two air samplers for monitoring airborne fungal propagules

    Directory of Open Access Journals (Sweden)

    L.G.F. Távora

    2003-05-01

    Full Text Available Many studies have attempted to evaluate the importance of airborne fungi in the development of invasive fungal infection, especially for immunocompromised hosts. Several kinds of instruments are available to quantitate fungal propagule levels in air. We compared the performance of the most frequently used air sampler, the Andersen sampler with six stages, with a portable one, the Reuter centrifugal sampler (RCS. A total of 84 samples were analyzed, 42 with each sampler. Twenty-eight different fungal genera were identified in samples analyzed with the Andersen instrument. In samples obtained with the RCS only seven different fungal genera were identified. The three most frequently isolated genera in samples analyzed with both devices were Penicillium, Aspergillus and Cladophialophora. In areas supplied with a high efficiency particulate air filter, fungal spore levels were usually lower when compared to areas without these filters. There was a significant correlation between total fungal propagule measurements taken with both devices on each sampling occasion (Pearson coefficient = 0.50. However, the Andersen device recovered a broader spectrum of fungi. We conclude that the RCS can be used for quantitative estimates of airborne microbiological concentrations. For qualitative studies, however, this device cannot be recommended.

  8. A survey of perfluoroalkyl sulfonamides in indoor and outdoor air using passive air samplers

    Energy Technology Data Exchange (ETDEWEB)

    Shoeib, M.; Harner, T. [Meteorological Service of Canada, Environment Canada (Canada); Wilford, B.; Jones, K. [Lancaster Univ. (United Kingdom). Environmental Science; Zhu, J. [Chemistry Research Division, Health Canada, Tunney' s Pasture, Ottawa (Canada)

    2004-09-15

    Perfluorooctane sulfonate (PFOS) has recently emerged as a priority environmental pollutant due to its widespread detection in biological samples from remote regions including the Arctic and the Mid-North Pacific Ocean. Because PFOS is fairly involatile, it is hypothesized that its occurrence in remote regions is the result of atmospheric transport of more volatile precursor compounds such as the perfluoroalkyl sulfonamides (PFASs). PFASs are used in variety of consumer products for water and oil resistance including surface treatments for fabric, upholstery, carpet, paper and leather. In a recent pilot study employing high volume air samples, indoor air concentrations of PFASs were approximately 100 times greater than outdoor levels. This is of significance because people typically spend about 90% of their time indoors 5 and this exposure may serve as an important uptake pathway. Indoor air also serves as a source of PFASs to the outside where PFASs are ultimately transported and distributed throughout the environment. The current study is intended to be a more comprehensive survey of indoor and outdoor air allowing more confident conclusions to be made. Passive air samplers comprised of polyurethane foam (PUF) disks were used. These are quiet, non-intrusive samplers that operate without the aid of a pump or electricity. Air movement delivers chemical to the sampler which has a high retention capacity for persistent organic pollutants (POPs). PUF disks samplers have been previously used successfully to monitor different classes of hydrophobic persistent organic pollutants POPs.

  9. Iowa Developed Energy Activity Sampler (IDEAS), Grades 7-12: Social Studies.

    Science.gov (United States)

    Simonis, Doris G.

    Described is the Social Studies component of the Iowa Developed Energy Activity Sampler (IDEAS), a multidisciplinary energy education program designed for infusion into the curriculum of grades seven through twelve. Aspects of the energy situation addressed in these lessons include resource finiteness, exponential growth, standard of living,…

  10. The influence of geometry and draught shields on the performance of passive samplers

    NARCIS (Netherlands)

    Hofschreuder, P.; Meulen, van der W.; Heeres, P.; Slanina, J.

    1999-01-01

    Passive samplers provide an excellent opportunity to perform indicative measurements or establish a dense network of measuring sites. A drawback compared with conventional active measuring methods is the larger spread of results. This variation can, to a large extent, be attributed to the influence

  11. Sampling of high amounts of bioaerosols using a high-volume electrostatic field sampler

    DEFF Research Database (Denmark)

    Madsen, A. M.; Sharma, Anoop Kumar

    2008-01-01

    For studies of the biological effects of bioaerosols, large samples are necessary. To be able to sample enough material and to cover the variations in aerosol content during and between working days, a long sampling time is necessary. Recently, a high-volume transportable electrostatic field...... and 315 mg dust (net recovery of the lyophilized dust) was sampled during a period of 7 days, respectively. The sampling rates of the electrostatic field samplers were between 1.34 and 1.96 mg dust per hour, the value for the Gravikon was between 0.083 and 0.108 mg dust per hour and the values for the GSP...... samplers were between 0.0031 and 0.032 mg dust per hour. The standard deviations of replica samplings and the following microbial analysis using the electrostatic field sampler and GSP samplers were at the same levels. The exposure to dust in the straw storage was 7.7 mg m(-3) when measured...

  12. Silicone passive equilibrium samplers as ‘chemometers’ in eels and sediments of a Swedish lake

    DEFF Research Database (Denmark)

    Jahnke, Annika; Mayer, Philipp; McLachlan, Michael S.

    2014-01-01

    Passive equilibrium samplers deployed in two or more media of a system and allowed to come to equilibrium can be viewed as ‘chemometers’ that reflect the difference in chemical activities of contaminants between the media. We applied silicone-based equilibrium samplers to measure relative chemica...... diagenesis and sorption to phytoplankton. The ‘chemometer’ approach has the potential to become a powerful tool to study the thermodynamic controls on persistent organic chemicals in the environment and should be extended to other environmental compartments.......Passive equilibrium samplers deployed in two or more media of a system and allowed to come to equilibrium can be viewed as ‘chemometers’ that reflect the difference in chemical activities of contaminants between the media. We applied silicone-based equilibrium samplers to measure relative chemical...... activities of seven ‘indicator’ polychlorinated biphenyls (PCBs) and hexachlorobenzene in eels and sediments from a Swedish lake. Chemical concentrations in eels and sediments were also measured using exhaustive extraction methods. Lipid-normalized concentrations in eels were higher than organic carbon...

  13. 7 CFR 801.5 - Tolerance for diverter-type mechanical samplers.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 7 2010-01-01 2010-01-01 false Tolerance for diverter-type mechanical samplers. 801.5 Section 801.5 Agriculture Regulations of the Department of Agriculture (Continued) GRAIN INSPECTION... OFFICIAL PERFORMANCE REQUIREMENTS FOR GRAIN INSPECTION EQUIPMENT § 801.5 Tolerance for diverter-type...

  14. PERFORMANCE OF A NEW DIFFUSIVE SAMPLER FOR HG0 DETERMINATION IN THE TROPOSPHERE

    Science.gov (United States)

    Mercury behaves uniquely in the atmosphere due to its volatility and long lifetime. The existing methods for measuring atmospheric mercury are either expensive or labour intensive. The present paper presents a new measurement technique, the diffusive sampler, that is portable, in...

  15. Architecture for robot intelligence

    Science.gov (United States)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

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

  16. Robot NAO cantante

    OpenAIRE

    Caballero Pamos, Adrián

    2016-01-01

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

  17. Robots and plant safety

    International Nuclear Information System (INIS)

    Christensen, P.

    1996-02-01

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

  18. Giochiamo con i robot

    Directory of Open Access Journals (Sweden)

    Andrea Bonarini

    2009-01-01

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

  19. Robots in mining

    CSIR Research Space (South Africa)

    Green, J

    2010-09-01

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

  20. Odico Formwork Robotics

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn

    2014-01-01

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

  1. Next Generation Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    Light Robotics is a new field of research where ingredients from photonics, nanotechnology and biotechnology are put together in new ways to realize light-driven robotics at the smallest scales to solve major challenges primarily within the nanobio-domain but not limited hereto. Exploring the full...... potential of this new ‘drone-like’ light-printed, light-driven, light-actuated micro- and nano-robotics in challenging geometries requires a versatile and real-time reconfigurable light addressing that can dynamically track a plurality of tiny tools in 3D to ensure real-time continuous light...

  2. Optical Robotics in Mesoscopia

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    2012-01-01

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

  3. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  4. 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.

  5. A novel passive water sampler for in situ sampling of antibiotics.

    Science.gov (United States)

    Chen, Chang-Er; Zhang, Hao; Jones, Kevin C

    2012-05-01

    Passive water sampling has several advantages over active methods; it provides time-integrated data, can save on time and cost compared to active methods, and yield high spatial resolution data through co-deployment of simple, cheap units. However, one problem with many sampler designs in current use is that their uptake rates for trace substances of interest are flow-rate dependent, thereby requiring calibration data and other information to enable water concentrations to be derived from the mass per sampler. However, the 'family' of samplers employing the principle of diffusive gradients in thin films (DGT) provides an in situ means of quantitatively measuring labile species in aquatic systems without field calibration. So far, this technique has only been tested and applied in inorganic substances: metals, radionuclides, nutrients, etc. Design and applications of DGT to trace organic contaminants ('o-DGT') would be of widespread interest. This study describes the laboratory testing and performance characteristics of o-DGT, with the antibiotic sulfamethoxazole (SMX) as a model compound and XAD18 as the novel binding agent. o-DGT uptake of SMX increased with time and decreased with diffusion layer thickness, confirming the principle for SMX. XAD18 showed sufficiently high capacity for SMX for routine field applications. o-DGT measurement of SMX was independent of pH (6-9) and ionic strength (0.001-0.1 M) and not affected by flow rate once above static conditions. The diffusion coefficient of SMX in the sampler was measured using an independent diffusion cell and information is presented to allow temperature correction and derivation of aqueous concentrations from deployed samplers. The potential use of o-DGT for in situ measurement of pharmaceutical antibiotics is confirmed by this study and applications are briefly discussed.

  6. Robotized production systems observed in modern plants

    Science.gov (United States)

    Saverina, A. N.

    1985-09-01

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

  7. Application of robotics in nuclear facilities

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  8. Human-machine Interface for Presentation Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Ondroušek, V.

    2012-01-01

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

  9. Continuum limbed robots for locomotion

    Science.gov (United States)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  10. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

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

  11. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

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

  12. Conceptions of health service robots

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    2015-01-01

    Technology developments create rich opportunities for health service providers to introduce service robots in health care. While the potential benefits of applying robots in health care are extensive, the research into the conceptions of health service robot and its importance for the uptake...... of robotics technology in health care is limited. This article develops a model of the basic conceptions of health service robots that can be used to understand different assumptions and values attached to health care technology in general and health service robots in particular. The article takes...... a discursive approach in order to develop a conceptual framework for understanding the social values of health service robots. First a discursive approach is proposed to develop a typology of conceptions of health service robots. Second, a model identifying four basic conceptions of health service robots...

  13. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

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

  14. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

  15. Sample Return Robot

    Data.gov (United States)

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

  16. Biological Soft Robotics.

    Science.gov (United States)

    Feinberg, Adam W

    2015-01-01

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

  17. Robotic Comfort Zones

    National Research Council Canada - National Science Library

    Likhachev, Maxim; Arkin, Ronald C

    2006-01-01

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

  18. DOE Robotics Project

    Energy Technology Data Exchange (ETDEWEB)

    1991-01-01

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

  19. MARYLAND ROBOTICS CENTER

    Data.gov (United States)

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

  20. Introduction to humanoid robotics

    CERN Document Server

    Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

    2014-01-01

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

  1. Vascular Surgery and Robotics

    Directory of Open Access Journals (Sweden)

    Indrani Sen

    2016-01-01

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

  2. Robotics in Colorectal Surgery

    Science.gov (United States)

    Weaver, Allison; Steele, Scott

    2016-01-01

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

  3. Robotic aortic surgery.

    Science.gov (United States)

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

    2011-01-01

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

  4. Robots in Elderly Care

    Directory of Open Access Journals (Sweden)

    Alessandro Vercelli

    2018-03-01

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

  5. Wheeled hopping robot

    Science.gov (United States)

    Fischer, Gary J [Albuquerque, NM

    2010-08-17

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

  6. SPECIAL ROBOTS FOR ENERGETICS

    Directory of Open Access Journals (Sweden)

    Sit M.L.

    2014-04-01

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

  7. 3D light robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  8. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

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

  9. Vision servo of industrial robot: A review

    Science.gov (United States)

    Zhang, Yujin

    2018-04-01

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

  10. Mutual Visibility by Robots with Persistent Memory

    OpenAIRE

    Bhagat, Subhash; Mukhopadhyaya, Krishnendu

    2017-01-01

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

  11. 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.

  12. Multi-robot caravanning

    KAUST Repository

    Denny, Jory

    2013-11-01

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.

  13. Self-Organizing Robots

    CERN Document Server

    Murata, Satoshi

    2012-01-01

    It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the rob...

  14. Robotic assisted andrological surgery

    Science.gov (United States)

    Parekattil, Sijo J; Gudeloglu, Ahmet

    2013-01-01

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

  15. Colias: An Autonomous Micro Robot for Swarm Robotic Applications

    Directory of Open Access Journals (Sweden)

    Farshad Arvin

    2014-07-01

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

  16. Measuring Attitudes Towards Telepresence Robots

    OpenAIRE

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

    2011-01-01

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

  17. Robot Tracer with Visual Camera

    Science.gov (United States)

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

    2017-12-01

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

  18. Robotic hand with modular extensions

    Science.gov (United States)

    Salisbury, Curt Michael; Quigley, Morgan

    2015-01-20

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

  19. The orientation-averaged aspiration efficiency of IOM-like personal aerosol samplers mounted on bluff bodies.

    Science.gov (United States)

    Paik, Samuel Y; Vincent, James H

    2004-01-01

    This paper describes two sets of experiments that were intended to characterize the orientation-averaged aspiration efficiencies of IOM samplers mounted on rotating bluff bodies. IOM samplers were mounted on simplified, three-dimensional rectangular bluff bodies that were rotated horizontally at a constant rate. Orientation-averaged aspiration efficiencies (A360) were measured as a function of Stokes' number (St), velocity ratio (R) and dimension ratio (r). Aspiration efficiency (A) is the efficiency with which particles are transported from the ambient air into the body of a sampler, and A360 is A averaged over all orientations to the wind. St is a dimensionless variable that represents particle inertia, R is the ratio of the air velocity in the freestream and that at the plane of the sampler's entry orifice, and r is the ratio of the sampler's orifice diameter and the bluff body's width. The first set of experiments were instrumental in establishing a hierarchy of effects on orientation-averaged A. It was clear that compared to r, St had a much larger influence on A. It was also clear, however, that the effects of St were overpowered by the effects of R in many cases. As concluded in previous studies, R and St were considered the most important factors in determining A, even for A360. The second set of experiments investigated A360 of IOM samplers for a much wider range of r than examined in previous research. Two important observations were made from the experimental results. One was that the A360 of IOM samplers, as a function of St, did not change for an r-range of 0.066-0.4. This meant that an IOM sampler mounted on a near life-size mannequin would measure the same aerosol concentration as one not mounted on anything. The second observation was that the aspiration efficiency curve of the IOM sampler was close to the inhalability curve. This gave further evidence that the bluff body did not play a major role in influencing A360, as the IOM samplers, in these

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

    Data.gov (United States)

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

  1. Communication of Robot Status to Improve Human-Robot Collaboration

    Data.gov (United States)

    National Aeronautics and Space Administration — Future space exploration will require humans and robots to collaborate to perform all the necessary tasks. Current robots mostly operate separately from humans due...

  2. 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.

  3. Integrated passive flux measurement in groundwater: design and performance of iFLUX samplers

    Science.gov (United States)

    Verreydt, Goedele; Razaei, Meisam; Meire, Patrick; Van Keer, Ilse; Bronders, Jan; Seuntjens, Piet

    2017-04-01

    The monitoring and management of soil and groundwater is a challenge. Current methods for the determination of movement or flux of pollution in groundwater use no direct measurements but only simulations based on concentration measurements and Darcy velocity estimations. This entails large uncertainties which cause remediation failures and higher costs for contaminated site owners. On top of that, the lack of useful data makes it difficult to get approval for a risk-based management approach which completely avoids costly remedial actions. The iFLUX technology is a key development of Dr. Goedele Verreydt at the University of Antwerp and VITO. It is supported by the passive flux measurement technology as invented by Prof. Mike Annable and his team at the University of Florida. The iFLUX technology includes an in situ measurement device for capturing dynamic groundwater quality and quantity, the iFLUX sampler, and an associated interpretation and visualization method. The iFLUX sampler is a modular passive sampler that provides simultaneous in situ point determinations of a time-averaged target compound mass flux and water flux. The sampler is typically installed in a monitoring well where it intercepts the groundwater flow and captures the compounds of interest. The sampler consists of permeable cartridges which are each packed with a specific sorbent matrix. The sorbent matrix of the water flux cartridge is impregnated with known amounts of water soluble resident tracers. These tracers are leached from the matrix at rates proportional to the groundwater flux. The measurements of the contaminants and the remaining resident tracer are used to determine groundwater and target compound fluxes. Exposure times range from 1 week to 6 months, depending on the expected concentration and groundwater flow velocity. The iFLUX sampler technology has been validated and tested at several field projects. Currently, 4 cartridges are tested and available: 1 waterflux cartridge to

  4. Carbon Nanotube Integrative Sampler (CNIS) for passive sampling of nanosilver in the aquatic environment.

    Science.gov (United States)

    Shen, Li; Fischer, Jillian; Martin, Jonathan; Hoque, Md Ehsanul; Telgmann, Lena; Hintelmann, Holger; Metcalfe, Chris D; Yargeau, Viviane

    2016-11-01

    Nanomaterials such as nanosilver (AgNP) can be released into the aquatic environment through production, usage, and disposal. Sensitive and cost-effective methods are needed to monitor AgNPs in the environment. This work is hampered by a lack of sensitive methods to detect nanomaterials in environmental matrixes. The present study focused on the development, calibration and application of a passive sampling technique for detecting AgNPs in aquatic matrixes. A Carbon Nanotube Integrative Sampler (CNIS) was developed using multi-walled carbon nanotubes (CNTs) as the sorbent for accumulating AgNPs and other Ag species from water. Sampling rates were determined in the laboratory for different sampler configurations and in different aquatic matrixes. The sampler was field tested at the Experimental Lakes Area, Canada, in lake water dosed with AgNPs. For a configuration of the CNIS consisting of CNTs bound to carbon fiber (i.e. CNT veil) placed in Chemcatcher® housing, the time weighted average (TWA) concentrations of silver estimated from deployments of the sampler in lake mesocosms dosed with AgNPs were similar to the measured concentrations of "colloidal silver" (i.e. <0.22μm in size) in the water column. For a configuration of CNIS consisting of CNTs in loose powder form placed in a custom made housing that were deployed in a whole lake dosed with AgNPs, the estimated TWA concentrations of "CNIS-labile Ag" were similar to the concentrations of total silver measured in the epilimnion of the lake. However, sampling rates for the CNIS in various matrixes are relatively low (i.e. 1-20mL/day), so deployment periods of several weeks are required to detect AgNPs at environmentally relevant concentrations, which can allow biofilms to develop on the sampler and could affect the sampling rates. With further development, this novel sampler may provide a simple and sensitive method for screening for the presence of AgNPs in surface waters. Copyright © 2016 Elsevier B.V. All

  5. Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  6. Robotic transthoracic esophagectomy.

    Science.gov (United States)

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

    2015-04-23

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

  7. Robots for Astrobiology!

    Science.gov (United States)

    Boston, Penelope J.

    2016-01-01

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

  8. Socially intelligent robots: dimensions of human-robot interaction.

    Science.gov (United States)

    Dautenhahn, Kerstin

    2007-04-29

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

  9. Robot Motion and Control 2011

    CERN Document Server

    2012-01-01

    Robot Motion Control 2011 presents very recent results in robot motion and control. Forty short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2011. The authors of these papers have been carefully selected and represent leading institutions in this field. The following recent developments are discussed: • Design of trajectory planning schemes for holonomic and nonholonomic systems with optimization of energy, torque limitations and other factors. • New control algorithms for industrial robots, nonholonomic systems and legged robots. • Different applications of robotic systems in industry and everyday life, like medicine, education, entertainment and others. • Multiagent systems consisting of mobile and flying robots with their applications The book is suitable for graduate students of automation and robotics, informatics and management, mechatronics, electronics and production engineering systems as well as scientists...

  10. Lessons of nuclear robot history

    International Nuclear Information System (INIS)

    Oomichi, Takeo

    2014-01-01

    Severe accidents occurred at Fukushima Daiichi Nuclear Power Station stirred up people's great expectation of nuclear robot's deployment. However unexpected nuclear disaster, especially rupture of reactor building caused by core meltdown and hydrogen explosion, made it quite difficult to introduce nuclear robot under high radiation environment to cease accidents and dispose damaged reactor. Robotics Society of Japan (RSJ) set up committee to look back upon lessons learned from 50 year's past experience of nuclear robot development and summarized 'Lessons of nuclear robot history', which was shown on the home page website of RSJ. This article outlined it with personal comment. History of nuclear robot developed for inspection and maintenance at normal operation and for specific required response at nuclear accidents was reviewed with many examples at home and abroad for TMI, Chernobyl and JCO accidents. Present state of Fukushima accident response robot's introduction and development was also described with some comments on nuclear robot development from academia based on lessons. (T. Tanaka)

  11. The Power of Educational Robotics

    Science.gov (United States)

    Cummings, Timothy

    The purpose of this action research project was to investigate the impact a students' participation in educational robotics has on his or her performance in the STEM subjects. This study attempted to utilize educational robotics as a method for increasing student achievement and engagement in STEM subjects. Over the course of 12 weeks, an after-school robotics program was offered to students. Guided by the standards and principles of VEX IQ, a leading resource in educational robotics, students worked in collaboration on creating a design for their robot, building and testing their robot, and competing in the VEX IQ Crossover Challenge. Student data was gathered through a pre-participation survey, observations from the work they performed in robotics club, their performance in STEM subject classes, and the analysis of their end-of-the-year report card. Results suggest that the students who participate in robotics club experienced a positive impact on their performance in STEM subject classes.

  12. Industrial Robots on the Line.

    Science.gov (United States)

    Ayres, Robert; Miller, Steve

    1982-01-01

    Explores the history of robotics and its effects upon the manufacturing industry. Topics include robots' capabilities and limitations, the factory of the future, displacement of the workforce, and implications for management and labor. (SK)

  13. Social and Affective Robotics Tutorial

    NARCIS (Netherlands)

    Pantic, Maja; Evers, Vanessa; Deisenroth, Marc; Merino, Luis; Schuller, Björn

    2016-01-01

    Social and Affective Robotics is a growing multidisciplinary field encompassing computer science, engineering, psychology, education, and many other disciplines. It explores how social and affective factors influence interactions between humans and robots, and how affect and social signals can be

  14. Full autonomous microline trace robot

    Science.gov (United States)

    Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

    2000-10-01

    Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

  15. Design Minimalism in Robotics Programming

    Directory of Open Access Journals (Sweden)

    Anthony Cowley

    2008-11-01

    Full Text Available With the increasing use of general robotic platforms in different application scenarios, modularity and reusability have become key issues in effective robotics programming. In this paper, we present a minimalist approach for designing robot software, in which very simple modules, with well designed interfaces and very little redundancy can be connected through a strongly typed framework to specify and execute different robotics tasks.

  16. Design Minimalism in Robotics Programming

    Directory of Open Access Journals (Sweden)

    Anthony Cowley

    2006-03-01

    Full Text Available With the increasing use of general robotic platforms in different application scenarios, modularity and reusability have become key issues in effective robotics programming. In this paper, we present a minimalist approach for designing robot software, in which very simple modules, with well designed interfaces and very little redundancy can be connected through a strongly typed framework to specify and execute different robotics tasks.

  17. Teen Sized Humanoid Robot: Archie

    Science.gov (United States)

    Baltes, Jacky; Byagowi, Ahmad; Anderson, John; Kopacek, Peter

    This paper describes our first teen sized humanoid robot Archie. This robot has been developed in conjunction with Prof. Kopacek’s lab from the Technical University of Vienna. Archie uses brushless motors and harmonic gears with a novel approach to position encoding. Based on our previous experience with small humanoid robots, we developed software to create, store, and play back motions as well as control methods which automatically balance the robot using feedback from an internal measurement unit (IMU).

  18. Benthic organisms collected using sediment sampler from the CAPT. BRADY J in the Gulf of Mexico from (NODC Accession 8300082)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Benthic organisms were collected using sediment sampler casts from the CAPT. BRADY J and CAJUN SPECIAL in the Gulf of Mexico from 03 May 1982 to 13 October 1982....

  19. Robotics, Ethics, and Nanotechnology

    Science.gov (United States)

    Ganascia, Jean-Gabriel

    It may seem out of character to find a chapter on robotics in a book about nanotechnology, and even more so a chapter on the application of ethics to robots. Indeed, as we shall see, the questions look quite different in these two fields, i.e., in robotics and nanoscience. In short, in the case of robots, we are dealing with artificial beings endowed with higher cognitive faculties, such as language, reasoning, action, and perception, whereas in the case of nano-objects, we are talking about invisible macromolecules which act, move, and duplicate unseen to us. In one case, we find ourselves confronted by a possibly evil double of ourselves, and in the other, a creeping and intangible nebula assails us from all sides. In one case, we are faced with an alter ego which, although unknown, is clearly perceptible, while in the other, an unspeakable ooze, the notorious grey goo, whose properties are both mysterious and sinister, enters and immerses us. This leads to a shift in the ethical problem situation: the notion of responsibility can no longer be worded in the same terms because, despite its otherness, the robot can always be located somewhere, while in the case of nanotechnologies, myriad nanometric objects permeate everywhere, disseminating uncontrollably.

  20. Salvage robotic radical prostatectomy

    Directory of Open Access Journals (Sweden)

    Samuel D Kaffenberger

    2014-01-01

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

  1. Surgery with cooperative robots.

    Science.gov (United States)

    Lehman, Amy C; Berg, Kyle A; Dumpert, Jason; Wood, Nathan A; Visty, Abigail Q; Rentschler, Mark E; Platt, Stephen R; Farritor, Shane M; Oleynikov, Dmitry

    2008-03-01

    Advances in endoscopic techniques for abdominal procedures continue to reduce the invasiveness of surgery. Gaining access to the peritoneal cavity through small incisions prompted the first significant shift in general surgery. The complete elimination of external incisions through natural orifice access is potentially the next step in reducing patient trauma. While minimally invasive techniques offer significant patient advantages, the procedures are surgically challenging. Robotic surgical systems are being developed that address the visualization and manipulation limitations, but many of these systems remain constrained by the entry incisions. Alternatively, miniature in vivo robots are being developed that are completely inserted into the peritoneal cavity for laparoscopic and natural orifice procedures. These robots can provide vision and task assistance without the constraints of the entry incision, and can reduce the number of incisions required for laparoscopic procedures. In this study, a series of minimally invasive animal-model surgeries were performed using multiple miniature in vivo robots in cooperation with existing laparoscopy and endoscopy tools as well as the da Vinci Surgical System. These procedures demonstrate that miniature in vivo robots can address the visualization constraints of minimally invasive surgery by providing video feedback and task assistance from arbitrary orientations within the peritoneal cavity.

  2. Development of an automatic smear sampler and evaluation of surface contamination

    International Nuclear Information System (INIS)

    Seo, B. K.; Lee, B. J.; Lee, K. W.; Park, J. H.

    2004-01-01

    The surface contamination level of a radiation-controlled area is measured periodically according to atomic energy law and connection regulations. The measurement of surface contamination by an indirect method is subject to various kinds of error depending on the sampling person and consumes much time and effort in the sampling of large nuclear facilities. In this research, an automatic smear sampler is developed to solve these problems. The developed equipment is composed of a rotating sampling part, a sample transferring part, a power supply part a control part, and vacuum part. It improved the efficiency of estimation of the surface contamination level achieved periodically in a radiation-controlled area. Using an automatic smear sampler developed in this research, it is confirmed that radioactive contaminated materials are uniformly transferred to smear paper more than any sampling method by an operator. (authors)

  3. Calibration sources for the G-M counter used with the BNL air sampler

    International Nuclear Information System (INIS)

    Huchton, R.L.; Bird, S.K.; Tkachyk, J.W.; Motes, B.G.

    1983-12-01

    Three calibration sources were designed, developed, and fabricated for a CDV-700 ratemeter equipped with a specially-shielded 6306 G-M detector. The CDV-700/6306 has been proposed for use with the BNL Air Sampler designed for radioiodine monitoring upon a nuclear reactor accident. Specifically, three sources were constructed in a geometry identical to the BNL Air Sampler radioiodine adsorption canister, which is a silver-silica-gel filled 2.75-inch diameter right circular cylinder with a 1.0 inch daimater annulus for insertion of the 6306 G-M detector. As fabricated, each source consisted of an outer stainless steel housing, an inner 133 Ba impregnated polyester liner, 4 weight percent silver steel lid. Respectively, the levels of 133 Ba, an 131 I simulant, were varied in the three sources to yield nominal CDV-700/6306 instrument responses of 200 cpm, 2000 cpm, and 20,000 cpm

  4. A new sampler for simulating aerosol deposition in the respiratory tract

    International Nuclear Information System (INIS)

    Li Dehong; Zhuo Weihai; Yi Yanling; Chen Bo; Liu Haikuan

    2008-01-01

    For estimation of the deposition fractions of radon progeny in different regions of the respiratory tract, a new sampler consisting of three different configurations of sampling heads was developed. The deposition fractions of aerosols on the wire screens inside the sampling heads were calculated with the fan model of filtration theory. The deposition fractions of aerosols in different regions of the respiratory tract were calculated with the lung dose evaluation program (LUDEP) developed by National Radiological Protection Board (NRPB) as references. In general indoor and mine environments, the deviation between the deposition fractions of attached aerosol on the wire screens designed in this study and its reference values in the respiratory tract is less than 5%. It is possible to accurately estimate the deposition fractions of radon progeny in different regions of the respiratory tract through mimic measurements of radon progeny collected with the new sampler. (authors)

  5. Passive sampling of selected endocrine disrupting compounds using polar organic chemical integrative samplers

    International Nuclear Information System (INIS)

    Arditsoglou, Anastasia; Voutsa, Dimitra

    2008-01-01

    Two types of polar organic chemical integrative samplers (pharmaceutical POCIS and pesticide POCIS) were examined for their sampling efficiency of selected endocrine disrupting compounds (EDCs). Laboratory-based calibration of POCISs was conducted by exposing them at high and low concentrations of 14 EDCs (4-alkyl-phenols, their ethoxylate oligomers, bisphenol A, selected estrogens and synthetic steroids) for different time periods. The kinetic studies showed an integrative uptake up to 28 days. The sampling rates for the individual compounds were obtained. The use of POCISs could result in an integrative approach to the quality status of the aquatic systems especially in the case of high variation of water concentrations of EDCs. The sampling efficiency of POCISs under various field conditions was assessed after their deployment in different aquatic environments. - Calibration and field performance of polar organic integrative samplers for monitoring EDCs in aquatic environments

  6. Passive samplers and community science in regional air quality measurement, education and communication.

    Science.gov (United States)

    DeForest Hauser, Cindy; Buckley, Alexandra; Porter, Juliana

    2015-08-01

    Charlotte, in Mecklenburg County, North Carolina, was ranked in the top ten cities with the worst air quality for ozone in the United States by the American Lung Association from 2009 to 2011. Nearby counties that may experience similar air quality do not have state or county monitors. This study utilized NOx and ozone Ogawa passive samplers and community scientists to monitor air quality in five counties surrounding Charlotte and increase public engagement in air quality issues. Community scientists deployed samplers weekly at a residential site within each county. Samples were analyzed using spectrophotometry and ion chromatography. Elevated NOx concentrations were observed in four of the five counties relative to those with existing monitors. Ozone concentrations showed little county to county variation, except Iredell and Cabarrus which had higher concentrations than Rowan. Community involvement in this work led to an increase in local dissemination of the results, thus increasing air quality awareness. Copyright © 2014 Elsevier Ltd. All rights reserved.

  7. A Compact Diffusion Sampler for Environmental Applications Requiring HTO or HTO + HT Determinations

    International Nuclear Information System (INIS)

    Otlet, R.L.; Walker, A.J.; Mather, I.D.

    2005-01-01

    Passive diffusion samplers have now been in use in the UK for the measurement of tritium at environmental levels in the form of HTO and HTO + HT for more than ten years. At the outset their main purpose was to identify the direction of a possible inadvertent release of tritium into the environment. More recently, however, there has been growing interest in their use as stand-alone devices for tritium determination at environmental levels. This has necessitated a more rigorous design to reduce the 'draughts effect' in exposed locations and has also required modifications to enable the measurement of HTO + HT. The paper describes the recent design improvements and the results of validation tests carried out against dynamic, discriminating (dry-bed) samplers

  8. Rehearsal for the Robot Revolution

    DEFF Research Database (Denmark)

    Jochum, Elizabeth; Goldberg, Ken

    that are central to social robotics. However automated performances that merely substitute robotic actors for human ones do not always capture our imagination or prove entertaining. While some plays explore ambivalence to robots or “misbehaving machines” thematically (such as R.U.R.), the exigencies of live...

  9. Robotics Literacy Captivates Elementary Students.

    Science.gov (United States)

    Friedman, Madeleine

    1986-01-01

    Describes a robotics literacy course offered for elementary age children at Broward Community College (Florida) and discusses the motivation for offering such a course, the course philosophy and objectives, and participant reactions. A sampling of robots and robotics devices and some of their teaching applications are included. (MBR)

  10. The future of Robotics Technology

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2017-01-01

    In the last decade the robotics industry has created millions of additional jobs led by consumer electronics and the electric vehicle industry, and by 2020, robotics will be a $100 billion worth industry, as big as the tourism industry.. For example, the rehabilitation robot market has grown 10...

  11. Motion planning for multiple robots

    NARCIS (Netherlands)

    Aronov, B.; Berg, de M.; van der Stappen, A.F.; Svestka, P.; Vleugels, J.M.

    1999-01-01

    We study the motion-planning problem for pairs and triples of robots operating in a shared workspace containing n obstacles. A standard way to solve such problems is to view the collection of robots as one composite robot, whose number of degrees of freedom is d , the sum of the numbers of degrees

  12. Fable: Socially Interactive Modular Robot

    DEFF Research Database (Denmark)

    Magnússon, Arnþór; Pacheco, Moises; Moghadam, Mikael

    2013-01-01

    Modular robots have a significant potential as user-reconfigurable robotic playware, but often lack sufficient sensing for social interaction. We address this issue with the Fable modular robotic system by exploring the use of smart sensor modules that has a better ability to sense the behavior...

  13. The Mobile Robot "Little Helper"

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Madsen, Ole

    2009-01-01

    Increased customer needs and intensified global competition require intelligent and flexible automation. The interaction technology mobile robotics addresses this, so it holds great potential within the industry. This paper presents the concepts, ideas and working principles of the mobile robot...... this show promising results regarding industrial integration, exploitation and maturation of mobile robotics....

  14. EVOLUTION OF THE ROBOT DESIGN

    Directory of Open Access Journals (Sweden)

    POPA Marina Andreea

    2011-11-01

    Full Text Available This paper presents the construction of a robot used at a national robot competition in Romania. The robot consists of datasheet sensors (2 long distance measuring sensors, 4 reflective object sensors, 4 engines, 4 gears, a battery and the plates with microcontrollers

  15. To kill a mockingbird robot

    NARCIS (Netherlands)

    Bartneck, C.; Verbunt, M.N.C.; Mubin, O.; Al Mahmud, A.

    2007-01-01

    Robots are being introduced in our society but their social status is still unclear. A critical issue is if the robot's exhibition of intelligent life-like behavior leads to the users' perception of animacy. The ultimate test for the life-likeness of a robot is to kill it. We therefore conducted an

  16. Robotics Activities in The Netherlands

    NARCIS (Netherlands)

    Kranenburg- de Lange, D.J.B.A.

    2010-01-01

    Since April 2010, in The Netherlands robotics activities are coordinated by RoboNED. This Dutch Robotics Platform, chaired by Prof. Stefano Stramigioli, aims to stimulate the synergy between the robotics fields and to formulate a focus. The goal of RoboNED is three fold: 1) RoboNED aims to bring the

  17. Humans and Robots. Educational Brief.

    Science.gov (United States)

    National Aeronautics and Space Administration, Washington, DC.

    This brief discusses human movement and robotic human movement simulators. The activity for students in grades 5-12 provides a history of robotic movement and includes making an End Effector for the robotic arms used on the Space Shuttle and the International Space Station (ISS). (MVL)

  18. Japan's ARTRA robot moves forward

    International Nuclear Information System (INIS)

    Takehara, Ken

    1992-01-01

    Work on the Japanese ARTRA robot has progressed to the point where a demonstration robot has been built. However, much work remains before ARTRA can realize its goal of developing a highly sophisticated remotely-controlled robot to replace the human maintenance worker in a radioactive environment. (author)

  19. Robot-assisted general surgery.

    Science.gov (United States)

    Hazey, Jeffrey W; Melvin, W Scott

    2004-06-01

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

  20. Field comparison of three inhalable samplers (IOM, PGP-GSP 3.5 and Button) for welding fumes.

    Science.gov (United States)

    Zugasti, Agurtzane; Montes, Natividad; Rojo, José M; Quintana, M José

    2012-02-01

    Inhalable sampler efficiency depends on the aerodynamic size of the airborne particles to be sampled and the wind speed. The aim of this study was to compare the behaviour of three personal inhalable samplers for welding fumes generated by Manual Metal Arc (MMA) and Metal Active Gas (MAG) processes. The selected samplers were the ones available in Spain when the study began: IOM, PGP-GSP 3.5 (GSP) and Button. Sampling was carried out in a welding training center that provided a homogeneous workplace environment. The static sampling assembly used allowed the placement of 12 samplers and 2 cascade impactors simultaneously. 183 samples were collected throughout 2009 and 2010. The range of welding fumes' mass concentrations was from 2 mg m(-3) to 5 mg m(-3). The pooled variation coefficients for the three inhalable samplers were less than or equal to 3.0%. Welding particle size distribution was characterized by a bimodal log-normal distribution, with MMADs of 0.7 μm and 8.2 μm. For these welding aerosols, the Button and the GSP samplers showed a similar performance (P = 0.598). The mean mass concentration ratio was 1.00 ± 0.01. The IOM sampler showed a different performance (P IOM and 0.92 ± 0.02 for GSP/IOM. This information is useful to consider the measurements accomplished by the IOM, GSP or Button samplers together, in order to assess the exposure at workplaces over time or to study exposure levels in a specific industrial activity, as welding operations.

  1. WHATS-3: An improved flow-through multi-bottle fluid sampler for deep-sea geofluid research

    Science.gov (United States)

    Miyazaki, Junichi; Makabe, Akiko; Matsui, Yohei; Ebina, Naoya; Tsutsumi, Saki; Ishibashi, Jun-ichiro; Chen, Chong; Kaneko, Sho; Takai, Ken; Kawagucci, Shinsuke

    2017-06-01

    Deep-sea geofluid systems, such as hydrothermal vents and cold seeps, are key to understanding subseafloor environments of Earth. Fluid chemistry, especially, provides crucial information towards elucidating the physical, chemical and biological processes that occur in these ecosystems. To accurately assess fluid and gas properties of deep-sea geofluids, well-designed pressure-tight fluid samplers are indispensable and as such they are important assets of deep-sea geofluid research. Here, the development of a new flow-through, pressure-tight fluid sampler capable of four independent sampling events (two subsamples for liquid and gas analyses from each) is reported. This new sampler, named WHATS-3, is a new addition to the WHATS-series samplers and a major upgrade from the previous WHATS-2 sampler with improvements in sample number, valve operational time, physical robustness, and ease of maintenance. Routine laboratory-based pressure tests proved that it is suitable for operation up to 35 MPa pressure. Successful field tests of the new sampler were also carried out in five hydrothermal fields, two in Indian Ocean and three in Okinawa Trough (max. depth 3,300 m). Relations of Mg and major ion species demonstrated bimodal mixing trends between a hydrothermal fluid and seawater, confirming the high-quality of fluids sampled. The newly developed WHATS-3 sampler is well-balanced in sampling capability, field usability, and maintenance feasibility, and can serve as one of the best geofluid samplers available at present to conduct efficient research of deep-sea geofluid systems.

  2. WHATS-3: An Improved Flow-Through Multi-bottle Fluid Sampler for Deep-Sea Geofluid Research

    Directory of Open Access Journals (Sweden)

    Junichi Miyazaki

    2017-06-01

    Full Text Available Deep-sea geofluid systems, such as hydrothermal vents and cold seeps, are key to understanding subseafloor environments of Earth. Fluid chemistry, especially, provides crucial information toward elucidating the physical, chemical, and biological processes that occur in these ecosystems. To accurately assess fluid and gas properties of deep-sea geofluids, well-designed pressure-tight fluid samplers are indispensable and as such they are important assets of deep-sea geofluid research. Here, the development of a new flow-through, pressure-tight fluid sampler capable of four independent sampling events (two subsamples for liquid and gas analyses from each is reported. This new sampler, named WHATS-3, is a new addition to the WHATS-series samplers and a major upgrade from the previous WHATS-2 sampler with improvements in sample number, valve operational time, physical robustness, and ease of maintenance. Routine laboratory-based pressure tests proved that it is suitable for operation up to 35 MPa pressure. Successful field tests of the new sampler were also carried out in five hydrothermal fields, two in Indian Ocean, and three in Okinawa Trough (max. depth 3,300 m. Relations of Mg and major ion species demonstrated bimodal mixing trends between a hydrothermal fluid and seawater, confirming the high quality of fluids sampled. The newly developed WHATS-3 sampler is well-balanced in sampling capability, field usability, and maintenance feasibility, and can serve as one of the best geofluid samplers available at present to conduct efficient research of deep-sea geofluid systems.

  3. Multipurpose Sediment Passive Sampler with Improved Tissue Mimicry to Measure the Bioavailable Fraction

    Science.gov (United States)

    2016-11-01

    run by HPLC- DAD . There was a linear relationship between the RDX found in the extract and the amount in the solution (Figures 11 and 12, Raw data can...TNT had occurred in the reaction solution. Moreover, the anion is reactive and can form Meisenheimer complexes with electron rich compounds...The poor recovery was determined to be due to the desorption step since it was found that the samplers efficiently extracted the metals from solution

  4. Evaluation and application of a passive air sampler for polycylic aromatic hydrocarbons (PAHs).

    Science.gov (United States)

    Esen, Fatma; Evci, Yildiz M; Tasdemir, Yucel

    2017-08-24

    Sampling of 15 PAHs by the use of both passive air sampler developed (D-PAS) in our research group and PAS (C-PAS) having widespread use in the literature was conducted to compare the performances of the samplers. Sampling was carried out for 1-year period (February 2013-February 2014), in different sampling periods by employing D-PAS and C-PAS. D-PAS and C-PAS were run in parallel for 10, 20, 30, 40 and 60 days. Sampling rates were calculated for both PASs by the use of concentration values obtained from a high-volume air sampler (HVAS). It was determined that calculated sampling values are different from each other by definition of design of C-PAS and D-PAS and difference in environment as velocity of wind and temperature are having different effects upon sampling rates. Collected σ 15 PAHs amounts of 10-day periods in spring, summer, autumn and winter were obtained as 576 ± 333, 209 ± 29, 2402 ± 910 and 664 ± 246 ng for D-PAS and 1070 ± 522, 318 ± 292, 6062 ± 1501 and 6089 ± 4018 ng for C-PAS, respectively. In addition, according to seasons, when collected PAHs in two different samplers were considered, similar results were obtained for the summer time in which no combustion takes place with the aim of domestic heating, while there were differences determined for the seasons with combustion in need of domestic heating. Gas-phase σ 15 PAHs' concentrations were reported depending on seasons in the spring, summer, autumn and winter sequences as 46 ± 32, 9 ± 3, 367 ± 207 and 127 ± 93 ng m -3 for HVAS, respectively.

  5. Pharmaceuticals, alkylphenols and pesticides in Mediterranean coastal waters: Results from a pilot survey using passive samplers

    OpenAIRE

    Munaron, Dominique; Tapie, Nathalie; Budzinski, Helene; Andral, Bruno; Gonzalez, Jean-louis

    2012-01-01

    21 pharmaceuticals, 6 alkylphenols and 27 hydrophilic pesticides and biocides were investigated using polar organic contaminant integrative samplers (POCIS) during a large-scale study of contamination of French Mediterranean coastal waters. Marine and transitional water-bodies, defined under the EU Water Framework Directive were monitored. Our results show that the French Mediterranean coastal waters were contaminated with a large range of emerging contaminants, detected at low concentrations...

  6. Evaluation of polyurethane foam passive air sampler (PUF) as a tool for occupational PAH measurements.

    Science.gov (United States)

    Strandberg, Bo; Julander, Anneli; Sjöström, Mattias; Lewné, Marie; Koca Akdeva, Hatice; Bigert, Carolina

    2018-01-01

    Routine monitoring of workplace exposure to polycyclic aromatic hydrocarbons (PAHs) is performed mainly via active sampling. However, active samplers have several drawbacks and, in some cases, may even be unusable. Polyurethane foam (PUF) as personal passive air samplers constitute good alternatives for PAH monitoring in occupational air (8 h). However, PUFs must be further tested to reliably yield detectable levels of PAHs in short exposure times (1-3 h) and under extreme occupational conditions. Therefore, we compared the personal exposure monitoring performance of a passive PUF sampler with that of an active air sampler and determined the corresponding uptake rates (Rs). These rates were then used to estimate the occupational exposure of firefighters and police forensic specialists to 32 PAHs. The work environments studied were heavily contaminated by PAHs with (for example) benzo(a)pyrene ranging from 0.2 to 56 ng m -3 , as measured via active sampling. We show that, even after short exposure times, PUF can reliably accumulate both gaseous and particle-bound PAHs. The Rs-values are almost independent of variables such as the concentration and the wind speed. Therefore, by using the Rs-values (2.0-20 m 3 day -1 ), the air concentrations can be estimated within a factor of two for gaseous PAHs and a factor of 10 for particulate PAHs. With very short sampling times (1 h), our method can serve as a (i) simple and user-friendly semi-quantitative screening tool for estimating and tracking point sources of PAH in micro-environments and (ii) complement to the traditional active pumping methods. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

  7. Evaluation of physical sampling efficiency for cyclone-based personal bioaerosol samplers in moving air environments

    OpenAIRE

    Su, Wei-Chung; Tolchinsky, Alexander D.; Chen, Bean T.; Sigaev, Vladimir I.; Cheng, Yung Sung

    2012-01-01

    The need to determine occupational exposure to bioaerosols has notably increased in the past decade, especially for microbiology-related workplaces and laboratories. Recently, two new cyclone-based personal bioaerosol samplers were developed by the National Institute for Occupational Safety and Health (NIOSH) in the USA and the Research Center for Toxicology and Hygienic Regulation of Biopreparations (RCT & HRB) in Russia to monitor bioaerosol exposure in the workplace. Here, a series of wind...

  8. A critical assessment of passive air samplers for per- and polyfluoroalkyl substances

    Science.gov (United States)

    Karásková, Pavlína; Codling, Garry; Melymuk, Lisa; Klánová, Jana

    2018-07-01

    Since their inclusion in the Stockholm Convention, there has been a need for global monitoring of perfluorooctane sulfonate (PFOS), its salts and perfluorooctanesulfonyl fluoride (PFOSF), along with other non-listed highly fluorinated compounds. Passive air samplers (PAS) are ideal for geographic coverage of atmospheric monitoring. The most common type of PAS, using polyurethane foam (PUF) as a sorbent, was primarily developed for non-polar semivolatile organic compounds (SVOCs) and are not well-validated for polar substances such as the per- and polyfluoroalkyl substances (PFASs), however, they have been used for some PFASs, particularly PFOS. To evaluate their applicability, PAS were deployed for measurement of PFASs in outdoor and indoor air. Outdoors, two types of PAS, one consisting of PUF and one of XAD-2 resin, were deployed in an 18-week calibration study in parallel with a low-volume active air sampler (LV-AAS) in a suburban area. Indoors, PUF-PAS were similarly deployed over 12 weeks to evaluate their applicability for indoor monitoring. Samples were analysed for perfluoroalkyl carboxylic acids (PFCAs), perfluoroalkyl sulfonates (PFSAs), perfluorooctane sulfonamides (FOSAs), and perfluorooctane sulfonamidoethanols (FOSEs). In outdoor air, 17 out of the 21 PFAS were detected in more than 50% of samples, with a median ∑17PFASs of 18.0 pg m-3 while 20 compounds were detected in indoor air with a median concentration ∑20PFASs of 76.6 pg m-3 using AAS samplers. PFOS was the most common PFAS in the outdoor air while PFBA was most common indoors. Variability between PAS and AAS was observed and comparing gas phase and particle phase separately or in combination did not account for the variation observed. PUF-PAS may still have a valuable use in PFAS monitoring but more work is needed to identify the applicability of passive samplers for ionic PFAS.

  9. Assessment of personal exposure to airborne nanomaterials: Evaluation of a novel sampler

    International Nuclear Information System (INIS)

    Faure, Bertrand; Dozol, Hélène; Brouard, Christophe; Guiot, Arnaud; Clavaguera, Simon

    2017-01-01

    A novel sampler, the NANOBADGE, has been developed to assess personal exposure to nano-objects, agglomerates and aggregates (NOAA) at the workplace. The NANOBADGE collects particles on filters subsequently analyzed by X-Ray Fluorescence spectroscopy (XRF), which provides a mass-based quantification with chemical selectivity. The NANOBADGE was benchmarked against a scanning mobility particle sizer (SMPS) and a DiSCmini by carrying out simultaneous measurements on test aerosols of ZnO or TiO 2 for particle sizes between 20 and 400 nm for which the DiSCmini has its highest accuracy. The effective density and shape of the NOAA present in the test aerosols were determined experimentally to compare number-based data obtained with the SMPS and the DiSCmini with mass-based data obtained with the NANOBADGE. The agreement between the SMPS and the NANOBADGE sampler was within ± 25 % on all test aerosols. The converted DiSCmini data matched the SMPS and sampler data for polydisperse aerosols in the specified size range as long as the DiSCmini assumptions meet the aerosol characteristics (i.e. lognormal size distribution with a given geometric standard deviation σg = 1.9). The detection limits of the NANOBADGE sampler were in the order of tens of nanograms per filter, which is low enough to reliably detect exposure levels below the recommended exposure limit (REL) of the National Institute for Occupational Safety and Health (NIOSH) and the Institut National de Recherche et de Sécurité (INRS) for ultrafine ZnO and TiO 2 even for short-term exposure situations. (paper)

  10. Functions and requirements for the INEL light duty utility arm sampler end effector

    International Nuclear Information System (INIS)

    Pace, D.P.; Barnes, G.E.

    1995-02-01

    This sampler end effector system functions and requirements document defines the system functions that the end effector must perform as well as the requirements the design must meet. Safety, quality assurance, operations, environmental conditions, and regulatory requirements have been considered. The main purpose of this document is to provide a basis for the end effector engineering, design, and fabrication activities. The document shall be the living reference document to initiate the development activities and will be updated as system technologies are finalized

  11. Development of a new passive sampler based on diffusive milligel beads for copper analysis in water.

    Science.gov (United States)

    Perez, M; Reynaud, S; Lespes, G; Potin-Gautier, M; Mignard, E; Chéry, P; Schaumlöffel, D; Grassl, B

    2015-08-26

    A new passive sampler was designed and characterized for the determination of free copper ion (Cu(2+)) concentration in aqueous solution. Each sampling device was composed of a set of about 30 diffusive milligel (DMG) beads. Milligel beads with incorporated cation exchange resin (Chelex) particles were synthetized using an adapted droplet-based millifluidic process. Beads were assumed to be prolate spheroids, with a diameter of 1.6 mm and an anisotropic factor of 1.4. The milligel was controlled in chemical composition of hydrogel (monomer, cross-linker, initiator and Chelex concentration) and characterized in pore size. Two types of sampling devices were developed containing 7.5% and 15% of Chelex, respectively, and 6 nm pore size. The kinetic curves obtained demonstrated the accumulation of copper in the DMG according to the process described in the literature as absorption (and/or adsorption) and release following the Fick's first law of diffusion. For their use in water monitoring, the typical physico-chemical characteristics of the samplers, i.e. the mass-transfer coefficient (k0) and the sampler-water partition coefficient (Ksw), were determined based on a static exposure design. In order to determine the copper concentration in the samplers after their exposure, a method using DMG bead digestion combined to Inductively Coupled Plasma - Atomic Emission Spectrometry (ICP-AES) analysis was developed and optimized. The DMG devices proved to be capable to absorb free copper ions from an aqueous solution, which could be accurately quantified with a mean recovery of 99% and a repeatability of 7% (mean relative uncertainty). Copyright © 2015 Elsevier B.V. All rights reserved.

  12. 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

  13. Sampling of BTX in Hat Yai city using cost effective laboratory-built PCB passive sampler.

    Science.gov (United States)

    Subba, Jas Raj; Thammakhet, Chongdee; Thavarungkul, Panote; Kanatharana, Proespichaya

    2016-08-23

    A laboratory-built printed circuit board (PCB) passive sampler used for the monitoring of xylene and styrene in copy print shops was re-validated for detecting benzene, toluene and xylene (BTX) and applied for the sampling of ambient air from Hat Yai city, Songkhla, Thailand, in the month of November 2014. For monitoring, the PCB passive samplers were exposed to target analytes in 16 locations covering high to low exposure areas. After sampling, the samplers were thermally desorbed and the analytes were trapped by multi-walled carbon nanotubes packed into a micro-preconcentrator coupled to a gas chromatograph (GC) equipped with a flame ionization detector. At the optimum GC operating conditions, the linear dynamic ranges for BTX were 0.06-5.6 µg for benzene, 0.07-2.2 µg for toluene and 0.23-2.5 µg for xylene with R(2) > 0.99 with the limits of detection being 6.6, 6.8 and 19 ng for benzene, toluene and xylene, respectively. The concentrations of BTX in the 16 sampling sites were in the range of N.D.-1.3 ± 1.6, 4.50 ± 0.76-49.6 ± 3.7 and 1.00 ± 0.21-39.6 ± 3.1 µg m(-3), respectively. When compared to past studies, there had been an increase in the benzene concentration.

  14. Comparison of marine sampling methods for organic contaminants: Passive samplers, water extractions, and live oyster deployment.

    Science.gov (United States)

    Raub, Kristin B; Vlahos, Penny; Whitney, Michael

    2015-08-01

    Laboratory and field trials evaluated the efficacy of three methods of detecting aquatic pesticide concentrations. Currently used pesticides: atrazine, metolachlor, and diazinon and legacy pesticide dieldrin were targeted. Pesticides were extracted using solid-phase extraction (SPE) of water samples, titanium plate passive samplers coated in ethylene vinyl acetate (EVA) and eastern oysters (Crassostrea viginica) as biosamplers. A laboratory study assessed the extraction efficiencies and precision of each method. Passive samplers yielded the highest precision of the three methods (RSD: 3-14% EVA plates; 19-60% oysters; and 25-56% water samples). Equilibrium partition coefficients were derived. A significant relationship was found between the concentration in oyster tissue and the ambient aquatic concentration. In the field (Housatonic River, CT (U.S.)) water sampling (n = 5) detected atrazine at 1.61-7.31 μg L(-1), oyster sampling (n = 2×15) detected dieldrin at n.d.-0.096 μg L(-1) SW and the passive samplers (n = 5×3) detected atrazine at 0.97-3.78 μg L(-1) SW and dieldrin at n.d.-0.68 μg L(-1) SW. Copyright © 2015 Elsevier Ltd. All rights reserved.

  15. Performance of passive samplers for monitoring estuarine water column concentrations: 2. Emerging contaminants.

    Science.gov (United States)

    Perron, Monique M; Burgess, Robert M; Suuberg, Eric M; Cantwell, Mark G; Pennell, Kelly G

    2013-10-01

    Measuring dissolved concentrations of emerging contaminants, such as polybrominated diphenyl ethers (PBDEs) and triclosan, can be challenging due to their physicochemical properties resulting in low aqueous solubilities and association with particles. Passive sampling methods have been applied to assess dissolved concentrations in water and sediments primarily for legacy contaminants. Although the technology is applicable to some emerging contaminants, the use of passive samplers with emerging contaminants is limited. In the present study, the performance of 3 common passive samplers was evaluated for sampling PBDEs and triclosan. Passive sampling polymers included low-density polyethylene (PE) and polyoxymethylene (POM) sheets, and polydimethylsiloxane (PDMS)-coated solid-phase microextraction (SPME) fibers. Dissolved concentrations were calculated using measured sampler concentrations and laboratory-derived partition coefficients. Dissolved tri-, tetra-, and pentabrominated PBDE congeners were detected at several of the study sites at very low pg/L concentrations using PE and POM. Calculated dissolved water concentrations of triclosan ranged from 1.7 ng/L to 18 ng/L for POM and 8.8 ng/L to 13 ng/L for PE using performance reference compound equilibrium adjustments. Concentrations in SPME were not reported due to lack of detectable chemical in the PDMS polymer deployed. Although both PE and POM were found to effectively accumulate emerging contaminants from the water column, further research is needed to determine their utility as passive sampling devices for emerging contaminants. © 2013 SETAC.

  16. Performance of a hydrostatic sampler for collecting samples at the water-sediment interface in lakes

    Directory of Open Access Journals (Sweden)

    Fernando PEDROZO

    2008-02-01

    Full Text Available The water-sediment interface plays a significant role in the determination of the trophic degree of a waterbody. Numerous redox reactions take place there, resulting in the release of contaminants from the sediments to the water column. The aim of the present work was to develop an equipment for collecting samples from the water-sediment interface. Such equipment was to have a simple design, low construction cost, no depth limitations, and high levels of personal safety and to be reliable in the collection of samples. The performance of the hydrostatic sampler thus developed was tested against samples collected either remotely with a corer or directly with syringes by autonomous divers. The hydrostatic sampler permits access to depths where the costs of the traditional diving methodology are expensive, and where working conditions are dangerous for the diver. The hydrostatic sampler provides an additional means of collecting samples from the water-sediment interface, which together with pore-water samples, facilitates the investigation and understanding of chemical mechanisms in lakes, for instance, those that control the P release from sediment to the water column.

  17. Assessing the transport of PAH in the surficial sediment layer by passive sampler approach.

    Science.gov (United States)

    Belles, Angel; Alary, Claire; Criquet, Justine; Ivanovsky, Anastasia; Billon, Gabriel

    2017-02-01

    A new method based on passive samplers has been developed to assess the diffusive flux of fluorene, fluoranthene and pyrene in the sediment bed and across the sediment-water interface. The dissolved compound concentration gradient in the sediment in the vertical direction was measured at the outlet of a storm water pond by using polyethylene strips as passive samplers. Simultaneously, the dissipation of a set of tracer compounds preloaded in the passive samplers was measured to estimate the effective diffusion coefficients of the pollutants in the sediment. Both measurements were used to evaluate the diffusive flux of the compounds according to Fick's first law. The diffusive fluxes of the 3 studied compounds have been estimated with a centimetre-scale resolution in the upper 44cm of the sediment. According to the higher compound diffusion coefficient and the steeper concentration gradient in the surficial sediment layer, the results show that the net flux of compounds near the sediment interface (1cm depth) is on average 500 times higher than in the deep sediment, with average fluxes at 1cm depth on the order of 5, 0.1 and 0.1ng/m 2 /y for fluorene, fluoranthene and pyrene, respectively. Copyright © 2016 Elsevier B.V. All rights reserved.

  18. A new application of passive samplers as indicators of in-situ biodegradation processes.

    Science.gov (United States)

    Belles, Angel; Alary, Claire; Criquet, Justine; Billon, Gabriel

    2016-12-01

    In this paper, a method for evaluating the in-situ degradation of nitro polycyclic aromatic hydrocarbons (nitro-PAH) in sediments is presented. The methodology is adapted from the passive sampler technique, which commonly uses the dissipation rate of labeled compounds loaded in passive sampler devices to sense the environmental conditions of exposure. In the present study, polymeric passive samplers (made of polyethylene strips) loaded with a set of labeled polycyclic aromatic hydrocarbons (PAH) and nitro-PAH were immersed in sediments (in field and laboratory conditions) to track the degradation processes. This approach is theoretically based on the fact that a degradation process induces a steeper concentration gradient of the labeled compounds in the surrounding sediment, thereby increasing their compound dissipation rates compared with their dissipation in abiotic conditions. Postulating that the degradation magnitude is the same for the labeled compounds loaded in polyethylene strips and for their native homologs that are potentially present in the sediment, the field degradation of 3 nitro-PAH (2-nitro-fluorene, 1-nitro-pyrene, 6-nitro-chrysene) was semi-quantitatively analyzed using the developed method. Copyright © 2016 Elsevier Ltd. All rights reserved.

  19. Assessment the impact of samplers change on the uncertainty related to geothermalwater sampling

    Science.gov (United States)

    Wątor, Katarzyna; Mika, Anna; Sekuła, Klaudia; Kmiecik, Ewa

    2018-02-01

    The aim of this study is to assess the impact of samplers change on the uncertainty associated with the process of the geothermal water sampling. The study was carried out on geothermal water exploited in Podhale region, southern Poland (Małopolska province). To estimate the uncertainty associated with sampling the results of determinations of metasilicic acid (H2SiO3) in normal and duplicate samples collected in two series were used (in each series the samples were collected by qualified sampler). Chemical analyses were performed using ICP-OES method in the certified Hydrogeochemical Laboratory of the Hydrogeology and Engineering Geology Department at the AGH University of Science and Technology in Krakow (Certificate of Polish Centre for Accreditation No. AB 1050). To evaluate the uncertainty arising from sampling the empirical approach was implemented, based on double analysis of normal and duplicate samples taken from the same well in the series of testing. The analyses of the results were done using ROBAN software based on technique of robust statistics analysis of variance (rANOVA). Conducted research proved that in the case of qualified and experienced samplers uncertainty connected with the sampling can be reduced what results in small measurement uncertainty.

  20. Assessment of benthic macroinvertebrates at Nile tilapia production using artificial substrate samplers

    Directory of Open Access Journals (Sweden)

    M. S. G. Moura e Silva

    Full Text Available Abstract Biomonitoring is a cheap and effective tool for evaluation of water quality, and infer on the balance of aquatic ecosystems. The benthic macroinvertebrates are bioindicators sensitive to environmental changes, and can assist in detecting and preventing impacts such as organic enrichment and imbalance in the food chain. We compared the structure of benthic communities on artificial substrate samplers located in places near and far from net cages for production of Nile tilapia (Oreochromis niloticus. Samplers were manufactured with nylon net, using substrates such as crushed stone, gravel, loofah and cattail leaves. Samples were collected after 30 days of colonization, rinsed and then the specimens were identified and quantified. The following metrics were calculated: richness of Operational Taxonomic Units, Margalef richness, abundance of individuals, Shannon index and evenness index. The macrobenthic community structure was strongly modified according to the proximity of the net cages. Metrics showed significant differences (p < 0.05 between near and distant sites, for both periods (dry and rainy seasons. The position of the samplers significantly affected the structure of macroinvertebrate community, as near sites showed higher values for the community metrics, such as richness and diversity. Near sites presented a larger number of individuals, observed both in the dry and rainy seasons, with a predominance of Chironomidae (Diptera in the dry season and Tubificidae (Oligochaeta in the rainy season.